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
Sun Jul 31 2022
Journal Name
Iraqi Journal Of Science
A Performance Study of the Prototype Fixed, Open-Loop and Closed-Loop Solar Cell Tracking Systems
...Show More Authors

      In order to increase the amount of solar radiation reaching a solar panel, and hence increase its performance, a tracking system might be used. A prototype of an efficient and portable solar tracking system, for home applications was constructed. The Arduino Uno Microcontroller is utilized to drive the proposed tacking system. The results of area under curve show that at certain circumstances, the open-loop tracking system is more efficient as compared with fixed one, while  the closed-loop tracker is slightly efficient than open-loop tracker.

View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Sat Jul 31 2021
Journal Name
Iraqi Journal Of Science
AndroidTrack: An Investigation of Using Social Networks’ Applications in Android Platforms
...Show More Authors

     In this paper, time spent and the repetition of using the Social Network Sites (SNS) in Android applications are investigated. In this approach, we seek to raise the awareness and limit, but not eliminate the repeated uses of SNS, by introducing AndroidTrack. This AndroidTrack is an android application that was designed to monitor and apply valid experimental studies in order to improve the impacts of social media on Iraqi users. Data generated from the app were aggregated and updated periodically at Google Firebase Real-time Database. The statistical factor analysis (FA) was presented as a result of the user’s interactions.

View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Thu Sep 06 2018
Journal Name
Al-khwarizmi Engineering Journal
Performance Augmenting of a Vertical Axis Wind Turbine using Adaptable Convergent Ducting System
...Show More Authors

Developments are carried out to enhance the performance of vertical axis wind turbines (VAWT). This paper studies the performance of the ducted wind turbine with convergent duct (DAWT). Basically, the duct technique is utilized to provide the desired wind velocity facing the turbine. Methodology was developed to estimate the decisive performance parameter and to present the effect of the convergent duct with different inlet angles. The ducted wind turbine was analyzed and simulated using MATLAB software and numerically using ANSYS-Fluent 17.2. Result of both approaches were presented and showed good closeness for the two cases of covering angles 12  and 20 respectively. Results also showed that the convergent duct with an inlet angl

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sat Jul 28 2018
Journal Name
Journal Of Engineering
Effectiveness of Meso-Scale Approach in Modeling of Plain Concrete Beam
...Show More Authors

The main aim of this research paper is investigating the effectiveness and validity of Meso-Scale Approach (MSA) as a modern technique for the modeling of plain concrete beams. Simply supported plain concrete beam was subjected to two-point loading to detect the response in flexural. Experimentally, a concrete mix was designed and prepared to produce three similar standard concrete prisms for flexural testing. The coarse aggregate used in this mix was crushed aggregate. Numerical Finite Element Analysis (FEA) was conducted on the same concrete beam using the meso-scale modeling. The numerical model was constructed to be a bi-phasic material consisting of cement mortar and coarse aggregate. The interface between the two c

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Mon Jun 30 2014
Journal Name
Al-kindy College Medical Journal
The prevalence and antimicrobial sensitivity of Esbl Escherichia Coli. in clinical isolates
...Show More Authors

Background: The antimicrobial resistance is one of the most serious and expanding health problems world -wide in the last decades. The esbl escherichia coli. (extended – spectrum beta-lactamase e.coli) represents an important aspect of it .Objectives: To get an overview on the esbl e.coli prevalence profile in general. Also to assess the antibiotic sensitivity of esbl e. coli trying to specify the most effective antibiotics in combating this micro-organism.Methods: this study tries to focus on this problem in Iraq which through a prospective study approach by taking 35 clinical samples from various sources (urine, blood, abscess, eye ,vagina ,stool and others),and after confirming the presence of e.coli, the presence of esbl e.coli and

... Show More
View Publication Preview PDF
Publication Date
Sun Dec 30 2012
Journal Name
Al-kindy College Medical Journal
Age Influence on Knee Joint Flexors
...Show More Authors

