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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
Wed Mar 01 2023
Journal Name
Baghdad Science Journal
Topological Structures on Vertex Set of Digraphs

Relation on a set is a simple mathematical model to which many real-life data can be connected. A binary relation  on a set  can always be represented by a digraph. Topology on a set  can be generated by binary relations on the set . In this direction, the study will consider different classical categories of topological spaces whose topology is defined by the binary relations adjacency and reachability on the vertex set of a directed graph. This paper analyses some properties of these topologies and studies the properties of closure and interior of the vertex set of subgraphs of a digraph. Further, some applications of topology generated by digraphs in the study of biological systems are cited.

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Publication Date
Mon May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Modeling Dynamic Background based on Linear Equation

     Detection moving car in front view is difficult operation because of the dynamic background due to the movement of moving car and the complex environment that surround the car, to solve that, this paper proposed new method based on linear equation to determine the region of interest by building more effective background model to deal with dynamic background scenes. This method exploited the permitted region between cars according to traffic law to determine the region (road) that in front the moving car which the moving cars move on. The experimental results show that the proposed method can define the region that represents the lane in front of moving car successfully with precision over 94%and detection rate 86

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Publication Date
Sat Aug 17 2019
Journal Name
Journal Of Legal Sciences
Control on judicial discretion of administrative judge

The control over discretion rests with the judgment of the judge who issues it. The court, which is competent to hear the appeal of the judgment, shall examine the judgment and examine it for its validity, including all parts of the sentence and its aspects; The tools that the judge works to reach the conclusion he has reached in the judgment, including. However, the court's control, ie, the court of law, is not absolute. In essence, it does not apply to the legal aspect without the factual aspect, and this does not mean that the court does not consider the factual aspect at all. Rather, it does not mean that the court of law does not take the substance of the truth. By the judge to reach the reality and does not specialize in the origin

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Publication Date
Thu Aug 01 2019
Journal Name
International Journal Of Machine Learning And Computing
Emotion Recognition System Based on Hybrid Techniques

Emotion recognition has important applications in human-computer interaction. Various sources such as facial expressions and speech have been considered for interpreting human emotions. The aim of this paper is to develop an emotion recognition system from facial expressions and speech using a hybrid of machine-learning algorithms in order to enhance the overall performance of human computer communication. For facial emotion recognition, a deep convolutional neural network is used for feature extraction and classification, whereas for speech emotion recognition, the zero-crossing rate, mean, standard deviation and mel frequency cepstral coefficient features are extracted. The extracted features are then fed to a random forest classifier. In

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Publication Date
Sat Feb 27 2021
Journal Name
Iraqi Journal Of Science
Some Results on mX-N-connected Space

In this essay, we utilize m - space to specify mX-N-connected, mX-N-hyper connected and mX-N-locally connected spaces and some functions by exploiting the intelligible mX-N-open set. Some instances and outcomes have been granted to boost our tasks.

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Publication Date
Sun May 17 2020
Journal Name
Iraqi Journal Of Science
Generalized Higher Derivations on ΓM-Modules

The concepts of generalized higher derivations, Jordan generalized higher derivations, and Jordan generalized triple higher derivations on Γ-ring M into ΓM-modules X are presented. We prove that every Jordan generalized higher derivation of Γ-ring M into 2-torsion free ΓM-module X, such that aαbβc=aβbαc, for all a, b, c M and α,βΓ, is Jordan generalized triple higher derivation of M into X.

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
(,)- Strongly Derivations Pairs on Rings

        Let R be an associative ring. In this paper we present the definition of (s,t)- Strongly derivation pair and Jordan (s,t)- strongly derivation pair on a ring R, and study the relation between them. Also, we study prime rings, semiprime rings, and rings that have commutator left nonzero divisior with (s,t)- strongly derivation pair, to obtain a (s,t)- derivation. Where s,t: R®R are two mappings of R.

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Publication Date
Sun Dec 06 2009
Journal Name
Baghdad Science Journal
Titania Effect on Sintering behavior of Alumina

The sintering behavior of Alumina was investigated by adding TiO2. The addition of TiO2 lowered the sintering temperature of the Alumina compared with those of pure Alumina. The result suggests that TiO2 acts as an activator for sintering of Alumina. Water absorption, apparent porosity and density were examined for both pure and TiO2 added to Alumina samples. The variations of sintering behavior were discussed in terms of shrinkage, porosity, water absorption and density. Thermal shock resistance was also examined. In term of this work, the way of improving the thermal shock resistance in oxide- based materials by adding reactive Titania powder to the Alumina samples. The laboratory results showed an improvement in thermal shock resistance

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Publication Date
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Science
Network Traffic Prediction Based on Boosting Learning

Classification of network traffic is an important topic for network management, traffic routing, safe traffic discrimination, and better service delivery. Traffic examination is the entire process of examining traffic data, from intercepting traffic data to discovering patterns, relationships, misconfigurations, and anomalies in a network. Between them, traffic classification is a sub-domain of this field, the purpose of which is to classify network traffic into predefined classes such as usual or abnormal traffic and application type. Most Internet applications encrypt data during traffic, and classifying encrypted data during traffic is not possible with traditional methods. Statistical and intelligence methods can find and model traff

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Publication Date
Wed Jan 01 2020
Journal Name
Cogent Engineering
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