The need for quick airborne transportation is critical, especially in emergencies. Drones with suspended payloads might be used to accomplish quick airborne transportation. Due to the environment or the drone's motion, the slung load may oscillate and lead the drone to fall. The altitude and attitude controls are the backbones of the drone's stability, and they must be adequately designed. Because of their symmetrical and simple structure, quadrotor helicopters are one of the most popular drone classes. In this work, a genetic algorithm with two weighted terms fitness function is used to adjust a Proportional-Integral-Derivative (PID) controller to compensate for the altitude and attitude controllers in a quadrotor drone with a slun

In the current research work, a method to reduce the color levels of the pixels within digital images was proposed. The recent strategy was based on self organization map neural network method (SOM). The efficiency of recent method was compared with the well known logarithmic methods like Floyd-Steinberg (Halftone) dithering and Octtrees (Quadtrees) methods. Experimental results have shown that by adjusting the sampling factor can produce higher-quality images with no much longer run times, or some better quality with shorter running times than existing methods. This observation refutes the repeated neural networks is necessarily slow but have best results. The generated quantization map can be exploited for color image compression, clas

Often phenomena suffer from disturbances in their data as well as the difficulty of formulation, especially with a lack of clarity in the response, or the large number of essential differences plaguing the experimental units that have been taking this data from them. Thus emerged the need to include an estimation method implicit rating of these experimental units using the method of discrimination or create blocks for each item of these experimental units in the hope of controlling their responses and make it more homogeneous. Because of the development in the field of computers and taking the principle of the integration of sciences it has been found that modern algorithms used in the field of Computer Science genetic algorithm or ant colo

The Internet is the hallmark of the age of technology and this technology is complemented by the presence of software which is one of the basic components of the operation of the network and it is used in almost all daily life aspects such as industry, commerce and others. Because the digital documents and objects can be easily replicated and distributed at an economically low cost and as the software is a type of digital object, the problem of software watermarking risen as related to how to protect data from piracy. Therefore, various techniques have been developed to protect codes from misusing and unauthorized alteration. Each of them is known as watermarking technology that protects data by inserting secret information into software

Several remote sensor network (WSN) tasks require sensor information join. This in-processing Join is configured in parallel sensor hub to save battery power and limit the communication cost. Hence, a parallel join system is proposed for sensor networks. The proposed parallel join algorithm organizes in section-situated databases. A novel join method has been proposed for remote WSNs to limit the aggregate communication cost and enhance execution. This approach depends on two procedures; section-situated databases and parallel join algorithm utilized to store sensor information and speed up processing respectively. A segment arranged databases store information table in segmented shrewd. The Parallel-Joining WSN algorithm is effectively

Neonatal mortality is an indicator to assess maternal and neonatal care.1 Iraq has been suffering from wars, economic hardship, terrorism and internal displacement for last 4 decades.2 The impact of such suffering on health was reported.3 However, the impact of terrorism on health infrastructure which in turn manifested in neonatal mortality was neglected. This study carried out to demonstrate the effect of war against terrorism on neonatal mortality in Iraq.

In our research, we dealt with one of the most important issues of linguistic studies of the Holy Qur’an, which is the words that are close in meaning, which some believe are synonyms, but in the Arabic language they are not considered synonyms because there are subtle differences between them. Synonyms in the Arabic language are very few, rather rare, and in the Holy Qur’an they are completely non-existent. And how were these words, close in meaning, translated in the translation of the Holy Qur’an by Almir Kuliev into the Russian language.

      Bioinformatics is one of the computer science and biology sub-subjects concerned with the processes applied to biological data, such as gathering, processing, storing, and analyzing it. Biological data (ribonucleic acid (RNA), deoxyribonucleic acid (DNA), and protein sequences) has many applications and uses in many fields (data security, data segmentation, feature extraction, etc.). DNA sequences are used in the cryptography field, using the properties of biomolecules as the carriers of the data. Messenger RNA (mRNA) is a single strand used to make proteins containing genetic information. The information recorded from DNA also carries messages from DNA to ribosomes in the cytosol. In this paper, a new encryption technique bas

Abstract

Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each

Solid waste is a major issue in today's world. Which can be a contributing factor to pollution and the spread of vector-borne diseases. Because of its complicated nonlinear processes, this problem is difficult to model and optimize using traditional methods. In this study, a mathematical model was developed to optimize the cost of solid waste recycling and management. In the optimization phase, the salp swarm algorithm (SSA) is utilized to determine the level of discarded solid waste and reclaimed solid waste. An optimization technique SSA is a new method of finding the ideal solution for a mathematical relationship based on leaders and followers. It takes a lot of random solutions, as well as their outward or inward fluctuations, t