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دراسة فسلجية لمعالجة فشل التلقيح والاخصاب في اشجار نخيل التمر Phoenix dactylifera L. صنف البرحي المكثر نسيجيا == A physiological study on the treatment of pollination and fertilization failure in date palm trees Phoenix dactylifera L. Produced through tissue culture, Barhi variety

Author name: فراس مهدي عباس الحمود
Supervisor name: عبد الكريم محمد عبد | منتهى عبد الزهرة عاتي
General topic: Agricultural sciences
Specific topic: Plant - Physiology
Degree: Doctorate
University: University Of Basrah - Faculty Of Agriculture
Language: Arabic
University location: Basrah
First pages:

دراسة كيميائية حيوية لبعض معقدات البلاتين المحتوية على الفلافونويدات كمضادات للمايكروبات وللاكسدة وللسرطان == A biochemical Study of Some Platinum Complexes Involving Flavonoids as Antimacrobial ,Antioxidant and Anticancer

Author name: لطيف صاحب ثامر
Supervisor name: سميرة احمد زيارة | عادل علي عبد الحسين
General topic: Chemistry
Specific topic: Chemistry
Degree: Doctorate
University: University Of Basrah - College Of Science - Chemistry Department
Language: English
University location: Basrah
First pages:

محاكاة وتنفيذ لمسار الطائرة الرباعية == SIMULATION AND IMPLEMENTATION OF QUADROTOR PATH PLANNING

Author name: باقر ناصر عبد الصمد
Supervisor name: Ammar A. Aldair
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
Key words:
  • Introduction.
  • Brief History of quadrotor.
  • Literature Survey.
  • Control Design Survey
  • Path Planning Algorithm Survey
  • Dijkstra’s algorithm
  • A-Star (∗)
  • Aim of The Thesis.
  • Thesis Contribution
  • Thesis Structure
  • R TWO: QUADROTOR MODELLING AND CONTROL
  • Introduction
  • Description of Motions of the Quadrotor
  • Dynamic Model of The Quadrotor Kinematic l Model.
  • Dynamic Model.
  • Aerodynamic Effects
  • State Space Model.
  • The Vector of States X
  • State Space Representation
  • The Structure of the Proposed Control System
  • PID Controller
  • Fuzzy Controller
  • Particle Swarm Optimization Algorithm
  • PSO For Adapting of PID Controller
  • Adapting the Parameters of Fuzzy Controller using PSO
  • Using Particle Swarm Optimization Algorithm for
  • Adapting Fuzzy Controller
  • Numerical Simulation and Results
  • PID Controller simulation Results
  • Fuzzy Logic Controller (FLC) Simulation Results
  • Conclusion
  • R THREE: QUADROTOR PATH PLANNING
  • Path Planning
  • Pure Pursuit Algorithm (PPA)
  • Look Ahead Distance (LAD)
  • Robotic Operating System (ROS)
  • ROS Essentials
  • 3D Gazebo Simulator (GS)
  • Simulation Description Format (SDF) And Unified
  • Robotic Description Format (URDF).Hovering test
  • Path Planning simulation Results
  • Point -Point Path Planning
  • Multi Point Path Planning
  • Modified Pure Pursuit Algorithm Using State Flow
  • Simulation Results of (Path Following Like Obstacle
  • Avoidance (PFLOA)
  • Conclusion
  • FOUR: OBSTACLE AVOIDANCE ALGORITHM
  • Introduction
  • Vector Field Histogram (VFH)
  • Quadrotor Radius(R)
  • Safety Distance(D)
  • Minimum Turning Radius(S)
  • Distance Limits(L)
  • Histogram Characteristics
  • Simulation Results
  • One – Target Obstacle Avoidance
  • Multi-Target Obstacle Avoidance
  • Maze Obstacle Avoidance
  • Comparison between PFLOA with VFH
  • Conclusion
  • FIVE: DESING AND CONTROL A QUADROTOR
  • ATION SYSTEM
  • Introduction
  • Gripper Application
  • Gripper Design Using Gazebo Simulator Simulation Results
  • Gripper Test
  • Path Following (Quadrotor with Gripper)
  • Obstacle Avoidance (Quadrotor with Gripper)
  • Conclusion
  • R SIX: QUADROTOR DESEIGN AND IMPLEMENTAT
  • Introduction
  • Frame
  • Brushless DC Motors
  • Electronic Speed Controller (ESC)
  • Flight Controller (FC)
  • Propellers
  • Battery
  • Practical Flight Results
  • Return to Lunch (RTL) mode:
  • Landing Mode
  • Obstacle Avoidance Mode
  • Conclusion
  • R SEVEN: CONCLUSION AND SUGGESTIONS FOR
  • WORKS
  • Introduction
  • Conclusions
  • Suggestion for Future works
First pages:

