The drones have become the focus of researchers’ attention because they enter into many details of life. The Tri-copter was chosen because it combines the advantages of the quadcopter in stability and manoeuvrability quickly. In this paper, the nonlinear Tri-copter model is entirely derived and applied three controllers; Proportional-Integral-Derivative (PID), Fractional Order PID (FOPID), and Nonlinear PID (NLPID). The tuning process for the controllers’ parameters had been tuned by using the Grey Wolf Optimization (GWO) algorithm. Then the results obtained had been compared. Where the improvement rate for the Tri-copter model of the nonlinear controller (NLPID) if compared with the linear controller is (81.69%). Also, compared the paper results with the previous work results, where the greatest improvement in the stability of the Tri-copter model was (94.2 %) in the nonlinear controller and for traditional PID controller was (79.22).
In the current research work, a method to reduce the color levels of the pixels within digital images was proposed. The recent strategy was based on self organization map neural network method (SOM). The efficiency of recent method was compared with the well known logarithmic methods like Floyd-Steinberg (Halftone) dithering and Octtrees (Quadtrees) methods. Experimental results have shown that by adjusting the sampling factor can produce higher-quality images with no much longer run times, or some better quality with shorter running times than existing methods. This observation refutes the repeated neural networks is necessarily slow but have best results. The generated quantization map can be exploited for color image compression, clas
... Show MoreDropping packets with a linear function between two configured queue thresholds in Random Early Detection (RED) model is incapable of yielding satisfactory network performance. In this article, a new enhanced and effective active queue management algorithm, termed Double Function RED (DFRED in short) is developed to further curtail network delay. Specifically, DFRED algorithm amends the packet dropping probability approach of RED by dividing it into two sub-segments. The first and second partitions utilizes and implements a quadratic and linear increase respectively in the packet dropping probability computation to distinguish between two traffic loads: low and high. The ns-3 simulation performance evaluations clearly indicate t
... Show MoreOften phenomena suffer from disturbances in their data as well as the difficulty of formulation, especially with a lack of clarity in the response, or the large number of essential differences plaguing the experimental units that have been taking this data from them. Thus emerged the need to include an estimation method implicit rating of these experimental units using the method of discrimination or create blocks for each item of these experimental units in the hope of controlling their responses and make it more homogeneous. Because of the development in the field of computers and taking the principle of the integration of sciences it has been found that modern algorithms used in the field of Computer Science genetic algorithm or ant colo
... Show MoreContent-based image retrieval has been keenly developed in numerous fields. This provides more active management and retrieval of images than the keyword-based method. So the content based image retrieval becomes one of the liveliest researches in the past few years. In a given set of objects, the retrieval of information suggests solutions to search for those in response to a particular description. The set of objects which can be considered are documents, images, videos, or sounds. This paper proposes a method to retrieve a multi-view face from a large face database according to color and texture attributes. Some of the features used for retrieval are color attributes such as the mean, the variance, and the color image's bitmap. In add
... Show MoreThe Internet is the hallmark of the age of technology and this technology is complemented by the presence of software which is one of the basic components of the operation of the network and it is used in almost all daily life aspects such as industry, commerce and others. Because the digital documents and objects can be easily replicated and distributed at an economically low cost and as the software is a type of digital object, the problem of software watermarking risen as related to how to protect data from piracy. Therefore, various techniques have been developed to protect codes from misusing and unauthorized alteration. Each of them is known as watermarking technology that protects data by inserting secret information into software
... Show MoreSeveral remote sensor network (WSN) tasks require sensor information join. This in-processing Join is configured in parallel sensor hub to save battery power and limit the communication cost. Hence, a parallel join system is proposed for sensor networks. The proposed parallel join algorithm organizes in section-situated databases. A novel join method has been proposed for remote WSNs to limit the aggregate communication cost and enhance execution. This approach depends on two procedures; section-situated databases and parallel join algorithm utilized to store sensor information and speed up processing respectively. A segment arranged databases store information table in segmented shrewd. The Parallel-Joining WSN algorithm is effectively
... Show MoreSteganography is the art of secret communication. Its purpose is to hide the presence of information, using, for example, images as covers. The frequency domain is well suited for embedding in image, since hiding in this frequency domain coefficients is robust to many attacks. This paper proposed hiding a secret image of size equal to quarter of the cover one. Set Partitioning in Hierarchal Trees (SPIHT) codec is used to code the secret image to achieve security. The proposed method applies Discrete Multiwavelet Transform (DMWT) for cover image. The coded bit stream of the secret image is embedded in the high frequency subbands of the transformed cover one. A scaling factors ? and ? in frequency domain control the quality of the stego
... Show MoreThis paper presents a linear fractional programming problem (LFPP) with rough interval coefficients (RICs) in the objective function. It shows that the LFPP with RICs in the objective function can be converted into a linear programming problem (LPP) with RICs by using the variable transformations. To solve this problem, we will make two LPP with interval coefficients (ICs). Next, those four LPPs can be constructed under these assumptions; the LPPs can be solved by the classical simplex method and used with MS Excel Solver. There is also argumentation about solving this type of linear fractional optimization programming problem. The derived theory can be applied to several numerical examples with its details, but we show only two examples
... Show MoreThe increase in cloud computing services and the large-scale construction of data centers led to excessive power consumption. Datacenters contain a large number of servers where the major power consumption takes place. An efficient virtual machine placement algorithm is substantial to attain energy consumption minimization and improve resource utilization through reducing the number of operating servers. In this paper, an enhanced discrete particle swarm optimization (EDPSO) is proposed. The enhancement of the discrete PSO algorithm is achieved through modifying the velocity update equation to bound the resultant particles and ensuring feasibility. Furthermore, EDPSO is assisted by two heuristic algorithms random first fit (RFF) a
... Show MoreThe capacity factor is the main factor in assessing the efficiency of wind Turbine. This paper presents a procedure to find the optimal wind turbine for five different locations in Iraq based on finding the highest capacity factor of wind turbine for different locations. The wind data for twelve successive years (2009-2020) of five locations in Iraq are collected and analyzed. The longitudes and latitudes of the candidate sites are (44.3661o E, 33.3152o N), (47.7738o E, 30.5258o N), (45.8160o E, 32.5165o N), (44.33265o E, 32.0107o N) and (46.25691o E, 31.0510o N) for Baghdad, Basrah, Al-Kut, Al-Najaf, and Al-Nasiriyah respectively. The average wind velocity, standard deviation, Weibull shape and scale factors, and probability density functi
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