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UAV Control Based on Dual LQR and Fuzzy-PID Controller

This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.

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Publication Date
Sun Jan 01 2023
Journal Name
Ieee Access
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Publication Date
Thu Jan 11 2018
Journal Name
Al-khwarizmi Engineering Journal
The Linear and Nonlinear Electro-Mechanical Fin Actuator

Electromechanical actuators are used in a wide variety of aerospace applications such as missiles, aircrafts and spy-fly etc. In this work a linear and nonlinear fin actuator mathematical model has been developed and its response is investigated by developing an algorithm for the system using MATLAB. The algorithm used to the linear model is the state space algorithm while the algorithm used to the nonlinear model is the discrete algorithm. The huge moment constant is varied from (-3000 to 3000) and the damping ratio is varied from (0.4 to 0.8).        

 The comparison between linear and nonlinear fin actuator response results shows that for linear model, the maximum overshoot is about 10%,

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Publication Date
Sun Mar 04 2018
Journal Name
Iraqi Journal Of Science
Fully Small Dual Stable Modules

New types of modules named Fully Small Dual Stable Modules and Principally Small Dual Stable are studied and investigated. Both concepts are generalizations of Fully Dual Stable Modules and Principally Dual Stable Modules respectively. Our new concepts coincide when the module is Small Quasi-Projective, and by considering other kind of conditions. Characterizations and relations of these concepts and the concept of Small Duo Modules are investigated, where every fully small dual stable R-module M is small duo and the same for principally small dual stable.

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Publication Date
Mon May 22 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Dual Notions of Prime Modules

       Let R be a commutative ring with unity .M an R-Module. M is called coprime module     (dual notion of prime module) if ann M =ann M/N for every proper submodule N of M   In this paper we study coprime modules we give many basic properties of this concept. Also we give many characterization of it under certain of module.

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Publication Date
Thu Jan 20 2022
Journal Name
International Journal Of Technology
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Publication Date
Mon Aug 01 2011
Journal Name
Journal Of Engineering
EXHAUST ANALYSIS AND PERFORMANCE OF A SINGLE CYLINDER DIESEL ENGINE RUN ON DUAL FUELS MODE

Generally fossil based fuels are used in internal combustion engines as an energy source.
Excessive use of fossil based fuels diminishes present reserves and increases the air pollution in
urban areas. This enhances the importance of the effective use of present reserves and/or to develop
new alternative fuels, which are environment friendly. Use of alternative fuel is a way of emission
control. The term “Alternative Gaseous Fuels” relates to a wide range of fuels that are in the
gaseous state at ambient conditions, whether when used on their own or as components of mixtures
with other fuels.
In this study, a single cylinder diesel engine was modified to use LPG in dual fuel mode to study
the performance, emis

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Publication Date
Mon Aug 01 2022
Journal Name
Baghdad Science Journal
Influence of Cold Plasma on Sesame Paste and the Nano Sesame Paste Based on Co-occurrence Matrix

The aim of the research is to investigate the effect of cold plasma on the bacteria grown on texture of sesame paste in its normal particle and nano particle size. Starting by using the image segmentation process depending on the threshold method, it is used to get rid of the reflection of the glass slides on which the sesame samples are placed.  The classification process implemented to separate the sesame paste texture from normal and abnormal texture. The abnormal texture appears when the bacteria has been grown on the sesame paste after being left for two days in the air, unsupervised k-mean classification process used to classify the infected region, the normal region and the treated region. The bacteria treated with cold plasma, t

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Publication Date
Tue May 01 2018
Journal Name
2018 2nd Ieee Advanced Information Management,communicates,electronic And Automation Control Conference (imcec)
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Publication Date
Mon Feb 14 2022
Journal Name
Journal Of Educational And Psychological Researches
Cognitive Beliefs and Their Relationship to Self-Organized Learning Strategies at the Preparatory Stage

The study aims to identify the level of cognitive beliefs, as well as to identify the level of self-organized learning strategies among intermediate school students. The study also aims to identify the differences in the level of self-organized learning strategies among intermediate school students in term of gender, branch (scientific, literary). In order to achieve the research objectives, the researcher designed a scale to measure the cognitive beliefs. As for the scale of self-organized learning strategies, the researcher adopted a scale of (Pintrich et al. 1991), which was translated by (Izzat Abdelhamid, 1999) , For self-organized learning strategies, the sample consisted of (400) students from the research population, whic

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Publication Date
Sun Jun 20 2021
Journal Name
Baghdad Science Journal
A Comprehensive Review on Medical Image Steganography Based on LSB Technique and Potential Challenges

The rapid development of telemedicine services and the requirements for exchanging medical information between physicians, consultants, and health institutions have made the protection of patients’ information an important priority for any future e-health system. The protection of medical information, including the cover (i.e. medical image), has a specificity that slightly differs from the requirements for protecting other information. It is necessary to preserve the cover greatly due to its importance on the reception side as medical staff use this information to provide a diagnosis to save a patient's life. If the cover is tampered with, this leads to failure in achieving the goal of telemedicine. Therefore, this work provides an in

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