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تعليم الالة لروبوت رباعي الارجل == Machine Learning of the Quadruped Robot

Author name: علي عاشور عيسى
Supervisor name: Ammar A. Aldair
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تحسين تقنيات كفاءة الطاقة وكفاءة الطيف لانظمة الاتصالات الخضراء 5G == IMPROVEMENT ENERGY EFFICIENCY AND SPECTRAL EFFICIENCY TECHNIQUES FOR 5G GREEN COMMUNICATION SYSTEMS

Author name: Haider AlSabbagh
Supervisor name: حيدر شاكر مسير
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
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:

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:

بحث في اتمتة المكتبات باستخدام منظومة تنظيم قواعد البيانات == Investication in Library Automation Using Data Base Management Systems

Author name: Safaa M. Alak
Supervisor name: Kazimierz Kowalski | Sabah Abdul Aziz Ali
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

اختصار النصوص العربية في الحاسب الرقمي == Computers Compression of Arabic Texts

Author name: خالد عبد الكريم التماري
Supervisor name: ك. كافالسكي
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تصاميم هوائيات مطبوعة اعتمادا على مواد استثنائية الخصائص ذات معامل انكسار صفري لقيم كسب واتجاهية عالية == PRINTED ANTENNA DESIGNS BASED ON ZERO-REFRACTIVE INDEX METAMATERIAL FOR HIGHER GAIN AND DIRECTIVITY

Author name: علي عبد الرحمن صالح
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronics and Communications Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تقنية تعدد تقسيم الترددات المتعامدة الضوئية لتخفيض نسبة ذروة القدرة الى المتوسط == Coherent Optical Orthogonal Frequency- Division Multiplexing (OFDM) for Peak to Average Power(PAPR) Ratio Reduction

Author name: لقاء عبد الستار ابراهيم محمد الهاشمي
Supervisor name: Sinan Majid Elias |Ghaida A Al-Suhail
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

نمذجة طلب الطاقة على اساس تقنية التعلم العميق الهجين للتنبؤ في تطبيق الاستجابة للطلب == Power Demand Modeling Based On Hybrid Deep Learning Technique To Predict The fluctuations In Demand Response Application

Author name: سراب شنان سوادي
Supervisor name: Ali Fadhil Marhoon
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

امثلية تشكيل الاشعاع لانظمة هوائيات المصفوفة الخطية والمستوية باستخدام خوارزمية سلوك انتشار التاكل == Beamforming Optimization of Linear and Planar Antenna Array Based on the Corrosion Diffusion Algorithm

Author name: حسين عبد الدايم وادي
Supervisor name: Falih M Alnahwi |Ramzy S Ali
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تحليل الاداء لمحرك المعاوقة التزامني المكون من خمس اطوار باستخدام طريقتي التحكم الاتجاهي والتحكم المباشر في عزم الدوران == PERFORMANCE ANALYSIS OF FIVE- PHASE SYNCHRONOUS RELUCTANCE MOTOR BY USING VECTOR CONTROL AND DIRECT TORQUE CONTROL METHODS

Author name: نمارق عبد الامير امين
Supervisor name: Ali Kadhim Abdulabbas | Habeeb Jaber Nekad
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تحليل ومقارنة تضمين عرض النبضة للعواكس متعددة المستويات التقليدية وغير التقليدية == Analysis and Comparison of PWM between Conventional and Nonconventional Multilevel Inverters

Author name: عدالة عودة عبد علي
Supervisor name: Ali Khadim Abdulabbas | Habeeb Jaber Nekad
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تحليل اداء طرق تعديل OFDM لقناة الاتصالات اللاسلكية == A PERFORMANCE ANALYSIS OF OFDM EQUALIZATION TECHNIQUES FOR WIRELESS COMMUNCATIONS CHANNEL

Author name: ابو القاسم فاخر هاشم
Supervisor name: Majid A. Alwan | Falih M. Alnahwi
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

التحكم بسرعة المحرك الحثي ثلاثي الاطوار باستخدام الخوارزمية الجينية القائمة على اساس التكامل النسبي - والشبكة العصبية المضببة == Speed Control of Three-Phase Induction Motor using Genetic Algorithm Based PI Fuzzy - Neural Controller

