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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 Dec 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
On Shrunken Estimation of Generalized Exponential Distribution

This paper deal with the estimation of the shape parameter (a) of Generalized Exponential (GE) distribution when the scale parameter (l) is known via preliminary test single stage shrinkage estimator (SSSE) when a prior knowledge (a0) a vailable about the shape parameter as initial value due past experiences as well as suitable region (R) for testing this prior knowledge.

The Expression for the Bias, Mean squared error [MSE] and Relative Efficiency [R.Eff(×)] for the proposed estimator are derived. Numerical results about beha

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Publication Date
Mon Apr 01 2013
Journal Name
Journal Of The Faculty Of Medicine Baghdad
QTc Prolongation in Patients on Antipsychotic Drugs

Background: There is a recognized association between prolongation of the heart rate corrected QT interval (QTc) and antipsychotic drugs. QTc prolongation may increase the risk of ventricular tachyarrhythmias, especially torsade de pointes, and therefore, sudden cardiac death.

Objective: This study assess the effect of antipsychotics and prolongation of the heart rate corrected QT interval (QTC), and QTC prolongation may increase the risk of ventricular tachyarrhythmias, especially torsade de pointes and sudden cardiac death.

Results: Abnormal QTc was defined as an interval of more than 440 ms (0.44 second) and was present in 21.7% (43 patients of 198). Benzhexol (-0.333

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Publication Date
Wed Feb 22 2023
Journal Name
Iraqi Journal Of Science
More on the Minimal Set of Periods

Let M be a n-dimensional manifold. A C1- map f : M  M is called transversal if for all m N the graph of fm intersect transversally the diagonal of MM at each point (x,x) such that x is fixed point of fm. We study the minimal set of periods of f(M per (f)), where M has the same homology of the complex projective space and the real projective space. For maps of degree one we study the more general case of (M per (f)) for the class of continuous self-maps, where M has the same homology of the n-dimensional sphere.

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Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
On Nano Generalized Semi Generalized Closed Sets

In this paper we introduced a new class of - called - and study their basic properties in nano topological spaces. We also introduce -closure and -interior and study some of their fundamental properties.

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Publication Date
Thu Apr 06 2017
Journal Name
Global Journal Of Engineering Science And Researches 4(2348-8034):48-52
Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
On Training Of Feed Forward Neural Networks

In this paper we describe several different training algorithms for feed forward neural networks(FFNN). In all of these algorithms we use the gradient of the performance function, energy function, to determine how to adjust the weights such that the performance function is minimized, where the back propagation algorithm has been used to increase the speed of training. The above algorithms have a variety of different computation and thus different type of form of search direction and storage requirements, however non of the above algorithms has a global properties which suited to all problems.

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Publication Date
Mon May 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Image Retrieval Based on Coefficient Correlation Index

Image retrieval is an active research area in image processing, pattern recognition, and
computer vision. In this proposed method, there are two techniques to extract the feature
vector, the first one is applying the transformed algorithm on the whole image and the second
is to divide the image into four blocks and then applying the transform algorithm on each part
of the image. In each technique there are three transform algorithm that have been applied
(DCT, Walsh Transform, and Kekre’s Wavelet Transform) then finding the similarity and
indexing the images, useing the correlation between feature vector of the query image and
images in database. The retrieved method depends on higher indexing number. <

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Skull Stripping Based on the Segmentation Models

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 no

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Proposed Steganography Method Based on DCT Coefficients

      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

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Publication Date
Mon Feb 25 2019
Journal Name
Iraqi Journal Of Physics
Effect of green colour on glass quality

The study of green colour in glass has a special importance on the glass quality, specially the effect of ferrous oxides content of the limestone. Results obtained that there was a reduction in green colour when different ferrous oxide contents in the limestone were added in glass production, limestone sources from two quarries, and the first contains 0.67% ferrous oxide and the second posses less ferrous oxide.

Reduction of green colour showed higher transmittance12% and it could be suggested that reduction of ferrous oxides content in the limestone is of special importance on the optical properties of glass.

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