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Design of an Optimal Integral Backstepping Controller for a Quadcopter
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In this paper, an Integral Backstepping Controller (IBC) is designed and optimized for full control, of rotational and translational dynamics, of an unmanned Quadcopter (QC). Before designing the controller, a mathematical model for the QC is developed in a form appropriate for the IBC design. Due to the underactuated property of the QC, it is possible to control the QC Cartesian positions (X, Y, and Z) and the yaw angle through ordering the desired values for them. As for the pitch and roll angles, they are generated by the position controllers. Backstepping Controller (BC) is a practical nonlinear control scheme based on Lyapunov design approach, which can, therefore, guarantee the convergence of the position tracking error to zero. To improve controller capability in the steady state against disturbances, an integral action is used with the BC. To determine the optimal values of the IBC parameters, the Particle Swarm Optimization (PSO) is used. In the algorithm, the controller parameters are computed by minimizing a cost function that depends on the Integral Time Absolute Error (ITAE) performance index.

Finally, different numerical simulations are provided in order to illustrate the performances of the designed controller. And for comparison purposes, a PID controller is designed and optimized using the PSO to control the quadcopter. The obtainediresults indicated a superiority in performance for the IBC over the PID controller based on some points among which are: a 13.3% and 30.5% lesser settling times for X and Y consequently, the ability to perform critical maneuvers that the quadcopter failed to do using the PID controller, and the capability of fast following up and conforming the changes of pitch (

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Publication Date
Fri Apr 29 2022
Journal Name
Iraqi Journal Of Agricultural Sciences
STABL ISOTOPES AND HYDROCHEMICAL PARAMETER AS INDICATORS OF AL-RAZZAZA LAKE WATER INTERACTION WITH GROUNDWATER SURROUNDING / KARBALA GOVERNORATE- IRAQ.
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This research was aimed to study the exposure of Razzazah Lake  to major hydrological changes in recent years as a result of natural climatic changes  and  drought, high evaporation in lake due to stop discharge from Habbaniyah Lake  by Al- majera channel. During 2019, we collected surface water samples at three locations, and three samples from groundwater, in addition one samples from each location Imam Ali Drop and Sewage water  of Karbala. The Results  show that the heavy isotopes in lake and groundwater well are enriched during the warm period, and depleted during the cold period. Chemically, The dominant cations and anions in Al-Razzaza lake water are mainly of in Order  Ca > Na > Mg and  Cl>SO4 and the water

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Publication Date
Fri Jun 03 2022
Journal Name
Annals Of Parasitology
Genotyping and evaluation of interleukin-10 and soluble HLA-G in abortion due to toxoplasmosis and HSV-2 infections
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Abortion is a condition that occurs due to one of the pathological injuries, often one of the members of the TORCH is the real cause. The current study aimed to investigate the impact of toxoplasmosis, HSV-2 infections with abortion, and also, the identification of immunogenetics marker (interleukin-10) that may be associated with abortion. Anti-Toxoplasma IgG, IgM, Herpes simplex virus-2 IgM, human soluble leukocyte antigen class I–G and interleukin10 were estimated by ELISA technique, while the expression of IL-10 gene was investigated by using the real-time PCR. The results showed that among aborted women the rate of anti-Toxoplasma and HSV-2 IgM antibodies occurred within the age groups (21–30) years and (31–40) years 32(100.0%) a

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Publication Date
Fri Jun 30 2023
Journal Name
Azerbaijan Pharmaceutical And Pharmacotherapy J
Evaluation of Nurses’ Practices and Perceived Barriers Related to Pain Assessment in Critically Ill Patients at Baghdad Teaching Hospitals
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Introduction: Inadequate pain assessment and management is a problem in hospitalized patients that impairs their wellbeing. Intensive care unit nurses’ pain practices are affected by several barriers and enablers. Objectives: The objectives of this study were to determine the level of nurses’ practices and perceived barriers related to pain assessment in critically ill patients. Methodology: A cross-sectional design study was used. Purposive sampling technique was employed, including 100 nurses recruited from 8 intensive care units in Baghdad city, Iraq. The study was conducted from September 1st to October 20th, 2022. The pain assessment and management for critically ill patients survey was used to collect data. Descriptive sta

