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
Fri Feb 26 2021
Journal Name
Iraqi Journal Of Science
Determination the Optimum Conditions of the Activity and Stability of Lipase Extracted from Sunflower Germinated Seeds
...Show More Authors

The present study was conducted to determine the optimum conditions required for lipase enzyme activity extracted from germinated sunflower seeds, including temperature, pH, agitation, time of incubation, enzyme concentration, substrate type, and concentrations of mineral salts and EDTA. Optimum pH, temperature and time of incubation required for lipase stability were also determined. The results showede optimum lipase activity (3.251U/ml) wasund at 30 ÌŠC and pH 7 after 20 minutes of incubation when using 1 ml lipase enzyme with 0.02 ml of CaCl2 (10 mM) at 100 rpm of agitation and in the presence of olive oil as the substrate for enzyme reaction. EDTA appeared to have inhibitory effects, while Ca+2 and Mg+2<

... Show More
View Publication Preview PDF
Scopus (5)
Crossref (3)
Scopus Crossref
Publication Date
Mon May 31 2021
Journal Name
Iraqi Journal Of Science
On the Dynamics of an Eco-Epidemiological System Incorporating a Vertically Transmitted Infectious Disease
...Show More Authors

An eco-epidemiological system incorporating a vertically transmitted infectious disease is proposed and investigated. Micheal-Mentence type of harvesting is utilized to study the harvesting effort imposed on the predator. All the properties of the solution of the system are discussed. The dynamical behaviour of the system, involving local stability, global stability, and local bifurcation, is investigated. The work is finalized with the numerical simulation to observe the global behaviour of the solution.

View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Thu Dec 30 2021
Journal Name
Iraqi Journal Of Science
The The Dynamics of a Prey-Predator Model with Infectious Disease in Prey: Role of Media Coverage
...Show More Authors

In this paper, an eco-epidemiological model with media coverage effect is proposed and studied. A prey-predator model with modified Leslie-Gower and functional response is studied. An  -type of disease in prey is considered.  The existence, uniqueness and boundedness of the solution of the model are discussed. The local and global stability of this system are carried out. The conditions for the persistence of all species are established. The local bifurcation in the model is studied. Finally, numerical simulations are conducted to illustrate the analytical results.

View Publication Preview PDF
Scopus (5)
Crossref (2)
Scopus Crossref
Publication Date
Fri Dec 01 2017
Journal Name
Journal Of Colloid And Interface Science
Stabilising nanofluids in saline environments
...Show More Authors

Nanofluids (i.e. nanoparticles dispersed in a fluid) have tremendous potential in a broad range of applications, including pharmacy, medicine, water treatment, soil decontamination, or oil recovery and CO2 geo-sequestration. In these applications nanofluid stability plays a key role, and typically robust stability is required. However, the fluids in these applications are saline, and no stability data is available for such salt-containing fluids. We thus measured and quantified nanofluid stability for a wide range of nanofluid formulations, as a function of salinity, nanoparticle content and various additives, and we investigated how this stability can be improved. Zeta sizer and dynamic light scattering (DLS) principles were used to invest

... Show More
Scopus (94)
Crossref (93)
Scopus Clarivate Crossref
Publication Date
Tue Mar 30 2021
Journal Name
Iraqi Journal Of Science
The Effects of Media Coverage on the Dynamics of Disease in Prey-Predator Model
...Show More Authors

In this paper, an eco-epidemiological model with media coverage effects is established and studied. An -type of disease in predator is considered.  All the properties of the solution of the proposed model are discussed. An application to the stability theory was carried out to investigate the local as well as global stability of the system. The persistence conditions of the model are determined. The occurrence of local bifurcation in the model is studied. Further investigation of the global dynamics of the model is achieved through using a numerical simulation.

View Publication Preview PDF
Scopus (3)
Scopus Crossref
Publication Date
Mon Dec 11 2017
Journal Name
Al-khwarizmi Engineering Journal
Simulation Model of Wind Turbine Power Control System with Fuzzy Regulation by Mamdani and Larsen Algorithms
...Show More Authors

Abstract 

     The aim of this work is to create a power control system for wind turbines based on fuzzy logic. Three power control loop was considered including: changing the pitch angle of  the blade, changing the length of the blade and turning the nacelle. The stochastic law was given for changes and instant inaccurate assessment of wind conditions changes. Two different algorithms were used for fuzzy inference in the control loop, the Mamdani and Larsen algorithms. These two different algorithms are materialized and developed in this study in Matlab-Fuzzy logic toolbox which has been practically implemented using necessary intelligent control system in electrical engineerin

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Mar 23 2020
Journal Name
Journal Of Engineering
Experimental and Numerical Investigation on the Performance of Straight-Bladed Vertical Axis Wind Turbine by Adding Cavities to it Structure
...Show More Authors

As the prices of the fuel and power had fluctuated many times in the last decade and new policies appeared and signed by most of the world countries to eliminate global warming and environmental impact on the earth surface and humanity exciting, an urgent need appeared to develop the renewable energy harnessing technologies on the short-term and long-term and one of these promising technologies are the vertical axis wind turbines, and mostly the combined types. The purpose of the present work is to combine a cavity type Savonius with straight bladed Darrieus to eliminate the poor self-starting ability for Darrieus type and low performance for Savonius type and for this purpose, a three-bladed Darrieus type with symmetric

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Oct 31 2020
Journal Name
International Journal Of Intelligent Engineering And Systems
Speech Emotion Recognition Using MELBP Variants of Spectrogram Image
...Show More Authors

View Publication Preview PDF
Scopus (5)
Crossref (1)
Scopus Crossref
Publication Date
Sun Jul 04 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Effect of active smoking on the tympanometry findings in adult men.
...Show More Authors

Background: Tympanometry findings are considered by many investigators to be associated with passive and active smoking.
Patients and methods: One hundred forty healthy adult men aged (20-50 years). 70 smokers and 70 nonsmokers were recruited for the study. The examination included otoscopy, and screening tympanometry. Smoking history was ascertained by self –report. For each subject, age, smoking status and number of cigarettes per day were noted.
Results: There is a tendency for more negative middle ear pressure in smokers than in non-smokers though this difference may not clinically significant. There were no significant differences in ear canal volume, middle ear compliance and presence of Staped

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Jan 01 2024
Journal Name
Journal Of Engineering
Improving the Direction of Arrival Estimation Using the Parasitic Subspace Generated by Active-Parasitic Antenna (APA) Arrays
...Show More Authors

The improvement in Direction of Arrival (DOA) estimation when the received signals impinge on Active-Parasitic Antenna (APA) arrays will be studied in this work. An APA array consists of several active antennas; others are parasitic antennas. The responses to the received signals are measured at the loaded terminals of the active element. The terminals of the parasitic element are shorted. The effect of the received signals on the parasites, i.e., the induced short-circuit current, is mutually coupled to the active elements. Eigen decomposition of the covariance matrix of the measurements of the APA array generates a third subspace in addition to the traditional signal and noise subspaces generated by the all-active ante

... Show More
View Publication Preview PDF
Crossref