تصميم وتنفيذ نظام تشكيل داخلي متعدد الروبوتات == DESIGN AND IMPLEMENTATION OF AN INDOOR MULTI MOBILE ROBOT FORMATION SYSTEM

Author name: اسراء صبري عبد الامير الفراتي
Supervisor name: Abdulmuttalib T.Rashid
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
Key words:
  • Background
  • Literature Review
  • Multi Robot Localization
  • Path Planning of Mobile Robot
  • Formation of Multi Robot
  • Objectives of the Work
  • Outline and Main Contributions
  • Scope of The Work
  • WO: MULTI-ROBOT LOCALIZATION SYSTEM
  • Introduction
  • The Physical Construction of the Localization System
  • The Environment Setup
  • The Robot Sensors
  • Binary Search Algorithm
  • The Modified Binary Search Algorithm Title
  • Robots Localization According to the LDRs Locations
  • Robot Location Estimation Using Three LDR Active Sensors
  • or More
  • Robot Location Estimation Using Two LDR Active Sensors
  • Robots Localization According to the LEDs Locations
  • Minimum Bounded Circle Algorithm
  • The K-means Clustering Algorithm
  • Simulation Results
  • Conclusions
  • REE: PATH PLANNING OF MOBILE ROBOT
  • Introduction
  • Mobile Robot Kinematic Model
  • Path Planning in an Environment Free of Obstacles
  • The Arc of Circle Tangent Construction Algorithm (ACTC)
  • Short Distance Orientation (SDO) Algorithm
  • Shortest Path with Obstacles Avoidance (SPOA) Algorithm
  • The Simulation Result
  • The Conclusions
  • UR: FORMATION OF MULTI-ROBOT SYSTEM
  • Introduction
  • Multi-Robot in Ordered Formation (MROF) Algorithm
  • Multi-Robot in Shortest Formation (MRSF) Algorithm
  • Simulation Results
  • Conclusions
  • VE: MULTI-ROBOT SYSTEM IMPLEMENTATION
  • Introduction
  • Performance Evaluation of Environment Sensors Title
  • LED - LDR Pair Sensor
  • Validation of LED - LDR Pair Sensor
  • IR Transmitter and Receiver Pair
  • Validation of IR Sensors
  • Radiofrequency Identification (RFID) Tags
  • Validation of RFID Tags
  • The Most Appropriate Sensors for Localization
  • Hardware Design of the Robot Localization System
  • Implementation of the Environment
  • Implementation of Differential Drive Mobile Robot
  • Practical Results of Localization System
  • Conclusion
  • X: CONCLUSIONS AND FUTURE WORKS
  • Conclusions
  • Future works
First pages:

الموازنة متعددة المتسويات للمكائن الدوارة بواسطة قياس الاستجابة الاهتزازية == Multi-Plane Balancing of Rotating Machines Using Vibration Response Measurement

