This work is concerned with designing two types of controllers, a PID and a Fuzzy PID, to be used
for flying and stabilizing a quadcopter. The designed controllers have been tuned, tested, and
compared using two performance indices which are the Integral Square Error (ISE) and the Integral
Absolute Error (IAE), and also some response characteristics like the rise time, overshoot, settling
time, and the steady state error. To try and test the controllers, a quadcopter mathematical model has
been developed. The model concentrated on the rotational dynamics of the quadcopter, i.e. the roll,
pitch, and yaw variables. The work has been simulated with “MATLAB”. To make testing the
simulated model and the controllers m

        This study included a group of (15) chronic renal failure patients (CRF), an addition group of (15) healthy individual  was concluded in this study for control. Trace and essential elements ( Zn, Cu , Ca , K , Na) were measured by atomic absorption and flam analyzer in sera of CRF patients pre and post dialysis and control groups. The results showed a significant ( p < 0.05) increase in Zn and k+ concentration in sera of CRF patients pre and post dialysis compared to the control group. While there is a significant decrease for copper concentration in sera of CRF patients pre and post dialysis compared to the control group.       There was no significant alte

The fish assemblage structure in Al-Huwaizah marsh, southern of Iraq was assessed. Fish samples collected monthly by different fishing means from period December 2017 to November 2018. A total of 28959 individual of fish belonging to 9 families and 19 species were collected, 11 of them of native species and 8 of alien
species. The numerical dominance index value (D3) of the highest three abundant species comprised 74.26% of the total fish caught, included Planiliza abu (Al-Keshny) 38.2% ; Coptodon zilli (Tilapia red abdomen) 29.41% and Carassius auratus (Prussian carp) 6.65%. The total weight of fish caught 2,190,680 tan, highest weight 312,242kg achieved in July, while lowest weight 41,590 kg found in&nb

Background:    Hip fractures are common, morbid, and costly health events that threaten independence and function of older patients . Early functional recovery is extremely important for elderly patients with femoral intertrochanteric fractures to shorten their hospital stay, omit the necessity of the further nursing and care services, and reduce associated medical expenditures . Assessment of  (ADL) is an important predictor of outcomes Of orthopedic surgery in very early postoperative period at two weeks and a month postoperatively using Japanese orthopedic score get a quick recovery of ADL & return the patient to his or her premorbid level function reducing the morbidity and mortality.

Background: one of the complications of power bleaching is surface roughness of enamel which increases the possibility of post bleaching teeth discoloration. The aim of the present study is to evaluate the effect of toothpaste containing nano hydroxyapatite, NovaMin and kin sense fluoride on surface roughness of human tooth enamel after laser bleaching with 35% hydrogen peroxide bleaching gel. Materials and Methods: Twenty human enamel incisors were cleaned and their labial surface polished up to #1200, then categorized into four equal groups; first group kept without bleaching as a control group, while the remaining three experimental groups were bleached with 35% hydrogen peroxide, and each group treated with a restore paste containing o

Background: Because of the demands for aesthetic orthodontic appliances have increased, aesthetic archwires have been widely used to meet patient's aesthetic needs. The color stability of aesthetic archwires is clinically important, any staining or discoloration will affect patient’s acceptance and satisfaction. This study was designed to evaluate the color stability of different types of aesthetic archwires after immersion into different types of mouth washes. Materials and methods: Four brands of nickel titanium coated aesthetic arch wires: Epoxy coated (Orthotechnology and G&H) and Teflon coated (Dany and Hubit) were evaluated after 1 week, 3 weeks and 6 weeks of immersion into two types of mouthwashes (Listerine with alcohol and

In this paper, a polymer-based composite material was prepared by hand Lay-up method consisting of epoxy resin as a base material filled with by magnesium oxide powder once and silicon dioxide powder again and with different weight ratios (3%, 6%, 9%, 12%). The three-point bending test was performed in normal conditions and after immersion in sulfuric acid. The results showed that the bending value decreased with the increase of the weighted ratio of the filled nano powder (MgO, SiO₂) .The Bending of samples filled with by SiO₂ was found to be less than the bending of samples filled with by particles (MgO), the bending of the SiO₂ sample (0.32mm) at the weighted ratio (3%) and for the MgO (0.18mm) sample

Both normally developed insects and insects developed after cessation of eggs growth were
used in this work. Cessation of eggs growth occurred following abnormal conditions, which
lasted for 3.5 months before developing into adults, due to the war led by the U.S. and her
alliances against Iraq. These insects showed low rates of water contents and an active response
to water loss. Therefore their tolerance of desiccation was weak. In addition, they had an active
ability to restore their water loss quickly, after return them to a culture, this indicates that some
changes occurred in their integumentary properties were not permanent and took their turn
within one population only, but may or may not serve this population