Preferred Language
Articles
/
alkej-710
UAV Control Based on Dual LQR and Fuzzy-PID Controller
...Show More Authors

This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Sep 01 2019
Journal Name
Al-khwarizmi Engineering Journal
Adsorption of Heavy Metals from Aqueous Solution onto Sawdust Activated Carbon
...Show More Authors

In this study, sawdust as a cheap method and abundant raw material was utilized to produce active carbon (SDAC). Physiochemical activation was utilized where potassium hydroxide   used as a chemical activating agent and carbon dioxide was used as a physical activating agent. Taguchi method of experimental design was used to find the optimum conditions of SDAC production. The produced SDAC was characterized using SEM to investigate surface morphology and BET to estimate the specific surface area. SDAC was used in aqueous lead ions adsorption. Adsorption process was modeled statistically and represented by an empirical model. The highest specific surface area of SDAC was 688.3 m2/gm. Langmuir and Freundlich isotherms were used to

... Show More
View Publication Preview PDF
Publication Date
Mon Nov 08 1013
Journal Name
كلية الفنون الجميلة
إشكالية الخطاب الجمالي للجسد في النحت العالمي المعاصر، دراسة على وفق المنهج الظاهراتي
...Show More Authors

اهتم في الربع الأول بالمفاهيم النظرية للمناهج التي تقع في النقاط الخمس ، النقطة الأولى تتعلق بمفهوم الخطاب والخطاب المادي ، وقلنا أن الرسالة كانت مبنية على الجسد من البداية ، حتى قبل ذلك هناك ستكون فلسفة أو معرفة المنظمة. أما النقطة الثانية فتتعلق بالمفهوم الفينومينولوجي للخطاب ، ونحن في هذه المرحلة أهم الركائز التي قام عليها (إدموند هوسرل) في بناء مفهوم وصفي ضعيف. في النقطة الثالثة نكشف عن الظواهر المتعلقة ب

... Show More
View Publication Preview PDF
Publication Date
Sun Jan 13 2019
Journal Name
Arab Science Heritage Journal
استخدام الفرز , الاستدارة والارضية دلائل على طاقة البيئة الترسيبية لتكوين المودود ( جنوب العراق)
...Show More Authors

أن تكوين المودود شكل (1)  فى منطقة الدراسة يعتبر من التكاوين المهمة فى منطقة الخليج العربى وايران . لقد تم وصف هذا التكوين لاول مرة  من قبل (1) فى المقطع المثالى فى بئر ( دخان  -1 ) والذى قسمة الى قسمين رئيسين . القسم الاعلى  يتكون من حجر جيرى حامل للدمالق  اما القسم  الاسفل فهو  صلصالى . 

View Publication
Publication Date
Mon Sep 15 2025
Journal Name
مجلة الانبار للقانون والعلوم السياسية
الصراعات الدولية وانعكاساتها على الامن الانساني في منطقة الشرق الاوسط بعد عام 2003
...Show More Authors

تعد ظاهرة الصراعات ظاهرة قديمة كقدم الوجود البشري وهذا يطبق على المستوى الدولي مما يجعل الدول الصغرى هي ساحة تصفيات كما هو الحال في سوريا مما يجعل الامن الانساني فيها معدوم

Preview PDF
Publication Date
Sat Jun 01 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Measuring the Performance of IT Governance According to COBIT5 Framework by Using the Balanced Scorecard
...Show More Authors

The research aims to clarify the COBIT5 framework for IT governance and to develop of a criterion based on Balanced Scorecard that contributes in measuring the performance of IT governance. To achieve these goals, the researchers adopted the deductive approach in the design of balanced scorecard to measure the IT governance at the Bank of Baghdad that was chosen because it relied heavily on IT.

The research has reached a number of conclusions, the most important of which is that the performance of IT department in the Bank of Baghdad falls within the good level that requires constant monitoring, the most committed items of Balanced Scorecard by the Bank were customer, internal operation, growth and finally the financial item; IT

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Mar 31 2022
Journal Name
مجلة كلية الإدارة و الاقتصاد للدراسات الاقتصادية و الإدارية و المالية
دور مؤشر السيولة المصرفية في الرقابة الإشرافية للبنك المركزي العراقي على المصارف المتخصصة
...Show More Authors

عد الرقابة الإشرافية احد اهم الأدوات التي تستخدمها البنوك المركزية في تقييم التزام المصارف بالمتطلبات التنظيمية والقوانين الصادرة منها وتستخدم البنوك المركزية عدة مؤشرات مالية منها مؤشر السيولة المصرفية لتقييم أداء المصارف تجاه حماية أموال المودعين وحماية المصارف من خطر نقص السيولة ومن ثم التعرض للإفلاس، لذا اقتضت الضرورة إلى دراسة مؤشر السيولة المصرفية الذي يستخدم كأحد أدوات الرقابة الإشرافية من قبل ال

... Show More
View Publication Preview PDF
Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
المتغیرات الداخلیة والخارجیة المؤثرة على النظام السیاسي في باكستان ٢٠٠٩ - للمدة من ١٩٩
...Show More Authors

The research(the internal and external factors affecting the political system in
PAKISTAN) involves a series of effects interact both internally and external to affect the
stsbility of the political system.
Intrernally there are a lot of powers affecting the political map of PAKISTAN such as
military institution, political parties, judgement, religious schools……etc.of internal
factors, which represent one of the most important pressure points on the system.
Externally one of the most important external factors which affect internal stability is
Pakistani allision to USA in antiterrorism war. The Pakistani military institution was
involved in the war against Pakistani tribes leading to unstable security in Paki

... Show More
View Publication Preview PDF
Publication Date
Tue Feb 14 2023
Journal Name
Journal Of Educational And Psychological Researches
Analyzing the Literary Criticism Book Questions for High School Stage According to Bloom's Classification
...Show More Authors

Abstract

 The current research aims to identify the analysis of the questions for the book of literary criticism for the preparatory stage according to Bloom's classification. The research community consists of (34) exercises and (45) questions. The researcher used the method of analyzing questions and prepared a preliminary list that includes criteria that are supposed to measure exercises, which were selected based on Bloom's classification and the extant literature related to the topic. The scales were exposed to a jury of experts and specialists in curricula and methods of teaching the Arabic language. The scales obtained a complete agreement. Thus, it was adapted to become a reliable instrument in this

... Show More
View Publication Preview PDF
Publication Date
Fri Jun 01 2007
Journal Name
Journal Of Economics And Administrative Sciences
ابعاد الجودة في السيطرة على العدوى المكتسبة في المستشفيات الحكومية العراقية: دراسة تقويمية
...Show More Authors

ابعاد الجودة في السيطرة على العدوى المكتسبة في المستشفيات الحكومية العراقية: دراسة تقويمية

View Publication Preview PDF
Crossref
Publication Date
Sun Jul 02 2017
Journal Name
Journal Of Educational And Psychological Researches
العنف الاسري وتأثيره على صحة الطفل بحث ميداني / في قضاء المدائن لمدينة بغداد
...Show More Authors

Children are the victims most tragic and suffering among the other categories, particularly using the ugliest attacks by their families because of the Family pressures of economic and especially resulting from inadequate family income and other factors leading to domestic violence, for example, family disputes and the disintegration of the family, inequality and segregation between family members and the use of violence as a means to solve problems and this is what is reflected on the child's health due to the processes of socialization inadequate and contradictory and loose had not depend on the principles of punishment and reward and imponderables between soft and intensity of treatment and methods of interaction with the child would b

... Show More
View Publication Preview PDF