Author name: يحيى محمد امين
Supervisor name: Jaafar K. Ali
General topic: Mechanical Engineering
Specific topic: Mechanical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Mechanical Engineering
Language: English
Key words:
  • Chapter One: Introduction
  • Introduction
  • Advantages of Balancing
  • Rotor Vibration Forms
  • Causes of Unbalance
  • Types of Unbalance
  • Rotor Balancing Methods
  • Mathematical Model
  • Model Based Balancing (MBB)
  • Experimental Modal Analysis (EMA)
  • Digital Signal Processing (DSP)
  • Time and Frequency Domain
  • Fast Fourier Transform (FFT)
  • Thesis objectives
  • Thesis structure
  • Chapter Two: Literature Review
  • Introduction
  • Influence Coefficient Method
  • Modal Balancing Methods
  • Balancing Without Trial Runs
  • Conclusions
  • Chapter Three: Finite Element Model
  • Introduction
  • Coordinate System
  • Rotor Components
  • Disk elements
  • Shaft elements
  • Euler-Bernoulli Beam Theory
  • Shear and rotary inertia effects
  • The 8-DOF Shaft Elements model
  • Gyroscopic effects
  • Couplings
  • Bearings
  • Rolling-Element Bearings Hydrodynamic Bearings
  • Flexible Support
  • Modeling a Whole Rotor
  • Chapter Four: Modal Analysis
  • Introduction
  • Updating of FE model
  • Modal Testing Method
  • Mathematical Models
  • Theoretical Basis of Modal Analysis
  • Single Degree of Freedom System SDOF
  • Graphical Representation of FRF
  • Multi-Degree-of-Freedom System (MDOF)
  • Revisiting SDOF
  • Frequency Response Function Measurement
  • FRF Estimation
  • SISO-FRF Estimation
  • Coherence function
  • Excitation Techniques
  • Extracting Modal Parameters
  • One Column or One Row
  • Extracting Modal Parameters from FRF Data-SDOF
  • methods
  • Peak-picking
  • Circle-fit
  • Least Squares Curve Fitting Using SDOF Model
  • Extracting Modal Data from FRF Data-MDOF method
  • Mode Shape Extraction from Modal Constants
  • Modal Testing of Rotating Structures
  • Chapter Five: Digital Signal Processing
  • Introduction
  • Time and Frequency Domains
  • Signal Digitization
  • Sampling
  • Quantization
  • Aliasing
  • Leakage
  • Windowing
  • Averaging
  • Chapter summery
  • Chapter Six: Sensors calibration and EMA verification
  • Introduction
  • Calibration of transducers
  • Calibration of Accelerometer
  • Calibration of Force Transducer Case study-I: Circular cross-sectional shaft
  • Analytical Modal Analysis
  • Numerical Modal Analysis
  • Experimental Modal Analysis
  • Available Excitation Techniques
  • Results and Comparison
  • Effects of DSP parameters on FRF
  • Effect of Windows
  • Effect of sample time
  • Effect of Excitation Techniques
  • Reciprocity condition
  • Case study-II: Shaft with two disks
  • Chapter summary
  • Chapter Seven: Model-Based Rotor Balancing
  • Introduction
  • Model Based Balancing (MBB)
  • Balancing Test Rig
  • The rotor to be balanced
  • Performing EMA on the rotor
  • FEA Based Model
  • Comparison of the Resulting Modal Parameters
  • Balancing Case Studies
  • Case-I: Two measuring planes and two balancing planes
  • Case-II: Two measuring planes and three balancing planes Residue-Based Model Balancing
  • Essential arrangements before EMA
  • Some issues when performing EMA
  • EMA results
  • Balancing Results
  • Discussion of results
  • Discussion of Results of Tables (7-4) and (7-5)
  • Discussion of Results of Tables (7-6)
  • Chapter summery
First pages:

استخدام نظم المعلومات الجغرافية لدراسة تجزئة الوحدة السكنية وتاثيرها على خدمات البنى التحتية في مدينة الناصرية == Using the Geographic Information Systems to study the housing unit fragmentation and its impact on infrastructure services Nasiriyah

Author name: حسين علي جابر خير الله
Supervisor name: طارق جمعه علي المولى
General topic: Geography
Specific topic: Geography
Degree: Doctorate
University: University Of Basrah - College Of Education For Human Sciences - Department Of Geography
Language: Arabic
University location: Basrah
First pages:

Improving Salt Tolerance in Date Palm offshoots (Phoenix dactylifera L.) Berhi and Sayer cultivars using some Anti - salinity Compounds

Author name: Hussein Jasim Shareef Thany
Supervisor name: Abbas M. Jasim | Muayed F. Abbas
General topic: Agricultural sciences
Specific topic: Plant - Gardening
Degree: Doctorate
University: University Of Basrah - Faculty Of Agriculture
Language: English
University location: Basrah
First pages:

دراسة اداء انظمة التبريد ذي القنوات المايكروية باستخدام قنوات متغيرة المقطع العرضي وترتيبات مختلفة للقنوات ولاتجاه جريان المائع == Performance study of Microchannel cooling system using variable cross section channels with different arrangements and fluid flow directions

