Wasit Journal of Engineering Sciences

A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Urban problems affects both Developed and Third World, the problems include necessity for land, energy consumption and urban waste, these problems affect the environment and ecology system and decrease the quality of healthy inhabitants living and there is a lack in sustainable treatment for these problems, the research hypothesize that sustainable urban development can be achieved if urban planning consider an effective transport system and infra structure with the support of land use administrational tools, the research aims to define future sustainable urban development schemes with a future description for sustainable Baghdad urban future, the research defines urban problems and the available treatments to outline the meaning of sustainable urbanism.

Many cities in the developing and developed countries have suffered from Sprawl and expansion of urban areas in low population densities against the suburban account, which often are of farmland, As a result of this phenomenon multiple urban problems such as increasing in dependent on the private car and segregate land use and the worsening housing problem as a result of overlapping of powers between the agencies responsible for development decisions, and the theorists appeared the so-called smart growth, which depends on a set of ten principles in the design, planning and management of scientific urban development has addressed research literature concerning the extension of urban growth and smart as a concept, principles and policies that are dynamic, which depends on the nature of development and target different methods to measure and then eat explain how to measure one media growth performance smart cards and in the operational framework has research aimed to measure the indicators to achieve smart growth principles for one of the projects in the holy city of Najaf (city flag seminary) came out search results of the fact that the project represents a very good model responsiveness to development indicators required by the smart growth by righteous standards for card performance and came out research recommendations of the most important work to be the plans and designs of new and existing urban areas that require development subject to the competitions is to measure the response of the principles of smart growth as well as working to improve the planning, design and management specifications for projects and within departments local to achieve the greatest response to the principles of smart growth.

In order to reach the maximum power from a transformer and avoid thermal accidents, it is essential to carefully study its thermal behavior. This research is to apply some computational and analytical approaches in order to obtain a temperature distribution within the core and winding of a transformer. Hence its thermal behavior can be analytically and practically predicted. The aim is to optimize transformer operation under various load conditions during the extreme weather of summer season in the southern part of Iraq. The numerical scheme applied which is based on finite difference method has shown to be in good agreement with the empirical data measured on the external finned body of transformer.

The study included the assessment of the quality of the effluent of water treatment plants for irrigation uses. Eleven water treatment plants were selected in Basrah city center and surrounding areas which are Al-bradaiah1, Al-bradaiah2, Al-Ribat, R-Zero, Garmma1, Garmma2, Al Maqil, Al Jubila, Shatt Al_Arab, Al Hartha, and Al Basrah unified. One sample monthly were taken from these stations\' effluent during January to December 2013, and the water samples were analyzed for pH, electrical conductivity (EC), alkalinity, calcium (Ca++), magnesium (Mg++), chloride (Cl-), sulphate (SO4), total dissolved solids (TDS), sodium (Na+), potassium (K), bicarbonate(HCO3), and carbonate (CO3-2). Sodium Adsorption Ratio (SAR), Soluble Sodium Percentage (SSP), Exchangeable Sodium Percentage (ESP), Residual Sodium Carbonate (RSC) were calculated by using standard equations, but EC and SAR were plotted on Richard diagram it is illustrated that water samples of R- Zero and Al- Maqil located in the class of C3-S1 representing high salinity with low sodium, which can be used for irrigation to all soil types with a minimum risk of exchangeable sodium, water samples of Al- Bradaiah1, Al- Bradaiah2, Garmma1 , Garmma2, Al Jubaila and Shatt Al-Arab located in the class of C4-S2, of very high salinity and medium sodium which is considered poor. Al- Basrah unified, Al Hartha and Al Ribat located in the class of C3-S2, of high salinity and medium sodium, which is considered as Marginal. The results of the study revealed that R- Zero, Al Maqil has a good water quality for irrigation and the rest need a more interesting in treatment, or reduce the rate of mixing with Shatt Al–Arab River.