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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
Sun Jun 05 2016
Journal Name
Baghdad Science Journal
Sizing and Thermal Stability of Prepared Tetraaminophthalocyaninatocopper(II) Derivatives-grafted Polymers
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Different polymers were prepared by condensation polymerization of sebacic anhydride and adipic anhydride with ethylene glycol and poly(ethylene glycol). Their number average molecular weights were determined by end group analysis. Then, they were grafted on the prepared phthalocyaninatocopper(II) compounds with the general formula (NH2)4PcCu(II) having amino groups of 3,3',3'',3'''- or 4,4',4'',4'''- positions. All prepared polymers, compounds, and phthalocyaninatocopper(II)-grafted polymers were characterized by FTIR. The sizing measurements were carried out in 3,3',3'',3'''- (NH2)4PcCu(II) and 4,4',4'',4'''- (NH2)4PcCu(II) compounds with and without grafting polymers. The results showed that the grafting process led to decreasing in par

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Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
The Dynamics of Holling Type IV Prey Predator Model with Intra- Specific Competition
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In this paper a prey-predator model involving Holling type IV functional response
and intra-specific competition is proposed and analyzed. The local stability analysis of
the system is carried out. The occurrence of a simple Hopf bifurcation is investigated.
The global dynamics of the system is investigated with the help of the Lyapunov
function and poincare-bendixson theorem. Finally, the numerical simulation is used to
study the global dynamical behavior of the system. It is observed that, the system has
either stable point or periodic dynamics.

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Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
On The Dynamics of Discrete-Time Prey-Predator System with Ratio-Dependent Functional Response
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In this paper, a discrete- time ratio-dependent prey- predator model is proposed and analyzed. All possible fixed points have been obtained. The local stability conditions for these fixed points have been established. The global stability of the proposed system is investigated numerically. Bifurcation diagrams as a function of growth rate of the prey species are drawn. It is observed that the proposed system has rich dynamics including chaos.

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Publication Date
Sun Oct 01 2023
Journal Name
Baghdad Science Journal
Modeling and Analyzing the Influence of Fear on the Harvested Modified Leslie-Gower Model
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A modified Leslie-Gower predator-prey model with a Beddington-DeAngelis functional response is proposed and studied. The purpose is to examine the effects of fear and quadratic fixed effort harvesting on the system's dynamic behavior. The model's qualitative properties, such as local equilibria stability, permanence, and global stability, are examined. The analysis of local bifurcation has been studied. It is discovered that the system experiences a saddle-node bifurcation at the survival equilibrium point whereas a transcritical bifurcation occurs at the boundary equilibrium point. Additionally established are the prerequisites for Hopf bifurcation existence. Finally, using MATLAB, a numerical investigation is conducted to verify the va

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Publication Date
Mon Feb 20 2023
Journal Name
Baghdad Science Journal
Modeling and Analyzing the Influence of Fear on the Harvested Modified Leslie-Gower Model
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A modified Leslie-Gower predator-prey model with a Beddington-DeAngelis functional response is proposed and studied. The purpose is to examine the effects of fear and quadratic fixed effort harvesting on the system's dynamic behavior. The model's qualitative properties, such as local equilibria stability, permanence, and global stability, are examined. The analysis of local bifurcation has been studied. It is discovered that the system experiences a saddle-node bifurcation at the survival equilibrium point whereas a transcritical bifurcation occurs at the boundary equilibrium point. Additionally established are the prerequisites for Hopf bifurcation existence. Finally, using MATLAB, a numerical investigation is conducted to verify t

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Publication Date
Tue Feb 13 2024
Journal Name
Iraqi Journal Of Science
Stability and Bifurcation of Epidemic Model
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In this paper a mathematical model that describes the flow of infectious disease in a population is proposed and studied. It is assumed that the disease divided the population into four classes: susceptible individuals (S), vaccinated individuals (V), infected individuals (I) and recover individuals (R). The impact of immigrants, vaccine and external sources of disease, on the dynamics of SVIRS epidemic model is studied. The existence, uniqueness and boundedness of the solution of the model are discussed. The local and global stability of the model is studied. The occurrence of local bifurcation as well as Hopf bifurcation in the model is investigated. Finally the global dynamics of the proposed model is studied numerically.

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Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Preparation and Characterization of Polymer Blends/ Kaolinite Nanoclay
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     In this research, we prepared a polymer blend of polyvinylalcohol (PVA)/carrageenan/kaolinite by means of the solution cast approach. The composition of the blend was PVA in 1 gm by weight with 0.2 gm carrageenan as a plasticizer. The ratio of nanoclay varied between 1 and 5 wt%. Different properties were investigated in this study such as water vapor permeability, hardness, tear strength, color stability, thermal stability, and antibacterial activity. Water vapor permeability was decreased with increasing the ratio of nanoclay, while the values of hardness, tear strength, color stability, and thermal stability were increased. Also, the antibacterial activity examination with two types of bacteria, e.g.

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Publication Date
Tue Mar 14 2023
Journal Name
Iraqi Journal Of Science
On the Dynamics of Prey-Predator Model Involving Treatment and Infections Disease in Prey Population
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In this paper, a mathematical model consisting of the prey- predator model with treatment and disease infection in prey population is proposed and analyzed. The existence, uniqueness and boundedness of the solution are discussed. The stability analyses of all possible equilibrium points are studied. Numerical simulation is carried out to investigate the global dynamical behavior of the system.

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Publication Date
Sun Mar 01 2020
Journal Name
Journal Of Engineering
Effect of Dam Height on The Stability of Earth Dam (Case Study: Karolinka Dam)
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The Karolinka earth-fill dam was constructed between 1977 and 1984 on the Stanovnice river above the town of Karolinka in the region of Vsetínsko in Czech Republic. Because of leakage on the downstream dam face due to technological indiscipline when filling dam layers during the dam construction stage, there were some steps to improve state dam safety. The final rehabilitation is to construct the diaphragm walls from self-hardening cement-bentonite suspension along the length of the dam. In addition to connecting the gallery and abutment (2 × 25 m long) by using jet piles. The article presents numerical modeling of safety factor evaluation associated with the state of the dam body and foundation; before, and after seal

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Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
Study of rock slope stability of formation outcrops in Hamrin Anticline /NE Tikrit.
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This Study aims to engineering geological evaluation of Fatha and Injana Formations in northern Hamrin anticline throughout geological and engineering geological Survey including Preparing engineering geological map (Scale1:90000) and Studying rock Slopes Stability in (6) Stations ,representing all types of failures (taken place and possible).General Survey for rock Slopes included Classification and engineering description according to [1], [2]. The slopes in the area are Classified based on the direction of the Strike Slopes and Strike of beds into Parallel, Oblique Lateral and orthogonal Slopes according to [3].Classification and the Slope Types are Concordant Slope and discordant Slope . The rocks in the area consists of two engineer

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