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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
Sat Aug 01 2015
Journal Name
Journal Of Engineering
Stability and Dynamic Analysis of Laminated Composite Plates
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Buckling and free vibration analysis of laminated rectangular plates with uniform and non uniform distributed in-plane compressive loadings along two opposite edges is performed using the Ritz method. Classical laminated plate theory is adopted. The static component of the applied in- plane loading are assumed to vary according to uniform, parabolic or linear distributions. Initially, the plate membrane problem is solved using the Ritz method; subsequently, using Hamilton’s variational principle, linear homogeneous algebraic equations in terms of unknown are generated, the set of linear algebraic equations can be solved as an Eigen-value problem. Buckling loads for laminated plates with different combinations of bounda

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Publication Date
Sun Dec 06 2009
Journal Name
Baghdad Science Journal
Study of Stability of Personal Dosimeter
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The study is carried out by using personal dosimeters (film badge). The films are irradiated to absorbed dose of range (0.01-10000 rad). The calibration curves are drawn by using the ordinary method taking into account the filtration effects in three regions (D (Pb/Sn),D(Du),D(300). The calibration films are stored in ambient condition. It is found that the optical density increases, which is attributed to the photodegradation of the films may induce localized states in the energy gap causing increasing in optical absorption, but optical density decreases, which attributed to the photodegradation of the films may cause some cracks at the film surface during the first month, whereas at the rest months we see clear stability in optical d

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Publication Date
Wed May 25 2022
Journal Name
Iraqi Journal Of Science
Metal Complexes of Bis (2,6-diamine pyridine 2,5-hexanedione) Macrocyclic Schiff-Base Ligand: Preparation, Characterization and thermal study
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     New series of Schiff base macrocyclic complexes have been prepared through a new chemical approach. Firstly, ligand Bis (2,6-diamine pyridine 2,5-hexanedione (DP-HD)  prepared via reacting of 2,6-diamine pyridine (DP) with 2,5-hexanedione(HD) in molar ration (1DP:1HD). The complexes of this ligand include Mn (II), Fe (II), Co (II), Ni (II) and Cu (II) as central metal ions also prepared with a molar ratio of (1 ligand:1 metal ion). Metals chloride was used as raw materials for this preparation. A variety of spectral and physical techniques were applied to characterize the macrocyclic complexes such as 1H-NMR, FT-IR, UV-Vis, CHN analysis, conductivity, Atomic absorption and magnetic susceptibility. Depending on spectral and magn

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Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Science
The Effect of Mutual Interaction and Harvesting on Food Chain Model
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       This paper treats the interactions among four population species. The system includes one mutuality prey, one harvested prey and two predators. The four species interaction can be described as a food chain, where the first prey helps the second harvested prey. The first and the second predator attack the first and the second prey, respectively, according to Lotka-Volterra type functional responses. The model is formulated using differential equations. One equilibrium point of the model is found and analysed to reveal a threshold that will allow the coexistence of all species. All other equilibrium points of the system are located, with their local and global stability being assessed. To back up the conclusions of the mathema

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Publication Date
Wed May 08 2024
Journal Name
Journal Of Mathematics And Computer Science
How does media coverage affect a COVID-19 pandemic model with direct and indirect transmission?
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In this paper, a compartmental differential epidemic model of COVID-19 pandemic transmission is constructed and analyzed that accounts for the effects of media coverage. The model can be categorized into eight distinct divisions: susceptible individuals, exposed individuals, quarantine class, infected individuals, isolated class, infectious material in the environment, media coverage, and recovered individuals. The qualitative analysis of the model indicates that the disease-free equilibrium point is asymptotically stable when the basic reproduction number R0 is less than one. Conversely, the endemic equilibrium is globally asymptotically stable when R0 is bigger than one. In addition, a sensitivity analysis is conducted to determine which

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Publication Date
Mon Aug 21 2023
Journal Name
Communications In Mathematical Biology And Neuroscience
Delay in eco-epidemiological prey-predator model with predation fear and hunting cooperation
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It is recognized that organisms live and interact in groups, exposing them to various elements like disease, fear, hunting cooperation, and others. As a result, in this paper, we adopted the construction of a mathematical model that describes the interaction of the prey with the predator when there is an infectious disease, as well as the predator community's characteristic of cooperation in hunting, which generates great fear in the prey community. Furthermore, the presence of an incubation period for the disease provides a delay in disease transmission from diseased predators to healthy predators. This research aims to examine the proposed mathematical model's solution behavior to better understand these elements' impact on an eco-epidemi

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
The Impact of Fear and Prey Refuge on the Dynamics of the Food Web Involving Scavenger
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        In this paper, the effects of prey’s fear on the dynamics of the prey, predator, and scavenger system incorporating a prey refuge with the linear type of functional response were studied theoretically as well as numerically approach. The local and global stabilities of all possible equilibrium points are investigated. The persistence conditions of the model are established. the local bifurcation analysis around the equilibrium points, as well as the Hopf bifurcation near the positive equilibrium point, are discussed and analyzed. Finally, numerical simulations are carried out, and the obtained trajectories are drowned using the application of Matlab version (6) to explain our found analytical

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Publication Date
Mon Sep 10 2018
Journal Name
Iraqi Journal Of Physics
Influence of cobalt substitution on the properties of Ni0.95-xCoxCu0.05Fe2O4 ferrite nanoparticles
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Cobalt substituted nickel copper ferrite samples with general formula Ni0.95-xCoxCu0.05Fe2O4, where (x= 0.00, 0.01, 0.02, 0.03, 0.04 and 0.05) were prepared by solid-state reactions method at 1373 K for 4h. The samples prepared were examined by X-ray diffraction (XRD(, atomic force microscope (AFM), Fourier transform infra-red spectroscopy (FTIR) and Vickers hardness. X-ray diffraction patterns confirm the formation of a single phase of cubic spinel structure in all the prepared samples . XRD analysis showed that the increase in the cobalt concentration causes an increase in the lattice constant, bulk density (ρm) and the x-ray density (ρx), whereas porosity (p) and crystallite size (D) decrease. The Topography of the surface observed

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Publication Date
Sat Aug 31 2019
Journal Name
Iraqi Journal Of Physics
Nuclear Structure Investigation of Some Ni-Isotopes Using Skyrme-Hartree-Fock Method
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     The nuclear ground-state structure of some Nickel (58-66Ni) isotopes has been investigated within the framework of the mean field approach using the self-consist Hartree-Fock calculations (HF) including the effective interactions of Skyrme. The Skyrme parameterizations SKM, SKM*, SI, SIII, SKO, SKE, SLY4, SKxs15, SKxs20 and SKxs25 have been utilized with HF method to study the nuclear ground state charge, mass, neutron and proton densities with the corresponding root mean square radii, charge form factors, binding energies and neutron skin thickness. The deduced results led to specifying one set or more of Skyrme parameterizations that used to achieve the best agreement with the available experimental

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Publication Date
Wed Aug 30 2023
Journal Name
Iraqi Journal Of Science
On the Stability of Four Dimensional Lotka-Volterra Prey-Predator System
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The aim of this work is to study a modified version of the four-dimensional Lotka-Volterra model. In this model, all of the four species grow logistically. This model has at most sixteen possible equilibrium points. Five of them always exist without any restriction on the parameters of the model, while the existence of the other points is subject to the fulfillment of some necessary and sufficient conditions. Eight of the points of equilibrium are unstable and the rest are locally asymptotically stable under certain conditions, In addition, a basin of attraction found for each point that can be asymptotically locally stable. Conditions are provided to ensure that all solutions are bounded. Finally, numerical simulations are given to veri

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