Author name: صاحب شهاب احمد اسحاق الدليمي
Supervisor name: Abdul Muhsin Abood Rageb
General topic: Mechanical Engineering
Specific topic: Mechanical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Mechanical Engineering
Language: English
University location: Basrah
First pages:

تحسين مقاومة الخدش لمادة البولي مثيل ميثا اكريليت بالتقوية بجسيمات ثاني اوكسيد السيليكا النانوية == Improvement of Scratch Resistance of PMMA by Reinforcing with Nano SiO2 Particles

Author name: مشتاق عبد الكريم حسين البحراني
Supervisor name: Abdul Kareem F. Hassan | Najim Abdul Ameer Saad
General topic: Mechanical Engineering
Specific topic: Applied Mechanics
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Mechanical Engineering
Language: English
University location: Basrah
First pages:

تخليق وتشخيص وامتصاص اشعة الرادار لبعض مواد البولي انيلين الموصلة الجديدة == synthesis, characterisation and rada absorption of some new conducting polyanilines

Author name: عمار كاظم مكي البعاج
Supervisor name: ali h. al-mowali
General topic: Chemistry
Specific topic: Industrial Chemistry
Degree: Doctorate
University: University Of Basrah - College Of Science - Department of Industrial Chemistry
Language: English
University location: Basrah
First pages:

تحضير وتشخيص ودراسة تحليلية لبعض الراتنجات الكلابية الرغوية والمحملة وسبائكها البوليمرية الجديدة == Synthesis Characterisation and Analytical Study of Some New Chelating Resins as Foams Suppoted Thermosets and Ipns

Author name: علي طه علي السامرائي
Supervisor name: Georgius A. Adam
General topic: Chemistry
Specific topic: Chemistry
Degree: Doctorate
University: University Of Basrah - College Of Science - Chemistry Department
Language: English
University location: Basrah
First pages:

تحضير بعض الراتنجات البوليمرية الشبكية التداخل الجديدة ودراستها كمواد تركيبية ومقاومة للاحتراق وعوازل حرارية == synthesis and study of some new ipn's as compostting materials, ablative and fire retardants

Author name: صلاح شاكر هاشم
Supervisor name: georguis a. adam
General topic: Chemistry
Specific topic: Industrial Chemistry
Degree: Doctorate
University: University Of Basrah - College Of Science - Department of Industrial Chemistry
Language: English
University location: Basrah
First pages:

تحضير ودراسة بعض الراتنجات المتشابكة الجديدة الايبوكسيدية والسياناتية == Synthesis and Study of Some New Crosslinked Epoxy and Cyanate Resins

Author name: عبد الجبار عبد الرضا جابر
Supervisor name: Georgius A. Adam
General topic: Chemistry
Specific topic: Industrial Chemistry
Degree: Doctorate
University: University Of Basrah - College Of Science - Chemistry Department
Language: English
University location: Basrah
First pages:

تقييم مخزون بعض الاسماك البحرية العراقية شمال غرب الخليج العربي == stock assessment of some iraqi marine fishes northwest arabian gulf

Author name: ثامر سالم علي
Supervisor name: a. r. Mohammed
General topic: Biology
Specific topic: Zoology
Degree: Doctorate
University: University Of Basrah - College Of Science - Department Of Biology
Language: English
University location: Basrah
Key words:
  • ثروة سمكية
First pages:

تحضير وتشخيص ودراسة تراكيب دوائية مستندة الى البوليمرات ذات الانحلال المقنن == preparation characterization and study of polymeric systems for controlled drugs release

Author name: نادية عاشور حسين الاسدي
Supervisor name: georguis a. adam
General topic: Chemistry
Specific topic: Chemistry
Degree: Doctorate
University: University Of Basrah - Faculty Of Education
Language: English
University location: Basrah
First pages:

تحضير وتقييم مضافات جديدة مزدوجة الفاعلية مضادة للتاكل == preparation and evaluation of new dual activity anti-corrosion additives

Author name: نوال جاسم حمادي المدير
Supervisor name: georguis a. adam
General topic: Chemistry
Specific topic: Chemistry
Degree: Doctorate
University: University Of Basrah - College Of Science - Chemistry Department
Language: English
University location: Basrah
First pages:

تصميم منظومة التجفيف بالتبريد واستخدامها في تحضير مساحيق فائقة النعومة == Designing Freeze Drying System to be Used to Prepare Ultra Fine Powders

