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

Breast cancer becomes a major threat to female health, many reports refer to a high incidence of breast cancer in Iraq; especially, in the last years. The micro RNA-370 molecules have not been reported in Iraqi cancer patients. Our objective in this study was to identify the expression of micro RNA-370 molecules in breast cancer patients as an early detection biomarker of breast tumors and detect its relation with clinicopathological characters of breast cancer patients. Fifty fresh tissue samples were collected from benign and malignant breast patients in addition to ten normal tissue samples collected as a control group, the age ranged was(19 - 77) years for patients. The miR-370 gene expression level was measured by the quantitative r

Calculations of sputtering yield for Lithium,Sodium and Krypton bombarded by the same own ions are achieved by using TRIM program.The relation of angular dependent of sputtering yield for each ion/target is studied. Also, the dependence of the sputtering yield of target on the energy of the same ion is discussed and plotted graphically. Many researchers applied polynomials function to fit the sputtering data from experimental and simulation programs, however, we suggest to use Ior function for fitting the angular distribution of the sputtering yield. A New data for fitting coefficients of the used ion/target are presented by applying used function for the dependence of the sputtering yield on the ion energy.

   The study aimed to find out the relationship between the dimensions of internal control systems and the availability of an effective governance framework in the Sudanese banks. The study used descriptive and analytical method for collecting and analyzing the study data using SPSS program. The questionnaire was used as an analysis tool. The target sample of Sudanese bank employees, the study found several results, including that the bank avoids methods that lead to the rational use of available resources, and identifies and separation of tasks among employees, in addition to rapid response to reports The study found several recommendations, including the need for a list of banks that are sufficiently flexible and comp

Geotechnical characterization of the sites has been investigated with the collection of borehole data from different sources. Using the data, grain size distribution curves have been developed to understand the particle size distribution of the alluvium present. These curves were further used for preliminary assessment of liquefiable areas. From geotechnical characterization, it has been observed that the soil profile in the two sites is dominated by sand and silty sand.Seed and Idriss (1971) approachhas been usedevaluatethe liquefaction potentialbydeterminationof the relation between the maximum ground acceleration (a max/g) valuesdue to an earthquake and the relative density of a sand deposit in the field. The results reveal that

Actinopolyspora iraqiensis IQ-H1 is a novel strain of actinobacteria isolated from extremely halophilic soil samples in Iraq. The whole-genome sequence of this strain is deposited in the National Center for Biotechnology Information (NCBI) GenBank under the accession number NZ_AICW01000000. In this study, the genome features and the molecular phylogenetic tree of Act. iraqiensis IQ-H1are analyzed. The RAST tool was used for genome annotation. The genomic features were elucidated using QUAST tool. The circular genome map, and the core and pan-genome map of Act. iraqiensis IQ-H1 was generated using CGView and the GView tools respectively. The JSpeciesWS server was used for the tetranucleotide signature analysis a

      It is useful to analyze any optical system theoretically before proceeding with its design in order to ensure the effectiveness of the design through computer simulations that are important and useful in designs for the ability to predict the performance of solar concentrator under any conditions.  For this design, non-sequential ray tracing mode wasused in the Zimax program with a light source that simulated solar radiation.  The purpose of the design of a compound parabolic concentrator (CPC) is to take advantage of the solar radiation that falls on it without the need for an efficiently tracked system within certain limits of the angle of solar radiation fall known as the acceptance angle.&nbsp

        Vitamin K is a fundamental enzymatic co-factor implicated in the carboxylation of several vitamin K dependent proteins involved in the pathogenesis of certain age – related diseases. Inflammation is realized as an important factor in such diseases. Vitamin K is recognized to play an anti-inflammatory behavior that is distinct of its action as an enzymatic co- factor by suppressing many signaling pathways mainly the nuclear factor κB (NF-κB) signal transduction pathway. As well as to play a role as an antioxidant versus the generation of reactive oxidative species (ROS). The purpose of this review is to focus on the protective function of vitamin K as an anti-inflammatory agent

Ceruloplasmin is considered the main copper transport protein which is proposed to have a role in cancer. Ceruloplasmin is an acute phase reactant and antioxidant enzyme, has been found to be increased in sera of patients with several types of cancers including breast cancer.

The aim of present study was to determine of ceruloplasmin oxidase activity, specific activity, iron concentration in sera of patients with breast cancer and comparing with healthy group, and the ability of using enzyme as a tumor marker for breast cancer.

