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).
This study sought to determine malformation caused by Ochratoxin-A (OTA) on mouse embryos. Twenty adult female white Swiss mice (mus msculus) were divided into four groups, with five females per group, and with one male placed with two females in a cage. Avaginal plug was observed in the early morning and the day of mating was considered as day of pregnancy followed by the first day of pregnancy. Three sub lethal concentrations of OTA were applied to the respective groups (other than the control), 1mg/kg, 2mg/kg and 4mg/kg. The animals were given 0.1 ml per 10 gm body weight per concentration of OTA once a day during days 7-14 of pregnancy. The control group animals were given distilled water. The pregnant mice were dissected, and the embry
... Show MoreIn this paper we tend to describe the notions of intuitionistic fuzzy asly ideal of ring indicated by (I. F.ASLY) ideal and, we will explore some properties and connections about this concept.
The notion of a Tˉ-pure sub-act and so Tˉ-pure sub-act relative to sub-act are introduced. Some properties of these concepts have been studied.
Background: Aphaeresis is a term that means to separate or to take away. The basic idea of aphaeresis is efficient removal of a circulating cellular blood component, either cells (Cytopheresis) or plasma solute (plasmapheresis, plasma exchange).Thus, the treatment goal of aphaeresis is to remove the circulating cell or substance directly responsible for the disease process. Acceleration and development of aphaeresis applications had taken place with the arrival of automated cell separators in 1970s that ensure selectively removal of one or more of blood components from the blood and return the remainder to the individual. Plasmapheresis is separation of plasma from blood cells which are returned to the body.
... Show MoreBackground: Sperm motility disorder is an important cause of infertility in male, and one of the causes of reduced motility of the sperm is the disorders of the mitochondria because it provides the required energy for sperm motility, Laser biostimulation or low-level laser therapy has a positive effect on the mitochondria and led to increasing the synthesis of ATP. Method: Twenty fresh human semen samples were used in this research study, each sample was separated into two portions, one was used as control which is not exposed to the laser beam and the other was irradiated with the wavelength of 410 nm diode laser with an output power of 100 mW and an exposure time of 60 seconds, then the measurement of
... Show MoreBackground: image processing of medical images is major method to increase reliability of cancer diagnosis.
Methods: The proposed system proceeded into two stages: First, enhancement stage which was performed using of median filter to reduce the noise and artifacts that present in a CT image of a human lung with a cancer, Second: implementation of k-means clustering algorithm.
Results: the result image of k-means algorithm compared with the image resulted from implementation of fuzzy c-means (FCM) algorithm.
Conclusion: We found that the time required for k-means algorithm implementation is less than that of FCM algorithm.MATLAB package (version 7.3) was used in writing the programming code of our w
Suppose that F is a reciprocal ring which has a unity and suppose that H is an F-module. We topologize La-Prim(H), the set of all primary La-submodules of H , similar to that for FPrim(F), the spectrum of fuzzy primary ideals of F, and examine the characteristics of this topological space. Particularly, we will research the relation between La-Prim(H) and La-Prim(F/ Ann(H)) and get some results.
This work describes the effect of temperature on the phase transformation of titanium dioxide (TiO2) prepared using metal organic precursors as starting materials. X-ray diffraction (XRD) was used to investigate the structural properties of TiO2 gels calcined at different temperatures (300, 500, 700) ?C. the results showed that the samples have typical peaks of TiO2 polycrystalline brookite nanopowders after calcined at (300 ?C), which confirmed by (111), (121), (200), (012), (131), (220), (040), (231), (132) and (232) diffraction peaks. Also, XRD diffraction spectra showed the presence of crystallites of anatase with low proportion of rutile phase where calcined at (500 ?C), while rutile phase domains at (700 ?C). The crystallite size of
... Show MoreAlgorithms for Arabic stemming available in two main types which are root-based approach and stem-based approach. Both types have problems which have been solved in the proposed stemmer which combined rules of both main types and based on Arabic patterns (Tafealat1) to find the added letters. The proposed stemmer achieved root exploration ratio (99.08) and fault ratio (0.9).
Back ground: Two groups of diabetic patients ((the first include 20 patients complaining from diabetes mellitus alone, and the second include patients that
complain from both hypertension and diabetes mellitus)) were included in this study. These patients were chosen((from a large number of patients, with a proved
diagnosis, that are referred to the neurophysiology unit from the department of medicine)) to be of the same age group and gender, so that any of these two factors
can no longer be a source of any possible error in the results.
Patients & methods: The electrophysiological tests that were done to all of our patients include: sensory latency and sensory amplitude for the ulnar and sural
nerv