Segmentation of real world images considered as one of the most challenging tasks in the computer vision field due to several issues that associated with this kind of images such as high interference between object foreground and background, complicated objects and the pixels intensities of the object and background are almost similar in some cases. This research has introduced a modified adaptive segmentation process with image contrast stretching namely Gamma Stretching to improve the segmentation problem. The iterative segmentation process based on the proposed criteria has given the flexibility to the segmentation process in finding the suitable region of interest. As well as, the using of Gamma stretching will help in separating the pixels of the objects and background through making the dark intensity pixels darker and the light intensity pixels lighter. The first 20 classes of Caltech 101 dataset have been utilized to demonstrate the performance of the proposed segmentation approach. Also, the Saliency Cut method has been adopted as a benchmark segmentation method. In summary, the proposed method improved some of the segmentation problems and outperforms the current segmentation method namely Saliency Cut method with segmentation accuracy 77.368%, as well as it can be used as a very useful step in improving the performance of visual object categorization system because the region of interest is mostly available.
Aerial manipulation of objects has a number of advantages as it is not limited by the morphology of the terrain. One of the main problems of the aerial payload process is the lack of real-time prediction of the interaction between the gripper of the aerial robot and the payload. This paper introduces a digital twin (DT) approach based on impedance control of the aerial payload transmission process. The impedance control technique is implemented to develop the target impedance based on emerging the mass of the payload and the model of the gripper fingers. Tracking the position of the interactional point between the fingers of gripper and payload, inside the impedance control, is achieved using model predictive control (MPD) approach.
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The surplus glycerol produced from biodiesel production process as a by-product with high quantity can be considered as a good source to prepare glycerol carbonate (GC) whereas with each 1000 kg from biodiesel obtains 100 kg from glycerol. Glycerol converted to glycerol carbonate over bio-char as a catalyst prepared by slow pyrolysis process under various temperatures from 400 ᴼC to 800 ᴼC. The char prepared at 700 ᴼC considered as a best one between the others which was manufactured to activate the transesterification reaction. GC have large scale of uses such as liquid membrane in gas separation, surfactants ,detergents , blowing agent , in plastics industry, in Pharmaceutical industry and electrolytes in lithium batteries.
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Background: Osteoporosis is an extra-articular complication of rheumatoid arthritis that results in increased risk of fractures and associated morbidity, mortality, and healthcare costs. Objective: To evaluate changes in bone mineral density in a sample of rheumatoid arthritis (RA) patients on biological (anti tumor necrosis factor (TNF) alpha) and non-biological agent disease modifying antirheumatic drugs (DMARDs). Patients and Methods: A cross sectional study enrolled 60 RA patients diagnosed by rheumatologist according to the 2010 American College of Rheumatology/European League Against Rheumatism (2010 ACR/EULAR) classification criteria for RA. Thirty patient on biological agent (anti TNF alpha) and 30 patient on non-biological agent (D
... Show MoreThe important parameter used for determining the probable application of miscible displacement is the MMP (minimum miscibility pressure). In enhanced oil recovery, the injection of hydrocarbon gases can be a highly efficient method to improve the productivity of the well especially if miscibility developed through the displacement process. There are a lot of experiments for measuring the value of the miscibility pressure, but they are expensive and take a lot of time, so it's better to use the mathematical equations because of it inexpensive and fast. This study focused on calculating MMP required to inject hydrocarbon gases into two reservoirs namely Sadi and Tanomaa/ East Baghdad field. Modified Peng Robenson Equation of State was
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In any security system, we need a high level of security, to maintain the secrecy of important data. Steganography is one of the security systems that are hiding secret information within a certain cover (video, image, sound, text), so that the adversary does not suspect the existence of such confidential information. In our proposed work will hide secret messages (Arabic or English) text in the Arabic cover text, we employed the RNA as a tool for encoding the secret information and used non-printed characters to hide these codes. Each character (English or Arabic) is represented by using only six bits based on secret tables this operation has provided a good compression since each Arabic character needs 16 bits and each English characte
... Show MoreCalculating the Inverse Kinematic (IK) equations is a complex problem due to the nonlinearity of these equations. Choosing the end effector orientation affects the reach of the target location. The Forward Kinematics (FK) of Humanoid Robotic Legs (HRL) is determined by using DenavitHartenberg (DH) method. The HRL has two legs with five Degrees of Freedom (DoF) each. The paper proposes using a Particle Swarm Optimization (PSO) algorithm to optimize the best orientation angle of the end effector of HRL. The selected orientation angle is used to solve the IK equations to reach the target location with minimum error. The performance of the proposed method is measured by six scenarios with different simulated positions of the legs. The proposed
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CO2 Gas is considered one of the unfavorable gases and it causes great air pollution. It’s possible to decrease this pollution by injecting gas in the oil reservoirs to provide a good miscibility and to increase the oil recovery factor. MMP was estimated by Peng Robinson equation of state (PR-EOS). South Rumila-63 (SULIAY) is involved for which the miscible displacement by is achievable based on the standard criteria for success EOR processes. A PVT report was available for the reservoir under study. It contains deferential liberation (DL) and constant composition expansion (CCE) tests. PVTi software is one of the (Eclipse V.2010) software’s packages, it has been used to achieve the goal. Many trials have been done to ma
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The unconventional techniques called “the quick look techniques”, have been developed to present well log data calculations, so that they may be scanned easily to identify the zones that warrant a more detailed analysis, these techniques have been generated by service companies at the well site which are among the useful, they provide the elements of information needed for making decisions quickly when time is of essence. The techniques used in this paper are:
- Apparent resistivity Rwa
- Rxo /Rt
The above two methods had been used to evaluate Nasiriyah oil field formations (well-NS-3) to discover the hydrocarbon bearing formations. A compu
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