Abstract

This research presents a on-line cognitive tuning control algorithm for the nonlinear controller of path-tracking for dynamic wheeled mobile robot to stabilize and follow a continuous reference path with minimum tracking pose error. The goal of the proposed structure of a hybrid (Bees-PSO) algorithm is to find and tune the values of the control gains of the nonlinear (neural and back-stepping method) controllers as a simple on-line with fast tuning techniques in order to obtain the best torques actions of the wheels for the cart mobile robot from the proposed two controllers. Simulation results (Matlab Package 2012a) show that the nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is m

A mathematical model is developed which predicates the performance of cylindrical ion exchange bed involving comparing of axial dispersion model for cation exchange column with different assumption, this model permits the performance to predicate the residence time within the bed with the variance, axial dispersion and Pecklet No. to indicated deviation from plug flow model.

      Two type of systems are chosen for positive ions first with divalent ions (Ca⁺²) to exchange with resin of Na⁺¹form used as application in  water softener units and second with monovalent ions (Na⁺¹) to exchange with resin of H⁺¹ form used as application in deionize water units &n

Objective the research is to identify Over the Commitment of a Rushed Bank in Baghdad has applied social responsibility in accordance with ISO 26000 by measuring and diagnosing the gap between the actual reality in the bank and the requirements of the standard.

This paper studies the effects of stiffeners on shear lag in steel box girders with stiffened flanges. A three-dimensional linear finite element analysis using STAAD.Pro V8i program has been employed to evaluate and determine the actual top flange stress distribution and effective width in steel box girders. The steel plates of the flanges and webs have been modeled by four-node isoparametric shell elements, while the stiffeners have been modeled as beam elements. Different numbers (4, 8, and 15) for the steel stiffeners have been used in this study to establish their effects on the shear lag and longitudinal stresses in the flange. Using stiffeners reduced the magnitude of the top flange longitudinal stresses about 40%, but did

    Biomedical signal such as ECG is extremely important in the diagnosis of patients and is commonly recorded with a noise. Many different kinds of noise exist in biomedical environment such as Power Line Interference Noise (PLIN). Adaptive filtering is selected to contend with these defects, the adaptive filters can adjust the filter coefficient with the given filter order. The objectives of this paper are: first an application of the Least Mean Square (LMS) algorithm, Second is an application of the Recursive Least Square (RLS) algorithm to remove the PLIN. The LMS and RLS algorithms of the adaptive filter were proposed to adapt the filter order and the filter coefficients simultaneously, the performance of existing LMS

In this study, a review of variety of processes that are used in the treatment produced water prior to reuse or to responsible disposal are presented with their environmental issues and economical benefits. Samples of produced water from five locations in Rumaila oilfield/in south of Iraq were taken and analyzed for their contents of brine, some heavy metals, total suspended solids and oil and grease. Moreover, two samples of water were treated using reverse osmosis technique which showed its ability to treat such contaminated water. The results showed that the environmental impact of produced water arises from its chemical composition; i.e., its salt content, its heavy metals, and hydrocarbon contents.

The study aimed to determine the impact of energy for the north and south magnetic poles on the the growth of bacteria isolated from cases of tooth decay, 68 swabs were collected from surfaces of faulty tooth, the detected of Staphylococcus aureus

The study aimed to increase the biological value of white bean. The effect of different concentrations 0.01 ,0.02,0.03,and 0.04 M of sodium sulfite solutions for 1hr at 70 ºC on the trypsin inhibitors activity, protein isolate and protein solubility of complete and dehulling white bean flour were studied.Trypsin inhibitors activity were reduced by 42.97, 58.69, 68.59 and 69.58% in complete white bean flour at 0.01 ,0.02, 0.03, 0.04 M respectively, while the corresponding values were 50.43, 61.00, 75.61 and 85.66% respectively in dehulling white bean flour .Protein isolate value was 13.41% and protein solubility was 2.2% in control sample, Furthermore, the using of chemical treatment showed that protein isolate was reduced gradually and

