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An Experimental Research on Design and Development Diversified Controllers for Tri-copter Stability Comparison
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>
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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Image Compression Techniques on-Board Small Satellites

      Raw satellite images are considered high in resolution, especially multispectral images captured by remote sensing satellites. Hence, choosing the suitable compression technique for such images should be carefully considered, especially on-board small satellites, due to the limited resources. This paper presents an overview and classification of the major and state-of-the-art compression techniques utilized in most space missions launched during the last few decades, such as the Discrete Cosine Transform (DCT) and the Discrete Wavelet Transform (DWT)-based compression techniques. The pros and cons of the onboard compression methods are presented, giving their specifications and showing the differences among them to provide uni

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Publication Date
Tue Mar 30 2021
Journal Name
Baghdad Science Journal
Delivery Route Management based on Dijkstra Algorithm

For businesses that provide delivery services, the efficiency of the delivery process in terms of punctuality is very important. In addition to increasing customer trust, efficient route management, and selection are required to reduce vehicle fuel costs and expedite delivery. Some small and medium businesses still use conventional methods to manage delivery routes. Decisions to manage delivery schedules and routes do not use any specific methods to expedite the delivery settlement process. This process is inefficient, takes a long time, increases costs and is prone to errors. Therefore, the Dijkstra algorithm has been used to improve the delivery management process. A delivery management system was developed to help managers and drivers

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Publication Date
Sun Nov 04 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Effect of Iodine Overdose on Thyroid Hyperplasia

Objectives: study the relation between the effect of time (long time duration) with high concentration of iodine
and study its effect on the activity of the thyroid gland (hormonal and histological changes).
Methodology: An experimental study was done on (30) albino rats (8 weeks of age) to know the effect of high
concentration of iodine on the activity of the thyroid gland (hormonal and histological changes) related with
time. The study last for six months for the period of 1/2/2007 to 31/7/2007, the experiment was carried out in the
research lab. of pathology department, College of Medicine, University of Baghdad.
Results: The study shows changes in hormonal levels of thyroid hormones (T3 & T4) and also histologic

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Publication Date
Sun Jun 05 2016
Journal Name
Baghdad Science Journal
F-Compact operator on probabilistic Hilbert space

This paper deals with the F-compact operator defined on probabilistic Hilbert space and gives some of its main properties.

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Publication Date
Mon Mar 06 2023
Journal Name
Baghdad Science Journal
Quotient on some Generalizations of topological group

In this paper, we define some generalizations of topological group namely -topological group, -topological group and -topological group with illustrative examples. Also, we define grill topological group with respect to a grill. Later, we deliberate the quotient on generalizations of topological group in particular -topological group. Moreover, we model a robotic system which relays on the quotient of -topological group.

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Chilling Imbibition on Seed Germination

  Tomato (Lycopersicon esculentum Mill) and cucumber (Cucumis sativus L.)  seeds were imbided with water at 10°c or 4°c for 4, 8, and 16 hours before planting to study germination rate, mean germination time, and final germination percentage as well as electrolyte leakage from chilled seeds. Seeds imbided more water at 10°c compared to that at 4°c. Coefficient velocity of germination and final percent of germination decreased with the decrease of temperature and increasing time of imbibition. Germination percent under laboratory conditions was higher than that under field conditions. Also, it was found that tomato seeds were more sensitive to chilling imbibition. Electrolyte leakage increased as temperature of imbib

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Publication Date
Sat Dec 30 2023
Journal Name
Al-kindy College Medical Journal
Effect of Palmaris Longus on Handwriting Skills

Background: Kinesiologists, Physical Anthropologists, and Anatomists have all long been captivated by the structure and development of the superficial forearm flexor, the Palmaris longus.

Objective: To study the effect of Palmaris Longus on certain handwriting skills.

Subjects and Methods: Three Palmaris Longus occurrence tests were conducted on 200 students (100 males and 100 females) affiliated to Colleges of Medicine of Baghdad University then the participants were tested for certain handwriting skills to correlate the presence of Palmaris Longus in the dominant side with handwriting.

Results: 89% of all subject

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Effective Image Watermarking Method Based on DCT

Most includeding techniques of digital watermark even now working through the direct inclusion in the pixel without taking into account the level of compression (attack) that can go wrong, which makes digital watermark can be discarded easily. In this research, a method was proposed to overcome this problem, which is based on DCT (after image partitioned into non overlapped blocks with size 8×8 pixel), accompanied by a quantization method. The watermark (digital image) is embedded in DCT frequency domain seeking the blocks have highest standard deviation (the checking is only on the AC coefficients) within a predetermined threshold value, then the covered image will compressed (attacked) varying degrees of compression. The suggested met

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Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
On The Dependent Elements of Reveres Bimultipliers

The objective of this paper is to study the dependent elements of a left (right)
reverse bimultipliers on a semiprime ring. A description of dependent elements of
these maps is given. Further, we introduce the concept of double reverse ( , )-
Bimultiplier and look for the relationship between their dependent elements.

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Publication Date
Mon Dec 20 2021
Journal Name
Baghdad Science Journal
Fast Processing RNA-Seq on Multicore Processor

RNA Sequencing (RNA-Seq) is the sequencing and analysis of transcriptomes. The main purpose of RNA-Seq analysis is to find out the presence and quantity of RNA in an experimental sample under a specific condition. Essentially, RNA raw sequence data was massive. It can be as big as hundreds of Gigabytes (GB). This massive data always makes the processing time become longer and take several days. A multicore processor can speed up a program by separating the tasks and running the tasks’ errands concurrently. Hence, a multicore processor will be a suitable choice to overcome this problem. Therefore, this study aims to use an Intel multicore processor to improve the RNA-Seq speed and analyze RNA-Seq analysis's performance with a multiproce

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