Al-Nahrain Journal for Engineering Sciences

Mobile robots use simultaneous localization and mapping (SLAM) techniques for generating maps of unknown environments through navigating its. In this work, firstly SLAM technique was considered based on extended Kalman filter (EKF) which it was implemented and evaluated at unknown environments with different number of landmarks to estimate mobile robot’s position and build a map for navigated environment at the same time. Then, the detectable landmarks will play an important role in controlling the overall navigation process as well EKF-SLAM technique’s performance. After that, three intelligent optimization algorithms are proposed to enhance the performance of the EKF-SLAM trajectory for the mobile robot, these algorithms are: particle swarm optimization (PSO), chaotic particle swarm optimization (CPSO) and genetic optimization (GA). MATLAB simulation results show that CPSO algorithm outperforms PSO and GA algorithms in terms of minimizing the mean square error (MSE1) with increasing the number of landmarks, where MSE1 is the mean square error of EKF-SLAM according to the actual trajectory. The simulation results show also the performance of EKF-SLAM trajectory is better than the performance of the Odometry trajectory and becomes best with using intelligent optimization algorithms.

The strategy of reusing materials and architectural elements in new buildings and locations after extracting them from previous structures and sites, known historically as "spolia," is now an important approach in contemporary architectural project design. This strategy showcases a balance between tradition and innovation, transforming heritage elements into new architectural pieces that carry contemporary artistic and cultural values. The purpose of this research is to uncover the forms of this practice and the meanings or purposes associated with it, within a theoretical framework that serves as a tool for designers when dealing with such projects. The research reviews studies on the subject and extracts the most important terms, then moves on to analyse several worldwide case studies of contemporary projects that have applied the concept of spolia reuse. The purpose is to enrich the framework by highlighting the reused architectural elements and their new functions, as well as the meanings and interpretations linked to these cases. The research identifies key indicators, including respect for heritage, creative artistic expression, sustainability, and recycling. The aim of the article is to shed light on the importance and effectiveness of using the concept of spolia reuse in the design of modern architectural projects and to promote a sustainable and innovative architectural culture.

The Unified Power Flow Controller (UPFC) is a most complex power electronic device, which can simultaneously control a local bus voltage and optimize power flows in the electrical power transmission system. This paper presents the effect of installing the UPFC on the Iraqi (400 kV) grid transmission system to control the active and reactive power flow by choosing the optimal location and parameters of Unified Power Flow Controllers (UPFCs), which were specified based on the Genetic Algorithm (GA) optimization method. The objectives are improving voltage profile, reducing power losses, treating power flow in overloaded transmission lines, and reducing power generation. The steady state model of UPFC has been adopted on (400 kV) Iraq transmission lines and simulated using the MATLAB programming language. The Newton-Raphson (NR) numerical analysis method has been used for solving the load flow of the system. The practical part has been solved through Power System Simulation for Engineers (PSS\E) software Version 32.0. The Comparative results between the experimental and practical parts obtained from adopting the UPFC were too close and almost the same under different loading conditions, which are (5%, 10%, 15% and 20%) of the total load.

The separation of water from crude oil emulsions is a critical and complex challenge in petroleum production and processing. Water-in-oil (W/O) emulsions increase viscosity, pose corrosion risks, reduce refining efficiency, and raise significant environmental concerns. Traditional separation methods often struggle with stable emulsions containing small droplets due to limitations in cost, environmental impact, and effectiveness. Electro-coalescence demulsification has emerged as a promising technique that applies electric fields to enhance droplet coalescence, facilitating efficient water removal. This comprehensive review examines the influence of electrode geometry on electro-coalescence systems in depth, synthesizes key findings from numerous studies, and provides a detailed analysis of electrode spacing calculations, critical conditions for effective demulsification, and optimal operational parameters. By exploring these aspects comprehensively, the review offers insights into how electrode design affects demulsification efficiency, guiding future advancements in crude oil processing and contributing to more sustainable practices in the petroleum industry.