The effect of the magnetic abrasive finishing (MAF) method on the temperature rise (TR), and material removal rate (MRR) has been investigated in this paper. Sixteen runs were to determine the optimum temperature in the contact area (between the abrasive powder and surface of workpiece) and the MRR according to Taguchi orthogonal array (OA). Four variable technological parameters (cutting speed, finishing time, working gap, and the current in the inductor) with four levels for each parameter were used, the matrix is known as a L16 (4⁴) OA. The signal to noise ratio (S/N) ratio and analysis of the variance (ANOVA) were utilized to analyze the results using (MINITAB17) to find the optimum condition and identify the significant p

For aspirin estimated, a molecularly imprinted polymer MIP-ASP electrodes were generated by electro-polymerization process, the electrodes were prepared by combining the template (aspirin) with (vinyl acetate (VA), 1-vinylimidizole (VIZ) as a functional monomer and N, N-methylene bisacrylamide (MBAA) as crosslinkers using benzoyl peroxide (BPO) as an initiator. The efficiency of the membrane electrodes was analyzed by differential pulse voltammetry (DPV). Four electrodes were synthesized using two different plasticizers, di-butyl sebacate (DBS), di-octyl phthalate (DOP) in PVC matrix. Scanning electron microscopy (SEM) was used to describe the generated MIP, studying the electrodes properties, the slope, detection limit, and life

يستهدف البحث تحديد مشكلات استخدام الإرشاد الزراعي الرقمي في تقديم الخدمة الإرشادية الزراعية من وجهة نظر المُرشدين الزراعيين، وقد شمل مجتمع البحث جميع المُرشدين الزراعيين العاملين في دائرة الإرشاد والتدريب الزراعي، ومركز التدريب والتأهيل، والمركز الإرشادي التدريبي الزراعي، ومزرعة الطارمية النموذجية، وكذلك مزرعة الراشدية النموذجية في محافظة بغداد، وقد ضم مجتمع البحث (100)

  أجريت تجربة حقلية على نبات النعناع الفلفلي في أحدى المحطات البحثية لكلية علوم الهندسة الزراعية- جامعة بغداد – للمدة من آذار- تموز 2021 بهدف دراسة دور الرش الورقي لليوريا والأحماض الأمينية النانوية ومستخلص الخميرة تحت شدتي إضاءة مختلفة في النمو وحاصل الأوراق. تتكون التجربة من عاملين، الأول يمثل نوع البيئة: الحقل المفتوح (100% إضاءة) ، (50% ظل  50%إضاء

This research Sheds highlights the procedural protections that must be enjoyed by the consumer in the face of the product, which is the protection of no less dangerous than the substantive protection of our obligations and duties delivered by the legislature upon the product of consumer interest, what is the benefit of the right if the access road to him complicated, so know The consumer has a right to the face of the product, but leaves the claim, either to ignorance For access to this right either to the difficulty of connecting to him.
That this research modest attempt we tried through which to focus on the way to the consumer behavior of arrived right, as we tried to highlight the weaknesses and the complexity of the procedure to

In the last years, new non-invasively laser methods were used to detect breast tumors for pre- and postmenopausal females. The methods based on using laser radiation are safer than the other daily used methods for breast tumor detection like X-ray mammography, CT-scanner, and nuclear medicine.  

      One of these new methods is called FDPM (Frequency Domain Photon Migration). It is based on the modulation of laser beam by variable frequency sinusoidal waves. The modulated laser radiations illuminate the breast tissue and received from opposite side.

      In this paper the amplitude and the phase shift of the received signal were calculated according to the orig

This study was conducted in the fish hatchery of Al-Suwayrah/ Department of Animal Resources/ Wasit/ Al-Suwayrah district, Iraq. 200 common carp fish with an initial average weight of 52 ± 0.00 grams per fish were fed on four experimental diets with two replicates each. The results showed that treatment T2 outperformed, followed by treatments T3 and T4, compared to the control treatment. The reason for the superiority of the second treatment may be attributed to the presence of a (33%) ratio of fish by-product powder, indicating the potential for replacing animal protein powder with fish by-product powder, along with 25% of stomach powder. This enhanced the nutritional value of the treatment, and the fish accepted the feed, whic

This paper shows an approach for Electromyography (ECG) signal processing based on linear and nonlinear adaptive filtering using Recursive Least Square (RLS) algorithm to remove two kinds of noise that affected the ECG signal. These are the High Frequency Noise (HFN) and Low Frequency Noise (LFN). Simulation is performed in Matlab. The ECG, HFN and LFN signals used in this study were downloaded from ftp://ftp.ieee.org/uploads/press/rangayyan/, and then the filtering process was obtained by using adaptive finite impulse response (FIR) that illustrated better results than infinite impulse response (IIR) filters did.

