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

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

   A microbubble air flotation technique was used to remove chromium ions from simulated wastewater (e.g. water used for electroplating, textiles, paints and pigments, and tanning leather). Experimental parameters were investigated to analyze the flotation process and determine the removal efficiency. These parameters included the location of the sampling port from the bottom of the column, where the diffuser is located to the top of flotation column (30, 60, and 90 cm), the type of surfactant (anionic, SDS, or cationic, CTAB) and its concentration (5, 10, 15, and 20 mg/L), the pH of the initial solution (3, 5, 7, 9, and 11), the initial contaminant concentration (10, 20, 30, and 40 mg/L), the gas flow rate (0.1, 0.2, 0.3, and 0.5 L/mi

In this study, the electro-hydraulic servo system for speed control of fixed displacement hydraulic motor using proportional valve and (PID) controller is investigated theoretically ,experimentally and simulation . The theoretical part includes the derivation of the nonlinear mathematical model equation of (valve – motor ) combination system and the derivation of the transfer function for the complete hydraulic system , the stability test of the system during the operation through the transfer function using MATLAB package
V7.1 have been done. An experimental part includes design and built hydraulic test rig and simple PID controller .The best PID gains have been calculated experimentally and simulation, speed control performance te

The effected of the long transmission line (TL) between the actuator and the hydraulic control valve sometimes essentials. The study is concerned with modeling the TL which carries the oil from the electro-hydraulic servovalve to the actuator. The pressure value inside the TL has been controlled by the electro-hydraulic servovalve as a voltage supplied to the servovalve amplifier. The flow rate through the TL has been simulated by using the lumped π element electrical analogy method for laminar flow. The control voltage supplied to servovalve can be achieved by the direct using of the voltage function generator or indirect C⁺⁺ program connected to the DAP-view program built in the DAP-card data acqu

      Strong and ∆-convergence for a two-step iteration process utilizing asymptotically nonexpansive and total asymptotically nonexpansive noneslf mappings in the CAT(0) spaces have been studied. As well, several strong convergence theorems under semi-compact and condition (M) have been proved. Our results improve and extend numerous familiar results from the existing literature.

     Temperature predicting is the utilization to forecast the condition of the temperature for an upcoming date for a given area. Temperature predictions are done by gathering quantitative data in regard to the current state of the atmosphere. In this study, a proposed hybrid method to predication the daily maximum and minimum air temperature of Baghdad city which combines standard backpropagation with simulated annealing (SA). Simulated Annealing Algorithm are used for weights optimization for recurrent multi-layer neural network system. Experimental tests had been implemented using the data of maximum and minimum air temperature for month of July of Baghdad city that got from local records of Iraqi Meteorological O

Strong acids were determined via the precipitation reaction of loaded copper (II) ion on strong cation exchange resin which in turn reacts with potassium hyxacyano ferrate (II). The attenuation effect of formed precipitate Cu2 [Fe (CN) 6] on (0 -180o) incident LED light was measurement via homemade AYAH 5SX4-ST-5D solar CFI analyser. Optimum parameters were 0.005M.L-1 [Fe(CN)6]-4 , flow rate of 2.4 mL.min-1 , sample volume 204 μL , sample purge time of 64 seconds was chosen, and 1.6 V for light intensity. A liner calibration graph of 0.005 -0.2 M.L-1 were obtains for HCl, HNO3, HCLO4 and H2SO4, with a linearity (r2 %) 96 -97 % and L.O.D based on gradual dilution of lowest concentration in calibration graph was 37.19 μg for HCl, 64.273