This study was performed from November 2018 to January 2019, blood samples were collected from breast cancer patients in Nanakeli Hospital in Erbil city. Study was included (65) female patients wit

Background: intravenous regional anaesthesia (IVRA) is an effective method of producing anaesthesia of the extremities. Disadvantages are the rapid loss of anaesthesia after the deflation of the tourniquet and the rapid development of postoperative pain. It is important to search for agents with longer durations of action, better nerve fibre selectivity, lesser degrees of motor blockade and lower incidences of systemic toxicity.Objectives: This study was designed to evaluate and compare the clinical effects of intravenous regional anaesthesia, with lidocaine alone, or in a combination with ketamine and atracurium for better analgesia, and to examine the possible clinical advantages of using muscle relaxants (i.e., atracurium) with intrav

Al-Dalmaj marsh is one of the most important marshes in Iraq; it extends from Al-Qadisiyah Province in the west to Wasit Province in the east, south of the Tigris and Euphrates Rivers. In order to study the malacological diversity of this site, a survey of the marsh molluscs species was made during this study. About 177 specimens were collected, seven species of gastropods belonging to six families and two species of Bivalves belonging to one family were identified, remarks on the nomenclature, taxonomy and distribution of these species. According to this study Al-Dalmaj Marsh includes diverse molluscs species and the presented results will provide important information for future studies concerned with the molluscs or Invertebrates biod

Recent technological developments in the mass media a major paradigm shift in important segments of society, particularly among young people in particular social networking sites including (Facebook) .
it was able to link the sprawling parts of the world and paved the way for all the communities of convergence and exchange views, ideas and desires as provided by their ability to communicate through the use of video clips,pictures,share files, chat, communicate and direct interaction between the audience for this the means. Wondered problem Find the role that can be played using the university youth to the social networking site (Facebook ) to modify their attitudes or their interest in Iraqi society issues, With focused research objec

When writing about the Emirate of Hajj in the Arab Islamic State, one must stop at the time period of Caliph Al-Mansour

BACKGROUND : Bifurcational coronary lesions are
frequent and amounts to almost one fifth of routine
practice concerning up to 15 – 20 % of cases .
Revascularization by percutaneous coronary
intervention ( PCI ), of bifurcational lesion has
become easier by stenting yet it remains a frequent
challenge.
OBJECTIVE : To evaluate the success and hospital
complications of two most frequent technique of stent
deployment in bifurcational PCI.
METHODS : We prospectively analysed the data of
140 consecutive patients with bifurcational PCI at
Ibn_Al-Bitar Hospital for cardiac surgery for the
period from July 2008 to July 2009 .
Depending on whether the side branch was stented or
not, the patient has fa

Background: One of the most common problem associated with the used of soft denture lining material is microorganisms and fungal growth especially Candida albicans, which can result in chronic mucosal inflammation. The aim of this study was to evaluate the influence of chlorhexidine diacetate (CDA) salt Incorporation into soft denture lining material on antifungal activity; against Candida albicans, and the amount of chlorhexidine di-acetate salt leached out of soft liner/CDA composite. Furthermore, evaluate shear bond strength and hardness after CDA addition to soft liner Materials and methods: chlorhexidine diacetate salt was added to soft denture lining material at four different concentrations (0.05%, 0.1% and 0.2% by weight). Four hund

الحمد لله رب العالمين، والصلاة والسلام على خير خلق الله سيد المرسلين وخاتم النبيين سيدنا محمد وعلى آله وصحبه الطيبين الطاهرين.. إن دراسة العلاقة بين علم المنطق وعلم الكلام من الابحاث المهمة، وتكمن أهمية البحث في كون علم المنطق يمثل الجانب النظري والقواعدي للعلوم العقلية عموماً، ولعلم الكلام خصوصاً، ويسهم هذا البحث في تحقيق وبيان المنهجية العلمية المنطقية المطلوبة في علم الكلام، بعد معرفة الموقف الشرعي من

تكون البحث من مبحثين وستة مطالب، إذ تم تسليط الضوء على قرار محكمة الأحوال الشخصية في السليمانية حول الظهار، وتضمن الكلام على حرمة الظهار بآيات من القرآن الكريم، كما تناول أركان الظهار وشروط أركانه، وذكر قرار محكمة الأحوال الشخصية وما جاء فيه، وتبين أن القرار مخالف لآراء الفقهاء..

Accurate prediction of electromagnetic moments in odd-A nuclei near doubly magic cores is challenging due to their sensitivity to core polarization and single-particle structure. This study investigates the predictive performance of Skyrme-HFB (SLy4) against shell model (SM) calculations for quadrupole moment (Q₂₀) and magnetic dipole (M₁₀) in the selected nuclei (¹⁷O, ¹⁷F, ³⁹Ca, ³⁹K, ⁴⁷Ca, ⁴⁹Sc, ¹³¹In, ¹³³Sb, ¹³³Sn, and ²⁰⁹Bi) near doubly magic cores using the Hartree-Fock-Bogoliubov (HFB) method and the SM method. The SLy4 interaction was used in HFB calculations. On the other hand, SM cal

The construction industry is a major contributor to resource depletion, environmental degradation, waste production, and greenhouse emissions, which makes it necessary to adopt alternative development models. The Circular Economy (CE) has become one of the potential strategies of resource conservation, waste reduction, and environmental equilibrium restoration. This paper aims to provide a systematic literature review of the CE principles by analyzing research papers and articles in scientific journals and some university theses, encompassing the R-Principles (Reduce, Recycle, Reuse, Refuse, Rethink, Repair, Repurpose, Remanufacture, And Recovery), together with principles related to design and production, use and consum

