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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
Mon Apr 03 2023
Journal Name
Communications In Mathematical Biology And Neuroscience
The role of antibiotics and probiotics supplements on the stability of gut flora bacteria interactions
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Dyspepsia is a significant public health issue that affects the entire world population. In this work, we formulate and analyze a deterministic model for the population dynamics of Gut bacteria in the presence of antibiotics and Probiotic supplements. All the possible equilibria and their local stability are obtained. The global stability around the positive equilibrium point is established. Numerical simulations back up our analytical findings and show the temporal dynamics of gut microorganisms.

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Publication Date
Fri Jul 01 2016
Journal Name
Colloids And Surfaces A: Physicochemical And Engineering Aspects
Stability and thermophysical properties of water-based nanofluids containing triethanolamine-treated graphene nanoplatelets with different specific surface areas
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tA novel synthesis procedure is presented for preparing triethanolamine-treated graphene nanoplatelets(TEA-GNPs) with different specific areas (SSAs). Using ultrasonication, the covalently functionalizedTEA-GNPs with different weight concentrations and SSAs were dispersed in distilled water to prepareTEA-GNPs nanofluids. A simple direct coupling of GNPs with TEA molecules is implemented to synthesizestable water-based nanofluids. The effectiveness of the functionalization procedure was validated by thecharacterization and morphology tests, i.e., FTIR, Raman spectroscopy, EDS, and TEM. Thermal conduc-tivity, dispersion stability, and rheological properties were investigated. Using UV–vis spectrometer, ahighest dispersion stability of 0.876

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Publication Date
Thu Dec 26 2019
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
ANALYTICAL RESULTS OF THE STABILITY OF SOME LIMESTONE ISLANDS IN HA LONG BAY, QUANG NINH PROVINCE OF VIETNAM, A WORLD NATURAL HERITAGE
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The analytical results of the failure types of six limestone islands in the Ha Long bay of Vietnam have been identified. The calculated results of safety factor for 03 plane failure blocks lie within 0.9 and 2, have high potential failure. The analytical results have been also simulated these islands in three-dimensional space and have been also analyzed their potential failure on the fracture surfaces. The results obtained in this paper have important significance for planning and development of the Ha Long bay area, as World Natural Heritage, Quang Ninh province of Vietnam.

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Publication Date
Sat Apr 15 2023
Journal Name
Iraqi Journal Of Science
Synthesis, Characterization and Stability Constant study of New Schiff Bases Derived from 2-Amino -2-deoxy Chitosamine and aldehydes with Some Metal Complexes
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Two new Schiff bases (S1,S2) derived from 2-Amino-2-deoxy chitosamine and mnitrobenzaldehyde
(S1), and with salicylaldehyde (S2) were prepared and
characterized using FTIR, UV and mass spectrometry. New complexes of the
transition metal ions Co (II), Ni (II), Pd (II), Pt (II) with the two ligands were
synthesized and their structures were elucidated depending on atomic absorption,
FTIR, UV-visible spectra in addition to magnetic susceptibility and electrical
conductivity measurement. Metal to ligand [M: L] ratio was obtained for all
complexes in ethanol using molar ratio method, which gave comparable results with
those obtained for the solid complexes. Stability constant of the complexes were
determined using s

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Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
The Complex Dynamics in a Food Chain Involving Different Functional Responses
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      A food chain model in which the top predator growing logistically has been proposed and studied. Two types of Holling’s functional responses type IV and type II have been used in the first trophic level and second trophic level respectively, in addition to Leslie-Gower in the third level. The properties of the solution are discussed. Since the boundary dynamics are affecting the dynamical behavior of the whole dynamical system, the linearization technique is used to study the stability of the subsystem of the proposed model. The persistence conditions of the obtained subsystem of the food chain are established. Finally, the model is simulated numerically to understand the global dynamics of the food chain un

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Publication Date
Sat Jul 01 2023
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The role of forensic accounting in banking stability An applied research on a sample of Iraqi private banks listed on the Iraq Stock Exchange
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                 This study aims to identify the role of forensic accounting in the Iraqi environment, banking stability, and to achieve this goal, we used the field survey method, as it is the most appropriate for studying the phenomenon in question and achieving its objectives.

Where we selected a sample consisting of (50) male and female employees, distributed among five private banks in Baghdad governorate, namely (Ashur International Bank, Development Investment Bank, Iraqi Middle East Investment Bank, Hammurabi Commercial Bank, Khaleej Commercial Bank), and the questionnaire tool was applied to them Designed for this purpose, which consisted of

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Publication Date
Tue Apr 20 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Effect of Individuals Asymptomatic (Carrier) on The Dynamical Behavior Of a COVID-19 Virus
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     In this paper, a novel coronavirus (COVID-19) model is proposed and investigated. In fact, the pandemic spread through a close contact between infected people and other people but sometimes the infected people could show two cases; the first is symptomatic and the other is asymptomatic (carrier) as the source of the risk. The outbreak of Covid-19 virus is described by a mathematical model dividing the population into four classes. The first class represents the susceptible people who are unaware of the disease. The second class refers to the susceptible people who are aware of the epidemic by media coverage. The third class is the carrier individuals (asymptomatic) and the fourth class represents the infected ind

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Publication Date
Tue Apr 20 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Study of Shigellosis Bacteria disease Model with Awareness Effects
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In this paper, a mathematical model is proposed and studied to describe the spread of shigellosis disease in the population community. We consider it divided into four classes namely: the 1st class consists of  unaware susceptible individuals, 2nd class of infected individuals, 3rd class of aware susceptible individuals and 4th class are people carrying bacteria. The solution existence, uniqueness as well as bounded-ness are discussed for the shigellosis model proposed. Also, the stability analysis has been conducted for all possible equilibrium points. Finally the proposed model is studied numerically to prove the analytic results and discussing the effects of the external sources for dis

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Publication Date
Fri Jun 23 2023
Journal Name
Communications In Mathematical Biology And Neuroscience
The dynamic of an eco-epidemiological model involving fear and hunting cooperation
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In the present paper, an eco-epidemiological model consisting of diseased prey consumed by a predator with fear cost, and hunting cooperation property is formulated and studied. It is assumed that the predator doesn’t distinguish between the healthy prey and sick prey and hence it consumed both. The solution’s properties such as existence, uniqueness, positivity, and bounded are discussed. The existence and stability conditions of all possible equilibrium points are studied. The persistence requirements of the proposed system are established. The bifurcation analysis near the non-hyperbolic equilibrium points is investigated. Numerically, some simulations are carried out to validate the main findings and obtain the critical values of th

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Publication Date
Sun May 01 2016
Journal Name
Energy Conversion And Management
Stability and thermophysical properties of non-covalently functionalized graphene nanoplatelets nanofluids
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A pioneering idea for increasing the thermal performance of heat transfer fluids was to use ultrafine solid particles suspended in the base fluid. Nanofluids, synthesized by mixing solid nanometer sized particles at low concentrations with the base fluid, were used as a new heat transfer fluid and developed a remarkable effect on the thermophysical properties and heat transfer coefficient. For any nanofluid to be usable in heat transfer applications, the main concern is its long-term stability. The aim of this research is to investigate the effect of using four different surfactants (sodium dodecyl benzene sulfonate (SDBS), sodium dodecyl sulfate (SDS), cetyl trimethylammonium bromide (CTAB), and gum Arabic (GA)), each with three different

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