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Recgnition of 3D Objects

Author name: Tariq Zeyad Ismaeel
Supervisor name: Nazar K. Wafi | Rawa A. K. Said | Saleem M. R. Taha
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University of Baghdad
Language: English
University location: Baghdad

قياس وضع الطائرة باستخدام التقنية الرقمية == Aircraft Attitude Measurement Using Digital Technique

Author name: حيدر خضير لطيف
Supervisor name: مؤيد شوقي مراد الفيصل
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University of Technology - Al-Rasheed College of Engineering and Science - Department of Electrical and Electronic Engineering
Language: English
University location: Baghdad

تقصي منظومة السيطرة والتوجيه للمركبات المسيرة عن بعد == Control and Guidance System Investigation of Remotely piloted Vehicles

Author name: اسامة ياسين محمود
Supervisor name: مؤيد شوقي مراد | مازن زكي عثمان
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical and Electronic Engineering
Degree: Doctorate
University: University of Technology - Al-Rasheed College of Engineering and Science - Department of Electrical and Electronic Engineering
Language: English
University location: Baghdad

تكامل منظومة الملاحة INS / GPS باستخدام تقنية الترشيح المكيف متعدد النماذج == Integrating INS / GPS Navigation System Using Multiple Model Adaptive Estimator

Author name: سمير عبد الخالق عزيز الخفاجي
Supervisor name: جعفر وادي عبد السادة | عماد حسين الحسيني | احمد علي صادق
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical and Electronic Engineering
Degree: Doctorate
University: University of Technology - Al-Rasheed College of Engineering and Science - Department of Electrical and Electronic Engineering
Language: English
University location: Baghdad

توجيه مسار طائرة اوتومتيكيا بواسطة نظام تحديد الموقع عالميا ونظام تمييز صوري للموقع == GPS Routing and Wavelet Reco Gnition System for Automatic Guided Aircraft

Author name: مثنى ارزوقي وهيب
Supervisor name: مازن زكي عثمان | صديق يوسف امين | صفاء سعود مهدي
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical and Electronic Engineering
Degree: Doctorate
University: University of Technology - Al-Rasheed College of Engineering and Science
Language: English
University location: Baghdad

تقنين قابلوات الضغط العالي متعددة طبقات العزل وعند طرق تبريد مختلفة == Ampacity of H.V. Multi-Insulation Cables at Different Cooling Methods

Author name: محمد رامز محمود الملاح
Supervisor name: فاروق خليل عموري
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering - Power and Machinery
Degree: Doctorate
University: University of Al Mosul - College Of Engineering
Language: English
University location: Mosul

تصميم الدوائر الالكترونية لتمثل الشبكات العصبية == Design of Analog Circuit Simulators for Artificial Neural Networks

Author name: حنان عبد الرضا عكار السعيدي
Supervisor name: عباس فضل عبد القادر | جاسم محمد علي السامرائي
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronic Engineering
Degree: Doctorate
University: University of Technology - Department of Electrical and Electronic Engineering
Language: English
University location: Baghdad

نمذجة ومحاكاة هوائيات انابيب الكاربون النانوية == Modelling and Simulation of Carbon Nanotube Antennas

Author name: مرتضى جواد كاظم
Supervisor name: رعد سامي فياض | جابر سلمان عزيز
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

مقترح خوارزمية الحركيات المعاكسة ومسيطر بالذكاء الاصطناعي لموقع راس مداول شغيل الي == PROPOSED IK ALGORITHM AND AI CONTROLLER FOR TIP POSITION ROBOTIC MANIPULATOR

Author name: بكر باسل علي غالب
Supervisor name: محمد زكي الفائز | صفاء سعود مهدي
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronic Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

محاكات كشف وتشخيص الاعطال لنموذج طائرة بسيط == Simulation of Fault Detection and Identification of a Simple Aircraft Model

Author name: احمد عبد الصاحب هاشم الحمدي
Supervisor name: سعد شاكر توفيق | رعد سامي فياض
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronic Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

تصميم وتنفيذ المتسلسل المباشر باعتماد FPGA منظومات استملاك وتتابع == DESIGN AND IMPLEMENTATION OF DIRECT SEQUENCE FPGA - BASED ACQUISITION AND TRACKING SYSTEMS

Author name: صفوان صبحي حسين
Supervisor name: سمير سليم العطار
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

تخمين قناة الاتصال وكشف البيانات للمستقبلات الراديوية المتنقلة التي تستخدم نظام الوصول المتعدد باستخدام تقسيم الترميز مع تعدد الحاملات == CHANNEL ESTIMATION AND DATA DETECTION FOR DOWNLINK MULTICARRIER CDMA MOBILE SYSTEMS