This study was conducted at the College of Agricultural Engineering Sciences at the University of Baghdad. It lasted from November 15, 2022, until January 15, 2023. to determine the effect of replacing soybean meal with Azolla plant in the concentrated diet at a rate of 0%, 4%, 8%, and 12% on the properties of rumen fluid, the number of bacteria and protozoa, the coefficient of digestion of nutrients, and some blood properties for Awassi lambs. Twenty Awassi lambs were used, their weights ranged between 18 and 19 kg and their ages ranged from 3 to 4 months. They were housed in individual cages and fed a concentrated feed at 2.5% of body weight in the morning meal while roughage (barley straw) was provided freely.

       The study aimed to extract phenolic and flavonoid compounds from pomegranate seeds and banana peels by microwave technology, where the percentages of phenolic compounds in pomegranate seeds and banana peels were 40.60 and 32.27 mg GAE/g dry weight, respectively, while the flavonoid compounds were in pomegranate seeds and banana peels 2.48 and 17.8 mg catechins/g  dry weight, and they were diagnosed using a High-performance liquid chromatography(HPLC) Technique device, and it was found that there is a number of phenolic compounds included (galic acid, caffeic acid, chlorogenic and ellagic acid), while flavonoid compounds included (catechins, quercetin, cou

            The chemical composition of both the leaves and stems of the Portulaca oleraceae L was evaluated the protein content of the leaves was slightly higher than the stems in  Portulaca oleraceael, content of leaves were 4.025%, was slightly higher than stems 3.952%, as for the percentage of total fat, it turned out that the leaves contain a higher fat percentage than the stems and was as follows: The proportion of total fat content in leaves 0.4998%  was higher than stems  0.3 68%.

            the moisture content in the leaves and stem was 71.6% an

A field experiment was carried out at the research station of the College of Agriculture - Wasit University / Kut, during the fall season 2021 in soil with texture (sandy mixture) using the RCBD design in the arrangement of splintered plates and with three replications, to study the effect of spraying different combinations of organic emulsion (Appetizer) and NPK nano fertilizer with urea fertilizer on the growth of synthetic cultivars of yellow corn. The main panels included three synthetic varieties of yellow corn (Fajr1, Sumer and Baghdad3), which symbolized by (V1,V2,V3) in sequence, while the secondary panels included five fertilization treatments in which mineral fertilizer (urea) was used 46% nitrogen with the full recomme

           This study was conducted at the University of Baghdad, College of Agricultural Engineering Sciences, with the aim of extracting laccase enzyme from the bowels of termites. The concentration method was used by precipitation (with ammonium sulfate) with gradient saturation rates from 30% to 80%. The results showed that the highest effectiveness was at the saturation rate of 80%, reaching 5.991 units/mg, dialysis reaching 3.763 units/mg, and gel filtration reaching 7.644 units/mg. m and ion exchange amounted to 5.867 units/mg. The results of purification by gel filtration showed one distinct protein peak, and the ion exchange chromatography technique was used, as three pro

Cystic echinococcosis (CE) is an endemic disease that causes serious disease and economic loss in the majority of countries around the world. The aim of the present study was to determine the effects of disease on some haematological, biochemical and immunological parameters in Iraqi patients with hydatid cyst. The study included 50 CE patients which their samples were collected from several hospitals in Baghdad, Iraq, for CE removal surgery and 50 healthy controls. The serum was collected from January 2022 to June 2023. The patients group ranged in age was 20–55 years. Rural patients were infected at a higher rate than urban patients (58.00% and 42.00%, respectively), The lung was the most aff

ABSTRACT                

The multi-drug resistant efflux pump is a glycoprotein pump whose function is to push foreign substances. The efflux pump is found in humans, animals. It also has wide-ranging properties in  bacteria and fungi. They are found in all species of bacteria, and efflux pump genes can be found in bacterial chromosomes or mobile genetic elements, such as plasmids. The most sensitive function that leads to a global problem is its resistance to antibiotics in bacterial cells, which increases the ability to bacteria from becoming strong virulence factors that most or all antibiotics cannot kill. It also has othe

