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 01 2018
Journal Name
International Journal Of Medical Research & Health Sciences
Rate of Fetal Macrosomia with Maternal and Early Neonatal Complications in Internally Moved People Affected by Violence
...Show More Authors

Background: Fetal macrosomia is usually distressing to obstetricians and neonatologists. In the current study, involved mothers had poor social and medical circumstances, as they were migrated forcefully within the country borders due to war, from their original homeland to safer camps which had miserable situations. Objectives: To study rate, risk factors, and complications of macrosomia in people with low socio-economic living conditions and missed medical follow up. Methods: All internally displaced pregnant women who gave birth to neonates weighed ≥4000 g were involved in the study. All required history, examination, care, and investigations were practiced by the attending obstetrician and neonatologist. Cases of normal birth weight n

... Show More
View Publication Preview PDF
Publication Date
Mon Jul 31 2017
Journal Name
Journal Of Engineering
Assessment of Water Clarity within Dokan Lake Using Remote Sensing Techniques
...Show More Authors

View Publication Preview PDF
Publication Date
Wed Jun 15 2022
Journal Name
Journal Of Legal Sciences
The importance of the independence of the Iraqi State Council
...Show More Authors

The State Council is always the trusted advisor to the administration in matters emerging, and the trusted repository of its secret. It assists the administration in the process of developing the appropriate formula for draft laws, regulations, and instructions, in order to make them lead to their intended goal, through its advisory function.

    He is rightly considered the symbol of administrative justice and its faithful habitat. With what it lays down the principles of legality, and with its prestige, strength, integrity, and well-established traditions, it can always confirm the guarantee of its aspired independence, and that the rule of law has a tool for its advancement, not separated from its conscience, bu

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Dec 21 2024
Journal Name
Al–bahith Al–a'alami
International Public Relations methods in building the state's image through Cyberspace
...Show More Authors

The researcher has studied in his research (International Public Relations methods in building the state's image through Cyberspace)
, analytical study of the Facebook and twitter pages for British foreign office , the role was played by the International Public Relations in building the mental image of British , especially after the new media and internet have became influential role in political life . and became an important tools used by political institutions as ministries of foreign affairs in the twenty: one century .
The researcher identified the problem of this study with the following question:
(what is the role of the International Public Relations in building the mental image of state through Cyberspace)
To answer

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Mon Jan 27 2020
Journal Name
Iraqi Journal Of Science
Quantum Image Watermarking Based on Wavelet and Geometric Transformation
...Show More Authors

Like the digital watermark, which has been highlighted in previous studies, the quantum watermark aims to protect the copyright of any image and to validate its ownership using visible or invisible logos embedded in the cover image. In this paper, we propose a method to include an image logo in a cover image based on quantum fields, where a certain amount of texture is encapsulated to encode the logo image before it is included in the cover image. The method also involves transforming wavelets such as Haar base transformation and geometric transformation. These combination methods achieve a high degree of security and robustness for watermarking technology. The digital results obtained from the experiment show that the values of Peak Sig

... Show More
View Publication Preview PDF
Scopus (12)
Crossref (1)
Scopus Crossref
Publication Date
Mon Jun 05 2023
Journal Name
Journal Of Engineering
Experimental Evaluation of the Performance of One-Axis Daily Tracking and Fixed PV Module in Baghdad, Iraq
...Show More Authors

An attempt was made to evaluate the PV performance of one-axis daily tracking and fixed system for Baghdad, Iraq. Two experimental simulations were conducted on a PV module for that purpose. Measurements included incident solar radiation, load voltage and load current. The first experiment was carried out for six months of winter half of year to simulate the one-axis daily tracking. The azimuth angle was due south while the tilt angle was being set to optimum according to each day of simulation. The second experiment was done at one day to simulate the PV module of fixed angles. It is found that there is a significant power gain of 29.6% for the tracking system in respect to the fixed one. The one-axis daily tracking was much more effect

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Mar 27 2023
Journal Name
Aip Conference Proceedings
Stability of Kongele earth dam against rapid drawdown of water from reservoir
...Show More Authors

ABSTRACT In dam construction stages when an earth embankment has retained a reservoir with constant water surface elevation for a long time, seepage conditions within the embankment will be reach a steady state. If it is necessary to drain the reservoir quickly, the pore-water pressures in the embankment may remain relatively high while the stabling effect of the reservoir's weight along the upstream (U/S) side for the embankment has removed. This process is referring to as "Rapid Drawdown" and may be cause instability in the upstream (U/S) face of the embankment. Kongele dam is one of the proposed earth dams to be implement within the current plan in Iraq. The authors study pore water pressure and the effect of rapid drawdown for the dam d

... Show More
View Publication Preview PDF
Publication Date
Fri Jan 19 2018
Journal Name
Journal Of Global Pharma Technology
Synthesis, Characterization and Study of Electrical Properties of Some New Aromatic Polyester
...Show More Authors

This research discloses the synthesis of various polyester resins, the polyesters containing homoring aromatic and others heterocyclic were synthesized by the condensation polymerization of suitable monomers (which are containing variety function groups in different structures) with phthalic anhydride. The main objective is synthesis of new polyester with keeping a reasonable electrical insulating behavior. The structural of polymer was characterized by Fourier Transform infra-red spectroscopy FTIR and HNMR. The dielectric constant (real ε' and imaginary parts ε") and AC conductivity (σAC) for all the polyester samples are studied by varying the frequency (30, 50, 70, 90, 120, 300, 500Hz and 1KHZ) at 25⁰ C. Indeed, study of the electri

... Show More
Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
Stability Analysis with Bifurcation of an SVIR Epidemic Model Involving Immigrants
...Show More Authors

There are many factors effect on the spread of infectious disease or control it,
some of these factors are (immigration and vaccination). The main objective of this
paper is to study the effect of those factors on the dynamical behavior of an SVIR
model. It is assumed that the disease is spread by contact between members of
populations individuals. While the recovered individuals gain permanent immunity
against the disease. The existence, uniqueness and boundedness of the solution of
this model are investigated. The local and global dynamical behaviors of the model
are studied. The local bifurcations and Hopf bifurcation of the model are
investigated. Finally, in order to confirm our obtained results and specify t

... Show More
View Publication Preview PDF
Publication Date
Tue Jan 30 2024
Journal Name
Iraqi Journal Of Science
Modeling and Analysis of A Prey-Predator System Incorporating Fear, Predator-Dependent Refuge, with Cannibalism In Prey
...Show More Authors

    The relationship between prey and predator populations is hypothesized and examined using a mathematical model. Predation fear, cannibalism among the prey population, and a refuge reliant on predators are predicted to occur. This study set out to look at the long-term behavior of the proposed model and the effects of its key elements. The solution properties of the model were investigated. All potential equilibrium points' existence and stability were looked at. The system's persistence requirements were established. What circumstances could lead to local bifurcation near equilibrium points was uncovered. Suitable Lyapunov functions are used to study the system's overall dynamics. Numerical simulations were conducted to verify the

... Show More
View Publication Preview PDF
Scopus Crossref