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Publication Date
Tue Jan 30 2024
Journal Name
Journal Of Current Medical Research And Opinion
Anti-inflammatory, Antidiabetic Potential, Antioxidant (Hydrogen peroxide scavenging and Peroxynitrite scavenging activity), and Phytochememical Constitute of Trigonella foenum-graecum
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Publication Date
Sun Sep 27 2026
Journal Name
Oxidation Communications
EXPERIMENTAL AND SURFACE STUDIES ON THE CORROSION INHIBITION EFFECT OF PLATINUM COMPLEX ON COPPER ALLOY IN NITRIC ACID SOLUTION
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The objectives of this paper was the development of a novel ligand, L, which was achieved in two stages: ligand is synthesised by reducing the result of the reaction between cyclohexane-1,2-diamine and 4-hydroxy-3,5-dimethoxycy clohexane-1-carbaldehyde, followed by the production of the 4,4’-((1E,1’E)-(1,2 phenylenebis(azanylylidene))bis(methanylylidene))bis(2,6-dimethoxyphenol) precursor (P). While studying corrosion inhibition (copper alloy) in acid solution by weight loss, compounds were characterised using 1H, 13CNMR (for ligand (L) and (P)), FT-IR and UV spectra, melting point, molar conductivity, %C, %H and %N, %M, and magnetic susceptibility. The complex’s octahedral structure is inferred from the bidentate coordination

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Publication Date
Sun Jan 01 2023
Journal Name
Saudi Endodontic Journal
Comparison of root canal transportation and centering after instrumentation through conservative and traditional access cavities using different file systems
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Introduction:

While conservative access preparations could increase fracture resistance of endodontically treated teeth, it may influence the shape of the prepared root canal. The aim of this study was to compare the prepared canal transportation and centering ability after continuous rotation or reciprocation instrumentation in teeth accessed through traditional or conservative endodontic cavities by using cone-beam computed tomography (CBCT).

Materials and Methods:

Forty extracted intact, matured, and 2-rooted human maxillary first premolars were selected for this

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Publication Date
Fri Jun 02 2023
Journal Name
East European Journal Of Physics
Electroexcitation Form Factors and Deformation of 20,22Ne Isotopes Based on the Shell Model and Hartree-Fock plus BCS Calculations
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Nuclear structure of 20,22Ne isotopes has been studied via the shell model with Skyrme-Hartree-Fock calculations. In particular, the transitions to the low-lying positive and negative parity excited states have been investigated within three shell model spaces; sd for positive parity states, spsdpf large-basis (no-core), and zbme model spaces for negative parity states. Excitation energies, reduced transition probabilities, and elastic and inelastic form factors were estimated and compared to the available experimental data. Skyrme interaction was used to generate a one-body potential in the Hartree-Fock calculations for each selected excited states, which is then used to calculate the single-particle matrix elements. Skyrme interac

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Publication Date
Sun Mar 01 2026
Journal Name
Journal Of Engineering
Assessing Reservoir Heterogeneity through Integrated Petrophysical and Geological Modeling: Case Study of the Yamama Reservoir, Ratawi Field, Southern Iraq
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Constructing a geologically realistic reservoir model and accurately evaluating petrophysical properties are critical components for effective reservoir management. Such efforts enable reliable assessment of hydrocarbon potential and support predictive development scenarios through numerical simulations. This study aims to characterize the Yamama carbonate reservoir in the Ratawi Field, southern Iraq, and to build a static geological model as a foundation for future dynamic simulation. Comprehensive well data, including wireline logs, core analysis, and geological reports, were integrated to interpret petrophysical parameters such as shale volume, effective porosity, and water saturation. Additionally, facies classification was performed us

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
Screening of periodontal disease related Bacteria in Iraqi patients and their relationship with salivary TLR2 and IL-6 level
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     The oral cavity has the second major and most diverse microflora after the gut. Since it is the starting point of digestion; the oral microbiota is essential for maintaining oral and systemic health.  Thus, this study aimed to find the bacterial isolates which act as a causative agent of periodontal diseases in Iraqi patients and their relation with some immune oral parameters. Saliva specimens and oral swabs of 91 patients (51) and control individuals (40) were collected in this study. The specimens of patients were collected from Al-Amirya and Almaamon Specialized Dental Centers in Baghdad for a period from November/2021 to February/2022. The microbiological results revealed, that the most prevalent bacterial isolates we

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Publication Date
Wed Dec 24 2025
Journal Name
Baghdad Science Journal
Synthesis, Characterization, Antioxidant Content and Antibacterial Study of New Ligand and Its Complexes from Sulfonic Acid and 2-Phthalaldehyde
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The research includes preparation of a new Schiff base from the condensation of sulfonic acid with 2-phthalaldehyde by dissolving (0.2 g, 0.346 mmole) of the ligand (L) in (10 ml) of absolute ethanol, then 0.06 g of potassium hydroxide (KOH) dissolved in 10 ml of distilled water added to it and reacting the product with some binary metal salts (Mn, Co, Ni, Cu, Cd, Zn, Pt, Hg). The biological study was conducted against two types of gram-positive and gram-negative bacteria, Staphylococcus. aureus and Escherichia coli, and the fungus Candida albicans was also used. All the prepared complexes showed higher activity against bacteria and fungi than the ligand for the free Schiff base. The total antioxidant content of the ligand and the c

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