Throughout the flight, aircraft wings continuously struggle against various forces: the forward thrust from the engine, the drag pulling them backward, and sudden turbulence from storms. In contrast, these forces are essential for maintaining aircraft stability. With time, the cyclic stresses can result in the formation and propagation of minuscule cracks in the wings. Cracks growing on the aircraft wing surface manufactured from alloy AL7075-T6, have been investigated when subjected to non-preoperational multi-axial cyclic loading. The results have been evaluated using two methods, numerical simulations and theoretical calculation to evaluate dynamic crack propagation crack growth per cycle (da/dN) at angles of attack 5° and 10°. The results showed that the dynamic crack propagation increases with an increase in the crack length. It was found that the values of the dynamic crack propagation rate at the angle of attack 5⁰ are smaller than the values at the angle of attack 10⁰.

Power outages are a common and persistent problem in Iraq, significantly impacting various aspects of life and business. These interruptions disrupt routine household tasks and hinder more complex technical operations in industries and services. Emphasizing the need for careful management and proactive solutions. This paper introduces a real-world time series dataset for Baghdad city, including historical outages, weather conditions (such as temperature), and power overloads, and analyzes the correlation among these parameters in different seasons. The research uses this dataset to train one-dimensional Convolutional Neural Networks (1D CNN) to find patterns and relationships that can accurately predict when power outages can happen in the long term and short term to improve the management of the Baghdad electricity grid through data-driven networks. This model was evaluated using performance metrics, and the results show that CNN is accurate in predicting outages in the short term with a Mean Absolute Error (MAE) of (0.0077), whereas, in the long term, it has achieved an MAE of (0.0775). These predictive models have the potential to facilitate the development of proactive measures aimed at reducing the impact of power outages by anticipating potential outages in advance. This research focuses on enhancing the reliability and efficiency of Baghdad's electricity supply, ultimately contributing to economic growth and stability.

Flexible and rigid pavements are commonly built for airport pavements to support the moving loads of aircraft during the pavement design life. Airport pavements represent a cornerstone of the aviation world. Their condition profoundly impacts safety, operational efficiency, airport capacity, and financial well-being. These meticulously engineered surfaces must withstand the immense stresses generated by aircraft during takeoff, landing, and taxiing. At the planning stage, the pavement structure, materials, aircraft loads, environmental conditions, and pavement damage models should be evaluated. Comparing with road pavement design, airport pavement structural design is unique in terms of the traffic loads supported by pavements with high load magnitude, significant tire pressure, and dynamic traffic conditions. Over time, deterioration stemming from environmental exposure, aircraft loading, and other factors becomes inevitable. This study aims to explore the various factors influencing airport pavement performance, review the existing methodologies for pavement design and maintenance, and propose enhancements to current practices to ensure long-term durability and safety of airport pavements. This study aims to explore the various factors influencing airport pavement performance, review the existing methodologies for pavement design and maintenance, and propose enhancements to current practices to ensure long-term durability and safety of airport pavements.

Chemical additives and polymeric materials, selected for their compatibility and ability to improve asphalt's performance in demanding environments. Key additives, including Polyphosphoric Acid (PPA), Polyvinyl Acetate (PVAC) beads, Maleic Anhydride (MA), and Ethylene Vinyl Acetate (EVA) resin, were mixed in precise ratios with the asphalt binder. These additives were chosen to evaluate their effects on crucial performance indicators, such as the Penetration Index (PI) and activation energy, which measure the material’s thermal stability, flexibility, and resistance to deformation. Results demonstrated that the addition of these materials significantly increased the asphalt’s activation energy by up to 45.44%, enhancing its resistance to temperature fluctuations and providing better stability under various environmental stresses. The Penetration Index (PI) also improved notably, indicating that modified asphalt exhibits greater durability and reduced susceptibility to cracking or deformation under thermal changes. These enhancements contribute to lower road maintenance requirements and support greater energy efficiency in asphalt production and application processes. Compared to neat asphalt, the modified asphalt exhibited superior thermal stability, mechanical resilience, and overall performance, making it suitable for use in diverse climatic conditions. This study provides valuable insights into sustainable asphalt modification techniques, emphasizing the role of polymer and chemical additives in extending pavement lifespan and reducing environmental impact through improved material properties.

