Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm

Zulfiqar Salih; Muna Hadi  Saleh

doi:10.31026/j.eng.2022.05.03

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Publication Date

Sun May 01 2022

Journal Name

Journal Of Engineering

Volume

28

Issue Number

5

DOI

10.31026/j.eng.2022.05.03

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Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm

Quadrotor helicopter

Suspended payload

Genetic algorithm

Cost function.

Zulfiqar Salih

Muna Hadi Saleh

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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 slung load.

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Sun Nov 01 2020

Journal Name

Iop Conference Series: Materials Science And Engineering

SDN-RA: An Optimized Reschedule Algorithm of SDN Load Balancer for Data Center Networks Based on QoS

Kadim U.N.

imad j. mohammed

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AbstractWith the development of cloud computing during the latest years, data center networks have become a great topic in both industrial and academic societies. Nevertheless, traditional methods based on manual and hardware devices are burdensome, expensive, and cannot completely utilize the ability of physical network infrastructure. Thus, Software-Defined Networking (SDN) has been hyped as one of the best encouraging solutions for future Internet performance. SDN notable by two features; the separation of control plane from the data plane, and providing the network development by programmable capabilities instead of hardware solutions. Current paper introduces an SDN-based optimized Resch ... Show More

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Fri Mar 01 2013

Journal Name

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Design and Implementation of a Generalized N-Digit Binary-To-Decimal Converter on an FPGA Seven-Segment Display Using Verilog Hdl Design and Implementation of a Generalized N-Digit Binary-To-Decimal Converter on an FPGA Seven-Segment Display Using Verilog Hdl

Asma

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It is often needed to have circuits that can display the decimal representation of a binary number and specifically in this paper on a 7-segment display. In this paper a circuit that can display the decimal equivalent of an n-bit binary number is designed and it’s behavior is described using Verilog Hardware Descriptive Language (HDL). This HDL program is then used to configure an FPGA to implement the designed circuit.

Publication Date

Wed Nov 27 2024

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International Journal Of Integrated Engineering

Noise Modeling and Removal from Electrocardiogram Signals: A Study Using Wavelet Transform with Graphical User Interface

Noor

Alaa

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Wed Nov 27 2024

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Noise Modeling and Removal from Electrocardiogram Signals: A Study Using Wavelet Transform with Graphical User Interface

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The electrocardiogram (ECG) is the recording of the electrical potential of the heart versus time. The analysis of ECG signals has been widely used in cardiac pathology to detect heart disease. The ECGs are non-stationary signals which are often contaminated by different types of noises from different sources. In this study, simulated noise models were proposed for the power-line interference (PLI), electromyogram (EMG) noise, base line wander (BW), white Gaussian noise (WGN) and composite noise. For suppressing noises and extracting the efficient morphology of an ECG signal, various processing techniques have been recently proposed. In this paper, wavelet transform (WT) is performed for noisy ECG signals. The graphical user interface (GUI)

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Fri Dec 15 2023

Journal Name

Iraqi Journal Of Laser

D-shape Optical Fiber Development and Enhancement as a Refractive Indices Sensor Using Surface Plasmon Resonance

D-shaped fiber

fiber sensor

refractive index

gold nano-layer

surface plasmon

Hiba Kh. Abbas*

Zainab F. Mahdi

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This article showcases the development and utilization of a side-polished fiber optic sensor that can identify altered refractive index levels within a glucose solution through the investigation of the surface Plasmon resonance (SPR) effect. The aim was to enhance efficiency by means of the placement of a 50 nm-thick layer of gold at the D-shape fiber sensing area. The detector was fabricated by utilizing a silica optical fiber (SOF), which underwent a cladding stripping process that resulted in three distinct lengths, followed by a polishing method to remove a portion of the fiber diameter and produce a cross-sectional D-shape. During experimentation with glucose solution, the side-polished fiber optic sensor revealed an adept detection

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Sat Mar 21 2026

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Bulletin Of Engineering Geology And The Environment

Geotechnical heterogeneity assessment using MASW and ERT: a case study from Al Maktoum airport, Dubai, UAE

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2D MASW

Electrical resistivity tomography

Geotechnical parameters

Bedrock discontinuities

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Khaled S.

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Ground vibration isolation using mass scatters: A comparative study with trench barriers and wave‐impeding blocks

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Hayder A.

Mahdi

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AbstractTraffic‐induced ground vibrations cause significant problems for residents and nearby structures. Reducing the effect of these vibrations on the neighboring environment is a key challenge, particularly in urban areas. This study presents both numerical and experimental investigations of the performance of mass scatters for screening ground vibrations. A three‐dimensional numerical model is validated and extended to conduct a comparative study on the efficiency of three geotechnical methods of isolation. These methods include trench barriers, wave‐impeding blocks (WIBs), and mass scatters. The results showed that mass scatters represent an efficient way of scattering ground vi ... Show More

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Sat Jan 01 2022

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Ieee Access

Wrapper and Hybrid Feature Selection Methods Using Metaheuristic Algorithms for English Text Classification: A Systematic Review

Metaheuristics

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Yu-N

Ammar Kamal

Omar Mustafa

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Feature selection (FS) constitutes a series of processes used to decide which relevant features/attributes to include and which irrelevant features to exclude for predictive modeling. It is a crucial task that aids machine learning classifiers in reducing error rates, computation time, overfitting, and improving classification accuracy. It has demonstrated its efficacy in myriads of domains, ranging from its use for text classification (TC), text mining, and image recognition. While there are many traditional FS methods, recent research efforts have been devoted to applying metaheuristic algorithms as FS techniques for the TC task. However, there are few literature reviews concerning TC. Therefore, a comprehensive overview was systematicall

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upstream oil & gas

machine learning

optimization problem

correlation

presented

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Mohammed Ahmed

Omar F.

Dhifaf Jaafar

Haider Abdulmuhsin

Mustafa Alaulddin

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AbstractArtificial lift techniques are a highly effective solution to aid the deterioration of the production especially for mature oil fields, gas lift is one of the oldest and most applied artificial lift methods especially for large oil fields, the gas that is required for injection is quite scarce and expensive resource, optimally allocating the injection rate in each well is a high importance task and not easily applicable. Conventional methods faced some major problems in solving this problem in a network with large number of wells, multi-constrains, multi-objectives, and limited amount of gas. This paper focuses on utilizing the Genetic Algorithm (GA) as a gas lift optimization algorit ... Show More

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Tue Aug 30 2016

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The Effect of Different Furrow Depths and Speeds of Machinary Units Using A Locally Assembled Combine Implement on Planting Maize

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