Author name: رواء كاظم سكران
Supervisor name: Khearia A. Mohammad Ali
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering - Power and Machinery
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

وحدة عشرية وثنائية مشتركة لعملية الضرب - الجمع المدمجة ذات الفارزة العائمة باستخدام انظمة اعداد زائدة == A Combined Decimal and Binary FloatingPoint Fused Multiply-Add Unit with Redundant Number Systems

Author name: محمد نبيل جاسم
Supervisor name: Fatemah K. Al-Assfor
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

نمذجة, تصنيع وسيطرة لمحرك ورنية نوع (HB) == Modeling, Fabrication, and Control of HB-Type Vernier Motor

Author name: مازن عبدالاله علوان ال ابراهيم
Supervisor name: Rabee' Hashim Thejel | Haroutuon A. Hairik
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
Key words:
  • المحركات
First pages:

نمذجة ومحاكاة نظام (سكر - انسولين) فوضوي باعتماد الشبكات الخلوية اللاخطية == MODELING AND SIMULATION OF CHAOTIC GLUCOSE-INSULIN SYSTEM BASED ON CELLULAR NONLINEAR NETWORKS

Author name: احمد محمد علي علي
Supervisor name: Fadhil R.Tahir
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
Key words:
  • الشبكات الخلوية
First pages:

الخوارزميات المقترحة لتخطيط مسارات الطائرات رباعية المحركات == PROPOSED PATH PLANNING ALGORITHMS FOR QUADROTOR SYSTEM

Author name: احمد فاهم ابراهيم
Supervisor name: Abduladhem Abdulkareem ALI
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:

تصميم وتحليل الهوائيات لانظمة الاتصالات اللاسلكية فائقة عرض الحزمة ومتعددة الادخال والاخراج == Design and Analysis of Antennas for UWB-MIMO Wireless Communication Systems

Author name: محمد حسين مري
Supervisor name: Ghaida A. AL-Suhail
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronics and Communications Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تصميم خلية مصفوفة البوابات المبرمجة حقليا باستخدام فضاء المنطق المتعدد تحويل - تشفير - تجميع == DESIGN OF A MULTIPLE-VALUED LOGIC FPGA CELL BASED ON CONVERT-CODED-COLLECT (CCCi) SPACE

Author name: هشام لطيف سوادي
Supervisor name: Soad A. A. Al-Syaab | Dhafer R.Zager
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electronics and Communications Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تصاميم لهوائيات مصغرة لدوائر منطقة الجسم البشري == Miniaturized Antenna Designs for Body Area Networks

Author name: حسين قاسم بشير
Supervisor name: Haider M. AlSabbagh | Hussain Al-Rizzo
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تقنيات تقليل الاقتران المتبادل لتطبيقات هوائيات انظمة الادخالات والاخراجات المتعددة == Mutual Coupling Reduction Techniques for Printed MIMO Antennas Applications

Author name: عبد الغفور عبد الغفار عبد الحميد
Supervisor name: Abdulkareem S. Abdullah | Raad A. Abdulhameed
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Master
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تصميم وتصنيع هوائيات المصفوفة العاكسة لتطبيقات الاتصالات اللاسلكية في حزمة X - وحزمة C - التردديتان == DESIGN AND IMPLEMENTATION OF REFLECTARRAY ANTENNAS FOR C-BAND AND X-BAND WIRELESS APPLICATIONS

Author name: موسى هادي والي
Supervisor name: Abdulkareem S. Abdullah | Ramzy. S. Ali
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Communications Engineering
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:

تصميم ومحاكاة وتشغيل عاكس فوتوفولتائي احادي الطور المرتبط بالشبكة والمنفصل عنها وبدون بطاريات == Design, Simulation and operation of the grid tied and standalone single phase PV-inverter without batteries

Author name: ناصر حسين سلمان
Supervisor name: Jawad R. Al-Ali
General topic: Electrical, Electronic and Communications Engineering
Specific topic: Electrical Engineering - Power and Machinery
Degree: Doctorate
University: University Of Basrah - College Of Engineering - Department Of Electrical Engineering
Language: English
University location: Basrah
First pages:
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