Recent scholarly efforts have extensively explored the efficacy of solar dish concentrators through both numerical simulations and empirical investigations. These studies predominantly scrutinize the interplay between solar receiver geometry and the dual objectives of minimizing heat loss while amplifying thermal efficiency. This comprehensive review synthesizes the spectrum of research dedicated to examining various cavity receiver geometries, alongside their optimization techniques when integrated with parabolic dish collectors. We systematically assess configurations including flat-sided, cylindrical, conical, and hemispherical designs. Our findings highlight that for an inlet temperature set at 200°C, the conical cavity receiver is distinguished by an exergy efficiency of 30%, a thermal efficiency approximating 70%, and an optical efficiency nearing 87%, maintaining a working fluid temperature range of 650°C to 750°C. The elevated operational temperatures, coupled with the inherent geometry of the cavity, accentuate the significance of mitigating heat losses attributed to convection, conduction, and radiation, as these factors critically impinge on system performance. Additional variables such as cavity inclination angle, diameter-to-depth ratio, tubing contour, and material selection are identified as instrumental in influencing cavity heat losses. Consequently, the pursuit of an optimized cavity receiver geometry emerges as a pivotal area of study. Drawing upon the issues analyzed, we propose strategic recommendations and conclude with insightful remarks poised to guide future research endeavors

The oil industry has a direct impact on the economic feasibility of other sectors and is considered to be the most important energy source used to turn the wheels of other industries. Therefore, it was necessary to pay attention and continuously develop this industry, to find the best modern techniques for designing, pre-commissioning and controlling process, to improve efficiency, preserve energy and achieve the highest production of costly components with the highest purity of the product. This study aims to provide a literary analysis of the stages of development and progress of the dynamics and control of the petroleum industry, in particular the distillation column, because it is multivariable with high interaction between control cycles, nonlinear behaviour and large gains. Control processes have undergone many developments and modernizations to achieve the best results. Various control methods have been used, ranging from simple proportional-integral-derivative controller (PID) to advanced control strategies such as model predictive control (MPC), multivariate model predictive control (MMPC), fuzzy logic control (FLC), quadratic dynamic matrix control (QDMC), artificial neural network control (ANN) and other advanced control techniques. The authors concluded from the review that the advanced control strategies superior than the conventional methods.

This study compares two different sockets, traditional and smart. It includes designs, manufacturing, and testing to evaluate the influence of the socket designs on gait symmetry. The proposed materials are locally available in the prosthetics center where traditional sockets are manufactured. and smart socket designs with the same materials as traditional additions. A simple electronic system programmed to control the movement of the stump by pneumatic pads and prevent slipping during movement is considered an advanced suspension system. A gait cycle test was carried out to evaluate the sockets. it was performed on a patient with AK amputation in two cases: the first when the patient was wearing the traditional and the second when wearing the smart. Where the difference in (gait cycle time, step velocity, heel contact, and mid-stance) between the left and right leg is equal to (0.54, 4.3, 0.19, and 0.34) respectively, when the patient uses the traditional, while these values reduce to (0.09, 0.7, 0.07, and 0.27) respectively when the patient used the smart, it improves comfort by modifying pressure distribution, relieving pressure points, and enhancing functionality through gait analysis. They adjust to the volume of the residual limb, ensuring an effective fit. Real-time monitoring and remote modifications decrease the need for in-person meetings and enhance user confidence. The smart socket, designed to fit user requirements, provides enhanced comfort, functionality, and independence. The studies will explore its long-term benefits and broader applications, focusing on its originality, practical implications, and outcome measurement.

This research focuses on enhancing the diagnostic power of the slit lamp, a fundamental ophthalmic instrument, by replacing its traditional halogen light source with a cutting-edge white laser. The objective of this modification is to significantly improve the brightness, intensity, and color accuracy, which are crucial for distinguishing fine ocular details during eye examinations. White laser technology offers a more stable, energy-efficient light source with reduced maintenance needs, making it a valuable upgrade over conventional systems. As part of this redesign, the optical system will be optimized with new filters, lenses, and heat management techniques to accommodate the white laser. Additionally, integrating a high-resolution digital camera with the enhanced illumination system is expected to provide sharper, more accurate imaging for better diagnosis. The anticipated outcome is a transformative improvement in ocular diagnostics, leading to earlier and more precise detection of eye conditions. This advancement holds promise for both patients, through better care, and ophthalmologists, through increased diagnostic efficiency. Challenges in implementation and potential solutions are also considered.