Author name: صبيح جاسم كاطع
Supervisor name: Khalid I. Ajeel | Fadhil A. Rasin
General topic: Physics
Specific topic: Solid State Physics
Degree: Doctorate
University: University Of Basrah - Faculty Of Education
Language: English
University location: Basrah
First pages:

دراسة تحليلة لتحسين انتقال الحرارة نتيجة جريان داخلي متذبذب عند ثبوت الفيض الحراري == analytical study of heat transfer enhancement due to internal oscillating flow at constant heat flux

Author name: احمد كاظم محمد الشرع
Supervisor name: abdul-muhsin a. rageb
General topic: Mechanical Engineering
Specific topic: Mechanical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department of Mechanical Engineering
Language: English
University location: Basrah
First pages:

دور الرش بسماد الكالسيوم الدبالي المحضر محليا والتسميد النتروجيني في مكافحة مرض اللفحة المبكرة وانتاجية الطماطة == The Role of Foliar Application of Locally Prepared Ca-Humates Fertilizer and Nitrogen Application on The Control of Eearly Blight and Tomato Products

Author name: يحيى هلال منسي
Supervisor name: هيفاء جاسم حسين | محمد عامر فياض
General topic: Agricultural sciences
Specific topic: Soil and Water
Degree: Doctorate
University: University Of Basrah - Faculty Of Agriculture
Language: Arabic
University location: Basrah
First pages:

الاثار الاقتصادية لضعف الاستقرار السياسي لدول عربية مختارة مع اشارة خاصة للعراق للمدة 2003 - 2020 == The economic effects of weak political stability in selected Arab countries with special reference to Iraq for the period (2020-2003

Author name: وسن هادي فيحان
Supervisor name: يوسف علي عبد الاسدي
General topic: Administration and Economics
Specific topic: Economy
Degree: Doctorate
University: University Of Basrah - Faculty Of Administration And Economics - Department Of Economics
Language: Arabic
University location: Basrah
First pages:

اللامعيارية وهيمنتها في التشكيل العالمي المعاصر == Non-normality and it's dominance in the contemporary global plastic art

Author name: هشام رحيم مسلم ثامر
Supervisor name: تحرير علي حسين
General topic: Fine Arts
Specific topic: Drawing
Degree: Doctorate
University: University Of Basrah - College Of Fine Arts
Language: Arabic
University location: Basrah
First pages:

الاثار الاقتصادية للفساد المؤسساتي بالمناخ الاستثماري في العراق للمدة 2004 - 2020 == The economic effects of institutional corruption on the investment climate in Iraq for the period ( 2004 - 2020)

Author name: ناجي ساري فارس المالكي
Supervisor name: ندوه هلال جودة
General topic: Administration and Economics
Specific topic: Economy
Degree: Doctorate
University: University Of Basrah - Faculty Of Administration And Economics - Department Of Economics
Language: Arabic
University location: Basrah
First pages:

الموديل الجيولوجي لتكوين المشرف في ابار مختارة من حقل الزبير في جنوب العراق == Geological model of Mishrif formation in selected wells of Zubair Oil field in Southern Iraq

Author name: ميساء خالد رحيم المالكي
Supervisor name: موفق فاضل الشهوان
General topic: Geology
Specific topic: Geology
Degree: Doctorate
University: University Of Basrah - College Of Science
Language: Arabic
University location: Basrah
First pages:

قواعد التفسير البلاغية وتطبيقاتها عند عبد الرحمن حسن حبنكة بين قواعد التدبر الامثل ومعارج التفكر ودقائق التدبر

Author name: مهند عبد الرزاق عبد القادر
Supervisor name: طالب عويد نايف
General topic: Arabic Language and Literature
Specific topic: Language
Degree: Doctorate
University: University Of Basrah - College Of Education For Human Sciences - Department Of Arabic Language
Language: Arabic
University location: Basrah
First pages:

الدرس الصرفي عند ابي علي الفارسي 288 - 377هـ في كتبه المسائل

Author name: مهند احمد ابراهيم
Supervisor name: ليث داود سلمان
General topic: Arabic Language and Literature
Specific topic: Language
Degree: Doctorate
University: University Of Basrah - College Of Literature - Department Of Arabic Language
Language: Arabic
University location: Basrah
First pages:
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