Liquid electrodes of domperidone maleate (DOMP) imprinted polymer were synthesis based on precipitation polymerization mechanism. The molecularly imprinted (MIP) and non-imprinted (NIP) polymers were synthesized using DOMP as a template. By methyl methacrylate (MMA) as monomer, N,Nmethylenebisacrylamide (NMAA) and ethylene glycol dimethacrylate (EGDMA) as cross-linkers and benzoyl peroxide (BP) as an initiator. The molecularly imprinted membranes were synthesis using acetophenone (APH), di-butyl sabacate (DBS), Di octylphthalate (DOPH) and triolyl phosphate (TP)as plasticizers in PVC matrix. The slopes and limit of detection of l

A field study was conducted on a sample of the public in Baghdad to study the audience's exposure to the television promotion of pharmaceutical products and their trends in order to determine the rate of exposure of the public to the television promotion of pharmaceutical products according to the theory of uses and rumors and to determine the public's attitudes towards television promotion of pharmaceutical products. A survey of (25) a questions was distributed to a sample of the audience of 150 people. The statistical program SPSS was used to unload the data and for the calculation of frequencies and percentages and correlation coefficients. The research reached several results, Most importantly, the television promotion is well receiv

This research deals with the relationship between television advertising and buying random cosmetics, where we find that TV ads influence on the purchasing behavior of women, has conducted research in the field on a sample of women in the University of Baghdad, was a random sample taken from 150 different women in the age and social levels educational and cultural students and employees and teachers in order to sample representative be for the research community, and designed a questionnaire for this purpose form as a tool to collect data and information search and analyzed they answered the sample surveyed using a statistical program (spss) to extract percentages And correlation coefficients and testing square Kay , The study found Of w

This study was conducted at the Faculty of Agricultural Engineering Sciences/ Plant Protection Department, University of Baghdad ـــ Jadriya, with the aim of isolating and diagnosing bacteria molecules from samples of Cuscuta sp.(stems and seeds) intruding on different plants, diagnosing Cuscuta sp. molecules and testing the effect of bacteria in the germination of Ocimum sp. and Cuscuta sp. seeds .The results of isolating and diagnosing bacteria from samples of Cuscuta sp.(stems and seeds) intruding on the plants Conocarpus, Chenopodium and Cynanchum showed the obtaining of three types of

            The experiment was conducted in the Fish Laboratory for Postgraduate Studies at the University of Baghdad, College of Agricultural Engineering Sciences. A total of 140 fish were used and reared for 70 days. The fish were randomly distributed into seven experimental groups. These groups included the addition of dried Artemia to the second, third, and fourth groups at a rate of 50% of fishmeal powder. Fish internal organ powder was added to the third and fourth groups at rates of 25% and 50%, respectively, of fishmeal powder. Frozen Artemia was also added to the fifth, sixth, and seventh groups at a rate of 50% of fishmeal powder, and fish internal organ powder was

This study aimed to evaluate the performance of the BAERCAT shredder during shredding some farm waste to reduce its size and produce unconventional animal feed. A split-split plot design used to implement the experiment with three factors, first factor was the cutting knife type with two levels serrated edge and a smooth edge, the second factor was feeding speeds with two levels (5.5 and 9.5 rpm), and the third factor was types of crop waste with two levels (palm fronds and corn stalks) with three replicates. The cutting speed was fixed during the experiment (1450 rpm). Some machine performance indicators were studied, including machine productivity, total required power, specific energy and Powe

         In order to estimate the energy cost and system efficiency for solar drip irrigation system. The experiment was carried out at the Al-Raed research station located in the Abu Ghraib area, west of Baghdad, for the fall season of 2023. A randomized complete block design (RCBD) with three replicates was used the least significant difference of 0.05 was used. The experiment consisted of three factors: The first factor was the solar panel type with two levels: monocrystalline and polycrystalline. The second factor was operating pressure of Irrigation system with two levels P1 (0.25 bar) and P2 (0.5 bar). The third factor was the dripper type with three levels: T1(4 L/hr