Preferred Language
Articles
/
joe-835
Anti-Disturbance Compensator Design for Unmanned Aerial Vehicle
...Show More Authors

In this paper, an Anti-Disturbance Compensator is suggested for the stabilization of a 6-DoF quadrotor Unmanned Aerial vehicle (UAV) system, namely, the Improved Active Disturbance Rejection Control (IADRC). The proposed Control Scheme rejects the disturbances subjected to this system and eliminates the effect of the uncertainties that the quadrotor system exhibits. The complete nonlinear mathematical model of the 6-DoF quadrotor UAV system has been used to design the four ADRCs units for the attitude and altitude stabilization. Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. A minimization to a proposed multi-objective Output Performance Index (OPI) is achieved in the MATLAB environment to tune the IADRCs parameters using Genetic Algorithm (GA). The IADRC has been tested for the 6-DOF quadrotor under different tracking scenarios, including disturbance rejection and uncertainties elimination and compared with nonlinear and linear PID controllers. The simulations showed the excellent performance of the proposed compensator against the controllers used in the comparison.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Wed Apr 01 2009
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Production of antibacterial agent from Streptomyces griseus by using Semi Solid Fermentation
...Show More Authors

Backround: The Solid state fermentation has several advantage including absence of free water , reduced volume of production media utilized for high products and the relatively low costs of production.
Methods: Thirty local isolates of soil obtained from Genetic Engneering and Biotechnology Institute. Nutrient agar was used to growth strains examination to antibacterial agent and Wheat bran and fish meal were used in combination (0-100%of each )and divided in 10 gm lost /flask . Each flask is inoculated with different numbers of Streptomyces spores and incubated for 5 days at 28°C, then the supernet was extracted and were assayed as antibacterial
Results: The ability of 30 local isolates of Streptomyc

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Apr 27 2019
Journal Name
Journal Of Legal Sciences
The role of the State Council in protecting the principle of legal security
...Show More Authors

The legal security has become a principle and necessity in the state of law, based on the fact that the legal basis must be based on legal security, Since the Council of State has become the backbone of the legal base as long as we cannot talk about the value of the rule of law only in view of the degree of stability and the extent of the realization of rights and legal conditions and the consequent to achieve the confidence of individuals in the legal system as a whole.

     That means stabilizing the rules governing the affairs of individuals and nations and keeping them away from factors that lead to instability. This ensures the rights of individuals and states as well, since the individual cannot obtain h

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Jul 07 2021
Journal Name
Indian Journal Of Forensic Medicine & Toxicology
Impact of Pregnant Women’s Depression State upon their Pregnancy Outcomes at Maternity Hospitals in Baghdad City
...Show More Authors

Objective: To assess the impact of pregnant women’s depression state upon their pregnancy outcome Methodology: A descriptive purposive study was used to assess the impact of pregnant women’s depression state on their pregnancy outcomes. The study was conducted from (22nd \ September \ 2020 to 15th \ February \ 2021). A non-probability sample (purposive sample) was selected from 100 women. Data were collected through an interview with the mother in the counseling clinic, during the third trimester of pregnancy, as well as after childbirth in the labour wards to assess the outcome of pregnancy. Data were analyzed through descriptive statistics (frequency and percentages). Results: The most important thing observed in this study was the ne

... Show More
Preview PDF
Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
Optimum Condition of Pullulanase Production by Liquid State and Solid State Fermentation (SSF) Method from Bacillus Licheniforms (BS18)
...Show More Authors

Select 30 isolate from Bacillus to detect the ability to produce pullulanase enzyme in liquid and solid state fermentation, and use the isolate Bacillus licheniformis (Bs18) because the highest production of enzyme, the optimum condition for the production of enzyme by liquid state fermentation (LSF) in growen with: media contains starch + pullulan as a carbon source, peptone as a nitrogen source, inoculums size 2 ml, and incubated at 40 C° with pH 7 for 48 hrs. In addition pullulanase production by solid state fermentation (SSF) was investigated using isolated Bacillus licheniformis (Bs18). Optimization of process parameters were carried out ,the optimum solid substrate , Temperature , pH , incubation period , inoculation size , hydrat

... Show More
View Publication Preview PDF
Publication Date
Mon Feb 28 2022
Journal Name
International Journal Of Interactive Mobile Technologies (ijim)
Flying Ad hoc Networks (FANET): Performance Evaluation of Topology Based Routing Protocols
...Show More Authors