Background : Knee flexors tightness has been documented in apparently healthy adults and in those with musculoskeletal problems, but the influence of age on the tightness has not been studied in Iraq. This study was therefore designed to determine the influence of age on knee flexors tightness in apparently healthy subjects.Methods: Knee flexors tightness was measured using the active knee extension test (AKET) in 200 apparently healthy male and female subjects, aged 13 to 59 years. The subjects were recruited into 5 age groups using the purposive sampling technique.Knee flexors tightness was compared across the age groups using one-way analysis ofvariance (ANOVA). The independent t-test was used to compare knee flexors tightness on both

... Show More
View Publication Preview PDF
Publication Date
Tue Dec 29 2020
Journal Name
Iraqi Journal Of Science
Effect of Surface Recombination on Diffusion Length and Active Cavity Life time
...Show More Authors

This work presents an analytical study for simulating a Fabry-Perot Bi-stable etalon (F-P cavity) filled with a dispersive optimized nonlinear optical material (Kerr type) such as semiconductors Indium Antimonite (InSb). Depending on the obtained results and because of a trade-off between the optical path length of the sample and active cavity lifetime, an optimization procedure was applied on the InSb etalon/CO laser parameters; critical switching irradiance (Ic) was applied via simulation systems  of optimization procedures of optical cavity (Matlap program was used to study the optical Bi-stability of a nonlinear Fabry-Perot cavity). In order to achieve minimum switching power and faster switching time, the optimizatio

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Fri Aug 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Natural Convection Heat Transfer in an Inclined Open-Ended Square Cavity with Partially Active Side Wall
...Show More Authors

This paper reports a numerical study of flow behaviors and natural convection heat transfer characteristics in an inclined open-ended square cavity filled with air. The cavity is formed by adiabatic top and bottom walls and partially heated vertical wall facing the opening. Governing equations in vorticity-stream function form are discretized via finite-difference method and are solved numerically by iterative successive under relaxation (SUR) technique. A computer program to solve mathematical model has been developed and written as a code for MATLAB software. Results in the form of streamlines, isotherms, and average Nusselt number, are obtained for a wide range of Rayleigh numbers 103-106 with Prandtl number 0.71

... Show More
View Publication Preview PDF
Publication Date
Wed May 10 2023
Journal Name
Journal Of Engineering
Vibration Control Analysis of a Smart Flexible Cantilever Beam Using Smart Material
...Show More Authors

This paper features the modeling and design of a pole placement and output Feedback control technique for the Active Vibration Control (AVC) of a smart flexible cantilever beam for a Single Input Single Output (SISO) case. Measurements and actuation actions done by using patches of piezoelectric layer, it is bonded to the master structure as sensor/actuator at a certain position of the cantilever beam.
The smart structure is modeled based on the concept of piezoelectric theory, Bernoulli -Euler beam theory, using Finite Element Method (FEM) and the state space techniques. The number of modes is reduced using the controllability and observability grammians retaining the first three
dominant vibratory modes, and for the reduced syste

... Show More
View Publication Preview PDF
Crossref (4)
Crossref
Publication Date
Sun Mar 19 2023
Journal Name
Journal Of Educational And Psychological Researches
The Effect of the Active Reading Strategy on the Achievement of the Second Year Middle School Students in Biology
...Show More Authors

Abstract

The aim of the current research is to identify the effect of the effective reading strategy on the achievement of second-middle students in biology, as well as the imaginative thinking skills of students. The researcher adopted the experimental design with partial control to achieve the goal of the research. The current research community identified the second-middle students in the government schools of the Baghdad Education Directorate / Rusafa I for the academic year (2021-2022 AD). The Safina Intermediate School for Girls was chosen to be the research sample in the form of intentionally, two classes were randomly selected from a total of four classes, one of them is experimental and the other is con

... Show More
View Publication Preview PDF