Author name: محمود مير علي حسين القزويني
Supervisor name: سركوت نامق عبد الله
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

تحسين اداء موجه الحزمة لمصفوفات الهوائيات الضخمة الذكية العاملة بترددات الموجات الملميترية لانظمة الجيل الخامس == PERFORMANCE ENHANCEMENT OF BEAMFORMING FOR INTELLIGENT mmWAVE MASSIVE MIMO FOR 5G

Author name: فائز فواز شريف
Supervisor name: Manal Janal AL - Kindi
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

الهوائيات المصغرة لانظمة التمييز بالترددات الراديوية باستخدام الكسوريات وخوارزمية التاوريج باسراب الجسيمات == Antenna Miniaturization for Radio Frequency Identification Using Fractals and Particle Swarm Optimization

Author name: ضرغام كمال ناجي
Supervisor name: رعد سامي فياض | جابر سلمان عزيز
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

التخلص من الصدى في شبكات الهاتف باستخدام منظومة التجزئة المتكيفة للحزمة == SUBBAND ANALYSIS/SYNTHESIS FOR ADAPTIVE ECHO CANCELLATION IN TELECOMMUNICATIONS NETWORKS

Author name: فراس مهدي محسن
Supervisor name: رعد سامي فياض | منال جميل الكندي
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronic Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

Simulation of Spread Spectrum HF Modem

Author name: Nizar Naji Abdul Ameer
Supervisor name: Mahmmod A. KAbdulsattar
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: Al-Nahrain University - College Of Engineering
Language: English
University location: Baghdad
First pages:

تصميم وتحليل مسيطر مضبب متكيف لقنبرة موجهة ذاتيا == Design and Analysis of Adaptive Fuzzy Controllers for Self Guided Bomb

Author name: باسم غالب مجبل محمد الساعدي
Supervisor name: محمد زكي الفائز | مازن زكي عثمان
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical and Electronic Engineering
Degree: Doctorate
University: University of Technology - Al-Rasheed College of Engineering and Science - Department of Electrical and Electronic Engineering
Language: English
University location: Baghdad
First pages:

تصميم خوارزميات تخطيط المسار لانظمة التخزين والاسترجاع الالي == DESIGN OF PATH PLANNING ALGORITMS FOR AUTOMATED STORAGE AND RETRIEVAL SYSTEMS

Author name: حنان مجيد حميد
Supervisor name: Khearia A. Mohamad
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
University location: Basrah
First pages:

تحسين استقرارية الفولتية لنظام القدرة باستخدام مكيف جودة القدرة الموحد == Voltage Stability Improvement of Power System Using Unified Power Quality Conditioner

Author name: احمد يحيى قاسم
Supervisor name: Fadhil Rahma Tahir | Ahmed Nasser B
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering
Language: English
University location: Basrah
First pages:

تصميم وبناء منظومات فلتينا للتطبيقات الراديوية الادراكية == DESIGN AND IMPLEMENTATION OF FILTENNA SYSTEMS FOR COGNITIVE RADIO APPLICATIONS

Author name: يوسف محسن حسن
Supervisor name: Abdulkareem S. Abdullah | Falih M. Alnahwi
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering
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:

تصميم ومحاكاة نظام الروبوتات المتعددة اعتمادا على تشكيل القائد - التابع == DESIGN AND SIMULATION OF MULTI-ROBOT BASED ON LEADER-FOLLOWER FORMATION

Author name: بيادر عبد الرزاق عيسى
Supervisor name: Abdulmuttalib T. Rashid | Ali F. Marhoon
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering
Language: English
University location: Basrah
First pages:

تصميم نظام توصيل اوتوماتيكي باستخدام ال Quadcopter وبالاعتماد على المتحسسات gps وAccelerometer == Design an Autonomous Quadrotor Delivery System Based on GPS and Accelerometer Sensors

Author name: احمد عبد المهدي عبد الكريم الاوسي
Supervisor name: Basil Hani Jasim | Safanah Mudheher Raafat
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department of Electrical and Electronic Engineering
Language: English
University location: Basrah
First pages:

تطوير نظام سيطرة النمط الانزلاقي لتحليل منظومات التعليق الفعالة في نموذج سيارة كاملة == A Modified Sliding Mode Control Scheme for Full Vehicle Active Suspension Systems

Author name: اثيل كاظم عبد الزهرة
Supervisor name: Turki Y. Abdalla
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering
Language: English
University location: Basrah
First pages:
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