Flying Ad hoc Networks (FANETs) has developed as an innovative technology for access places without permanent infrastructure. This emerging form of networking is construct of flying nodes known as unmanned aerial vehicles (UAVs) that fly at a fast rate of speed, causing frequent changes in the network topology and connection failures. As a result, there is no dedicated FANET routing protocol that enables effective communication between these devices. The purpose of this paper is to evaluate the performance of the category of topology-based routing protocols in the FANET. In a surveillance system involving video traffic, four routing protocols with varying routing mechanisms were examined. Additionally, simulation experiments conduct

... Show More
View Publication Preview PDF
Crossref (14)
Crossref
Publication Date
Fri Dec 24 2021
Journal Name
Iraqi Journal Of Science
The Feasibility of Using UAV Structure from Motion Photogrammetry to Extract HBIM of the Great Ziggurat of UR
...Show More Authors

Culture heritage reflects nation’s legacy and therefore should be protected from damage in order to pass it to future generations. Recently, such protection can be applied by 3D digitization techniques such as conservation, restoration, documentation, etc. The 3D digitalization of heritage assets has encountered numerous focus in the last two decades due to the development in data capturing techniques and technological advancement in 3D remote sensing (RS) approaches such as photogrammetry and laser scanning. However, the abundance of 3D information resources and spatial data modelling and analysis methods have urged stakeholders to adopt intelligent 3D dat

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (1)
Scopus Crossref
Publication Date
Sun Jul 09 2023
Journal Name
Journal Of Engineering
Testing and Commissioning of a Low-Speed Wind Tunnel (LSWT) Test Section
...Show More Authors

The calibration of a low-speed wind tunnel (LSWT) test section had been made in the present work. The tunnel was designed and constructed at the Aerodynamics Lab. in the Mechanical Engineering Department/University of Baghdad. The test section design speed is 70 m/s. Frictional loses and uniformity of the flow inside the test section had been tested and calibrated based on the British standards for flow inside ducts and conduits. Pitot-static tube, boundary layer Pitot tube were the main instruments which were used in the present work to measure the flow characteristics with emphasize on the velocity uniformity and boundary layer growth along the walls of the test section. It is found that the maximum calibrated velocity for empty test s

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Mon Feb 01 2016
Journal Name
Journal Of Engineering
Dust Effect on the Efficiency of Silicon Mono Crystalline Solar Modules at Different Tilt Angles at Al-Jadryia Climate Conditions
...Show More Authors

Solar energy usage in Iraq is facing many issues; one of those is the accumulation “of the dust on the surface of the solar module which” would highly lower its efficiency. The present work study the effect of dust accumulation” on installing fixed solar modules with different inclined angles 15o, 33o, 45o, 60o. Evaluation of the solar modules performance under different circumstance conditions such as rain, wind and humidity are considered in study of dust effect on solar module performance. The results show that the lowest output average efficiencies of solar modules occurs at 15o horizontally inclined angle are 7.4% , 6.7% , 8.0% , 8.1%, and 8.4% for the cor

... Show More
View Publication Preview PDF
Publication Date
Wed Aug 31 2022
Journal Name
Iraqi Journal Of Science
Performance Analysis Of Vertical Axis Wind Turbine Blades Using Double Multiple Stream Tube Process
...Show More Authors

       The interest in green energy in recent years is very noticeable, as this energy is a very important alternative that can replace fuel in many applications, most notably electric power generation, so work must be done to develop a form of this energy such as wind energy by working on the development of turbines. The DMST method provided by Qblade software is an integrated tool for making a simulation of a vertical axis wind turbine (VAWT). The simulation was carried out on vertical axis wind turbines, designing turbine blades according to symmetrical NACA0018, and calculating some parameters such as power, torque and power coefficient. It is found that this type of turbine can be improved by treating the blade edges that cont

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
Calculation of ISON Cometary Tail Temperature
...Show More Authors

The ion tail temperature of the comet ISON was calculated by using magneto-hydrodynamic MHD laws. From these equations the focus is concentrating on determine the ion tail temperature from the relations of dynamic and static pressures results.MHD equations are numerically solved using Matlab simulation code using cubic volume element method, based on three dimensionl Cartesian coordinates that devided into equal 15x15x15 equally spaced mesh. The simulation was performed using 3-D Lax explicit method considering normalised physical propreties relative to those of the solar wind at 1 AU. The results explained that it is possible to deduce two types of temperature, the first being the isotropic temperature which is shown to vary slowly with

... Show More
View Publication Preview PDF