Aerial manipulation of objects has a number of advantages as it is not limited by the morphology of the terrain. One of the main problems of the aerial payload process is the lack of real-time prediction of the interaction between the gripper of the aerial robot and the payload. This paper introduces a digital twin (DT) approach based on impedance control of the aerial payload transmission process. The impedance control technique is implemented to develop the target impedance based on emerging the mass of the payload and the model of the gripper fingers. Tracking the position of the interactional point between the fingers of gripper and payload, inside the impedance control, is achieved using model predictive control (MPD) approach.

The performance of sewage pumps stations affected by many factors through its work time which produce undesired transportation efficiency. This paper is focus on the use of artificial neural network and multiple linear regression (MLR) models for prediction the major sewage pump station in Baghdad city. The data used in this work were obtained from Al-Habibia sewage pump station during specified records- three years in Al-Karkh district, Baghdad. Pumping capability of the stations was recognized by considering the influent input importance of discharge, total suspended solids (TSS) and biological oxygen demand (BOD).  In addition, the chemical oxygen demands (COD), pH and chloride (Cl). The proposed model performanc

Represent the current study and tagged (the credibility of digital image and its reflection on the process of cognitive picture releases) scientific effort is designed to detect realizing press releases and the extent affected the credibility of the digital image by selecting the relationship between digital photo and the extent of their credibility on the one hand and between the process of cognition and Press Photo of the hand Other than the consequent establishment researcher collects materials to serve the scientific research topic in three chaptersCombine the first one methodological framework for the search of the research problem and its significance and the desired objective be achieved together with the definition of the most im

The  lossy-FDNR  based  aclive  fil ter has an  important   property among  many  design  realizations. 'This includes  a significant reduction in component count particularly in the number  of OP-AMP which consumes   power.  However  the·  problem  of  this   type  is the  large component spreads  which affect the fdter performance.

In  this  paper   Genetic   Algorithm   is  applied   to  minimize   the component  spread   (capacitance  and  resistance  p,read). The minimization of these spreads allow the fil

     Detection moving car in front view is difficult operation because of the dynamic background due to the movement of moving car and the complex environment that surround the car, to solve that, this paper proposed new method based on linear equation to determine the region of interest by building more effective background model to deal with dynamic background scenes. This method exploited the permitted region between cars according to traffic law to determine the region (road) that in front the moving car which the moving cars move on. The experimental results show that the proposed method can define the region that represents the lane in front of moving car successfully with precision over 94%and detection rate 86

      In this paper an algorithm for Steganography using DCT for cover image and DWT for hidden image with an embedding order key is proposed. For more security and complexity the cover image convert from RGB to YIQ, Y plane is used and divided into four equally parts and then converted to DCT domain. The four coefficient of the DWT of the hidden image are embedded into each part of cover DCT, the embedding order based on the order key of which is stored with cover in a database table in both the sender and receiver sender. Experimental results show that the proposed algorithm gets successful hiding information into the cover image. We use Microsoft Office Access 2003 database as DBMS, the hiding, extracting algo

The investigation of signature validation is crucial to the field of personal authenticity. The biometrics-based system has been developed to support some information security features.Aperson’s signature, an essential biometric trait of a human being, can be used to verify their identification. In this study, a mechanism for automatically verifying signatures has been suggested. The offline properties of handwritten signatures are highlighted in this study which aims to verify the authenticity of handwritten signatures whether they are real or forged using computer-based machine learning techniques. The main goal of developing such systems is to verify people through the validity of their signatures. In this research, images of a group o

Skull image separation is one of the initial procedures used to detect brain abnormalities. In an MRI image of the brain, this process involves distinguishing the tissue that makes up the brain from the tissue that does not make up the brain. Even for experienced radiologists, separating the brain from the skull is a difficult task, and the accuracy of the results can vary quite a little from one individual to the next. Therefore, skull stripping in brain magnetic resonance volume has become increasingly popular due to the requirement for a dependable, accurate, and thorough method for processing brain datasets. Furthermore, skull stripping must be performed accurately for neuroimaging diagnostic systems since neither non-brain tissues nor