Preferred Language
Details
Publication Date
Tue Jun 01 2021
Journal Name
Iop Conference Series: Materials Science And Engineering
Volume
1105
DOI
10.1088/1757-899X/1105/1/012019
Choose Citation Style
Statistics
View publication
1
Statistics
Crossref (1)
Articles
/
RxchXJIBVTCNdQwCOa1q
An Experimental Research on Design and Development Diversified Controllers for Tri-copter Stability Comparison
Tri-copter
PID (NLPID)
Fractional Order PID (FOPID)
Grey Wolf Optimization (GWO) algorithm.
Sadiq Jawad
Muna Hadi
...Show More Authors
Abstract<p>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).</p>
Crossref
View Publication
Related publications
Publication Date
Fri Dec 31 2021
Journal Name
Political Sciences Journal
Alternative Perspectives in Explaining the Conduct of US Foreign Policy: A Historical-Critical View of Decision-Making Models
decision-making process
decision-makers
United States
comparative chronological order
comparative politics in the US decision-making process
American politics
the role of communication and mass media in the decision-making process.
Assist.Prof.Wafaa
Assist.Prof.Alia
...Show More Authors

Receipt date:2/17/2021 acceptance date:3/16/2021 Publishing date:12/31/2021

Creative Commons LicenseThis work is licensed under a Creative Commons Attribution 4.0 International License.

Objective: This paper investigates the contradictions in the decision-making process of the United States, which historically proven to be successful policies in the short term, but in the long term proven to be wanting and failure. Methodology: The paper uses descriptive, historical, comparative method. A

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Mar 01 2022
Journal Name
Iraqi Journal Of Agricultural Sciences
CORRELATION OF TMPRSS2-ERG GENE FUSION STATUS WITH CLINICOPATHOLOGICAL CHARACTERISTICS IN PROSTATE CANCER OF IRAQI PATIENTS
The aim of this study was to establish the existence and interaction of TMPRSS2 – ERG gene fusion status with clinicopathological features of prostate cancer patients. This research consisted of 123 embedded formalin-fixed tissues obtained from the prostate tumor patients. The above gene fusion is detected through the technique of fluorescent in situ hybridization (FISH) by means of a triple color probe. Seven samples have not been scored due to technical difficulties and 46 patients have fusion (39.6%)
while the remaining (70) have not been seen with fusion. Of the 46 fusion-positive
17 (36%) were caused by ERG-translocation
of the other 29 (63%) were caused by the interstitial segment deletion between the two genes due to their sequential position. In order to find a substantial correlation between 116 patients (fusion took place in 46 and non-fusion in 70) with clinicopathological features
the following findings were calculated: Our findings recorded non-significant correlation at age
BMI and tumor size at which (P-value >0.05).While results showed significant association with: pathological T stage (P value = 0.011)
Gleason score (P value = 0.002)
perineural invasion (P value = 0.047) and PSA (P value = 0.033). The clinicopathological features which had a considerable correlation with fusion status are very important as they aid the doctors in prognosis and treatment of such tumor.
Ammar
Maha
...Show More Authors