This study intends to evaluate the accuracy and reliability of satellite data from the NASA POWER project in capturing important climatic variables, which are precipitation and air temperature, compared with data collected from the National Climate Data Center (NCDC) ground-based weather stations located in the Khassa Chai River basin. The basin has a topographic gradient beginning on the northeastern highlands and sloping towards the southwest. The Khassa Chai River Basin experiences a semi-arid climate, with hot, dry summers and relatively cold and wet winters. Daily precipitation and temperature records (2010–2024) were collected from four weather stations, in addition to records from the NASA POWER recording at the

يهدف البحث إلى بيان حقيقة مصطلح يُكتب حديثه ولا يُحتج به عند أئمة الجرح والتعديل، وتوضيح منزلته بين مراتب الرواة، مع إبراز علله وأوجه الافادة منه في الشواهد والمتابعات من دون الاعتماد عليه استقلالًا. إذ يشير مصطلح يُكتب حديثه ولا يُحتج أن الراوي في منزلة وسطى بين القبول والرد. ويأتي هذا الوصف في المرتبة الثانية بعد الثقات العدول، إذ يعد أدنى مراتب التعديل وأعلى من الضعف المطلق، وقد وضع الأئمة هذا الحكم لأسب

وردت ثمة أحاديث في بعض الكتب الحديثية خالفت القياس ولا يجري عليها العمل، وكان ذلك أحد أوجه الخلاف بين المذاهب الفقهية المعتمدة لدى أهل السّنة والجماعة، ومن تلك المصنفات الحديثية: سُنن النسائي الصغرى؛ فكانت الدراسة أنموذجًا عن: الأحاديث التي قيل بمخالفتها للقياس في سُنن النسائي الصغرى: دراسة حديثية فقهية، وانتقيت أربعة موضوعات منها، وهي: خيار البيع، والمساقاة، والسلم، وحق الشفعة، وذلك على سبيل التمثيل، وت

إن التداولية -في تعريفها الأوسع- هي دراسة اللغة في الاستعمال، وهي -في تفسيرها الأشمل- دراسة الفعل الإنساني القصدي، وعليه فإنها تنطوي على تفسير أفعال يفترض القيام بها لإنجاز غرض معين، وهو ما يعرف بــ(نظرية أفعال الكلام) التي يعدها اللسانيون مرادفة للتداولية في نشأتها الأولى، وتعد أفعال الكلام التوجيهية أحد الأصناف الخمسة بحسب تصنيف سيرل لأفعال الكلام وتتمثل في أفعال التكليف. ويسعى هذا البحث إلى دراسة الأفعا

اخترت الظواهر الصوتية في سورة الذاريات من القرآن الكريم؛ وذلك لكثرة الظواهر الصوتية في هذه السورة، وممّا لا شك فيه أنه لا تخلو أي سورة من سور القرآن الكريم من وجود هذه الظواهر الصوتية، ولكنها -على حدّ علمي وتتبعي- لم تُدرس من قبل بصورة مفصلة، لذلك اخترت دراستها من سور القرآن الكريم، إذ وجدت ذكر الفاصلة مع التنوع بالقراءات والتكرار بأشكال عدة في سورة الذاريات، وتضمنت خطة البحث ثلاثة مباحث، الأول للتعريف بالس

The impact resistance of bimetallic materials is a critical aspect of engineering, particularly in the aerospace and automotive industries. Notched geometries are often encountered in real-world scenarios due to manufacturing defects or intentional design features. The present work investigates the impact resistance and fracture behavior of Al/Cu bimetallic sheets, focusing on the influence of notches on fracture energy, the fracture process zone, and overall failure mechanisms. For interpretation and analyses purposes, the impact test results were integrated with SEM fractographic analysis and the Essential Work of Fracture (EWF) framework. Four notch dimensions of U and V geometries were tested. Experimental results in

موخرا اكتسبت نماذج التكامل المتعلقة بتخطيط الإنتاج الكلي ومشاكل جدولة التحكم أهمية متزايدة وكذلك المزيد من الاهتمام في بيئة أنظمة التصنيع المعقدة والمتغيرة باستمرار. يأتي تعقيدها من اثر التعامل مع قيود القدرة والطلبات المتقلبة، وهذا التكامل يعزز الكفاءة، ولكنه يفرض تحديات حسابية ونمذجة كبيرة. وبالتالي، تقدم هذه الورقة نموذجًا متكاملًا جديدًا لتخطيط الإنتاج الكلي ومشكلة جدولة الآلة الواحدة التي تقلل من

To protect digital audio transmissions from unauthorized access and modification, this paper proposes a voice encryption scheme based on chaotic systems. The proposed approach combines multiple chaotic maps into a cryptographic scheme that is applied at the byte level. The input sound is first divided into four equal-length parts. The Rossler system, Lorenz system, Henon map, and Baker map are chaotic systems used to encode each fragment. Four segments are combined, and subsequently, a logistic map is applied to the encoded audio to introduce a flipping step, ensuring a strong spread and confusion throughout the entire signal. During the decoding phase, XOR processes and switching are systematically reversed using saved