Gypsum soil is classified as problematic because it contains gypsum, a soluble substance in the presence of water. Therefore, it is recommended that it be improved before construction. This research examines the effect of clayey soils on enhancing the properties of gypseous soils. Two soil samples, designated as Soil 1 (with a gypsum concentration of 35.4%) and Soil 2 (with a gypsum content of 12.3%), were obtained from Al Najaf City, Iraq, and subjected to laboratory testing. The study investigates the use of cost-effective, locally available clayey soil to improve the engineering characteristics of gypseous soils, thereby mitigating the adverse effects of wetting. The experimental program encompassed a compaction, compressibility, and shear strength test. To assess the impact of clayey additives, gypseous soil was treated with varying percentages of clayey soil content (5% and 10%), and tests were conducted on both treated and untreated gypseous soil samples. The results indicated that using 10% clayey additives could decrease the collapse potential by 55% and 39% for Soil 1 and Soil 2, respectively. Additionally, the clayey additives significantly affected cohesion, with an enhancement percentage of 625% and 1315% under soaking conditions at 10% clayey additives for Soil 1 and Soil 2, respectively.

Children of hyperactivity are like any other children, but they are unable to integrate with society and the environment, because hyperactivity is a developmental disorder that makes the child uncontrollable, difficult to understand, learn and socialize and is placed in the centres of disease control as a serious public health problem. Here, the role of architecture is in its active contribution to improving social interaction and addressing part of the problems of this group of children. This treatment has a significant impact on improving the quality of children's environment in general and children of hyperactivity in particular, thus facilitating interaction and learning with their peers by working to create a healthy environment that meets their needs inside and outside the building. Due to the lack of interest or thorough studies on children with hyper-active, distracted children and the impact of their surrounding environment, whether internal or external, especially within Iraq, despite their considerable and multiple creative potential (physical or mental). Therefore, the aim of the research was to determine the extent of the effect of green on the elite or hyperactivity symptoms of children suffering from hyperactivity syndrome, and to contribute to their positive, sensory and collective appearance.

Millimeter Wave (mmWave) Massive Multiple Input Multiple Out (MIMO) system is a key technology for future wireless transmission. The system's architecture can differ based on the type of Analog-to-Digital Converters (ADCs) used at the receiver, whether they are all low-resolution or a mix of different resolutions (Mixed-ADCs). Mixed-ADCs is a promising solution to achieve better performance than low-resolution ADC-only architectures by leveraging high-resolution ADCs to capture critical signal components while maintaining energy efficiency through low-resolution ADCs. In this paper, the problem of channel estimation for this system architecture is taken into consideration. A novel compressive-sensing based algorithm, that is called Approximate Conjugate Gradient Pursuit (ACGP), is proposed to estimate the channel coefficients. The performance of the proposed algorithm is investigated under varying system parameters, including different Signal-to-Noise Ratios (SNR), Radio Frequency (RF) chains, ADC resolutions, and numbers of observation frames. Matlab software was used to perform numerical simulations. The results demonstrated that mixed-ADCs architecture outperforms low resolutions only in performance. It was found that ACGP achieves lower Minimum Mean Squared Error (MMSE) compared to Orthogonal Matching Pursuit (OMP) and Least Square (LS), particularly in low SNR conditions showcasing its robustness and efficiency in signal reconstruction, achieving an average enhancement of 30% to 50% at moderate SNR levels. While OMP exhibited faster computation times under various number of observation frames, ACGP maintained stable computational performance, with a slight increase in computation time. For applications where accurate channel estimation is required under noisy environment, the proposed algorithm is an effective choice to meet such requirements.

Cascade single mode fiber—no core fiber—single mode fiber (SNS) filters are experimentally demonstrated and theoretically investigated by COMSOL6.1. Multiphysics. These devices' simplicity, compactness, affordability, all-fiber design, low transmission loss, and ability to continuously adjust the laser wavelength at a particular spectral range contribute to their dependability. The operation’s basis is multimode interference (MMI) and self-image phenomena. A SNS filter based on an optimized 4th self-imaging condition for different no-core fiber (NCF) dimensions was theoretically optimized at ????peak/dip=1550 nm, then a magnatic tunable filter encircled by ferrofluid was experimentally investigated at 4th self-imaging. The theoretical results are indicate that reducing the NCF diameter can enhance the filter's tunability. At 4th self-image, the maximum tunability of DNCF = 40 µm and LNCF = 0.6 cm is about 260 nm from 1429 nm to 1689 nm. The experimental results show that the tunability of a filter based on a magnetic field reaches about 5 nm (1550.9 nm -1555.9 nm). LNCF=58.5 mm and NCF diameter 125 µm. device has applications in fiber laser technology, spectroscopy, and optical communication.