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Anti-Disturbance Compensator Design for Unmanned Aerial Vehicle
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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.

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Publication Date
Sun Mar 17 2019
Journal Name
Baghdad Science Journal
Geolocation Android Mobile Phones Using GSM/UMTS
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The proliferation of cellular network enabled users through various positioning tools to track locations, location information is being continuously captured from mobile phones, created a prototype that enables detected location based on using the two invariant models for Global Systems for Mobile (GSM) and Universal Mobile Telecommunications System (UMTS). The smartphone application on an Android platform applies the location sensing run as a background process and the localization method is based on cell phones. The proposed application is associated with remote server and used to track a smartphone without permissions and internet. Mobile stored data location information in the database (SQLite), then transfer it into location AP

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Publication Date
Mon Jul 29 2019
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Role of Two- Dimensional Speckle Tracking Strain versus Conventional Echocardiography in the Assessments of Left Ventricular Systolic Function in Middle-aged Hypertensive Patients.
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Background: Global longitudinal strain (GLS) echocardiography is a new technique that can be used to  detect an early left ventricular dysfunction in various heart diseases . Systemic hypertension is a major risk factor for cardiovascular accidents. The early management of its complication on the heart plays  an
important role in the outcome of the disease. Hypertension is associated with changes in several aspects
of left ventricular structure, function, and systolic strains. Various echocardiographic techniques are used to evaluate left ventricular function in hypertensive patient
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Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
Asymptotic Stability of Index 2 and 3 Hesenberg Differential Algebraic Equations
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This paper aims to study the asymptotic stability of the equilibrium points of the index 2 and index 3 Hesenberg differential algebraic equations. The problem reformulated to an equivalent explicit differential algebraic equations system, so the asymptotic stability is easily investigated. The singular points such as impasse points and singularity induced bifurcation points are identified in this kind of differential algebraic equations by using conclusion of the explicit differential algebraic equations.

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
Asymptotic Stability of Index 2 and 3 Hesenberg Differential Algebraic Equations
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This paper aims to study the asymptotic stability of the equilibrium points of the index 2 and index 3 Hesenberg differential algebraic equations. The problem reformulated to an equivalent explicit differential algebraic equations system, so the asymptotic stability is easily investigated. The singular points such as impasse points and singularity induced bifurcation points are identified in this kind of differential algebraic equations by using conclusion of the explicit differential algebraic equations.

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Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
Asymptotic Stability of Index 2 and 3 Hesenberg Differential Algebraic Equations
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This paper aims to study the asymptotic stability of the equilibrium points of the index 2 and index 3 Hesenberg differential algebraic equations. The problem reformulated to an equivalent explicit differential algebraic equations system, so the asymptotic stability is easily investigated. The singular points such as impasse points and singularity induced bifurcation points are identified in this kind of differential algebraic equations by using conclusion of the explicit differential algebraic equations.

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Publication Date
Sun Mar 01 2020
Journal Name
Baghdad Science Journal
Eyewitnesses’ Visual Recollection in Suspect Identification by using Facial Appearance Model
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Facial recognition has been an active field of imaging science. With the recent progresses in computer vision development, it is extensively applied in various areas, especially in law enforcement and security. Human face is a viable biometric that could be effectively used in both identification and verification. Thus far, regardless of a facial model and relevant metrics employed, its main shortcoming is that it requires a facial image, against which comparison is made. Therefore, closed circuit televisions and a facial database are always needed in an operational system. For the last few decades, unfortunately, we have experienced an emergence of asymmetric warfare, where acts of terrorism are often committed in secluded area with no

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Publication Date
Mon Oct 25 2021
Journal Name
Iraqi Journal Of Science
The Relationship between Natural Radioactivity of Al-Rohban Soil in Al-Najaf Governorate and Its Microbial Content
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    The present study was designed to explore the relationship between radioactivity at Al-Rohban soil in Al-Najaf Governorate, located 30 km away from Najaf city center, and its microbial content. The radiological survey was conducted by γ–ray spectrometry, using purity Germanium (HPGe) detector. A selected surface soil layer (10 cm depth, 50 and 100 m expansion) was tested. The physical analyses were conducted in the Ministry of Environment, Center for Prevention of Radiation. The results showed that the estimated concentrations of Bi-214, Ra-226, Ac-228, Th-232, K-40 and Cs-137 were 47.93, 81.87, 5.03, 1.63, 126.3 and 3.5 Bq/Kg, respectively. Isotopes average concentrations were equivalent to the low

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Publication Date
Sun Mar 07 2010
Journal Name
Baghdad Science Journal
Synthesis of New Heterocyclic Derivatives from 4-(3, 5-Dimethyl-1-phenyl-1H-pyrazol-4-ylazo)- benzoic acid
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In this work pyrazolin derivatives were prepared from the diazonium chloride salt of 4-aminobenzoic acid. Azo compounds were prepared from the reaction of an ethanolic solution of sodium acetate and calculated amount of active methylene compound namely, acetyl acetone to obtain the corresponding hydrazono derivative (1). Cyclocondensation reaction of compounds (1) with hydrazine hydrate and phenyl hydrazine in boiling ethanol affording the corresponding pyrazoline-5-one derivatives of 4-aminobenzoic acid (2,3). Then compound (3) was reacted with thionyl chloride to give the corresponding acid chloride derivative(4), followed by conversion into the corresponding acid hydrazide derivative (5) carboxylic acid thiosemicarbazide (11), esters

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Publication Date
Wed Jul 01 2015
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Evaluation of the outcome of myringoplasty in active versus inactive chronic otitis media without cholesteatoma
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Background: Myringoplasty is a procedure used to seal(reconstruct) a perforated tympanic membrane using a graft material by underlay or overlay techniques . Temporalis fascia is the commonly used graft material.
Aim of study: to evaluate the difference in outcome of myringoplasty in cases of active and inactive chronic otitis media without cholesteatoma.
Patients and Methods: a prospective study of 54 cases of myringoplasty in adult age group whom age ranges from (20-40 years) and the duration of the disease ranges from (6-24 months). All patients were complaining of chronic otitis media without cholesteatoma assessed clinically, audiologically and radiologically, all cases operated under general anest

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Publication Date
Fri Dec 01 2023
Journal Name
Baghdad Science Journal
Estimating the chemical composition of secondary compounds of Iraqi wild Agaricus bellaniae characterized morphologically and genetically
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   This study, which is considered the first of its kind in the world and the Arab homeland, was carried out in the laboratory of mushroom production belonging to the Medicinal Plant Unit/ College Of Agricultural Engineering Sciences/ University of  Baghdad during the period from July 21, 2016, to December 30, 2018, aiming to isolate and purify the mycelium of the wild isolation in addition to the genetic and morphological identification of the mushroom Agaricus bellaniae. The obtained pure isolation was tagged in the American National Center for Biotechnology Information (NCBI) with symbol MF987843.1, thus Iraq would be the second country in the world in which the mushroom is grown following the United States of America. The

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