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

Details

Publication Date

Sun May 01 2022

Journal Name

Journal Of Engineering

Volume

28

Issue Number

5

DOI

10.31026/j.eng.2022.05.03

Choose Citation Style

Statistics

View publication

16

Abstract Views

1.25K

Galley Views

640

Statistics

(5)

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

...Show More Authors

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.

View Publication Preview PDF

Quick Preview PDF

Publication Date

Sat Jul 01 2023

Journal Name

Baghdad Science Journal

Enhancement of corrosion protection of metal carbon steel C45 and stainless steel 316 by using inhibitor (Schiff base) in sea water

Taghreed

...Show More Authors

This research has presented a solution to the problem faced by alloys: the corrosion problem, by reducing corrosion and enhancing protection by using an inhibitor (Schiff base). The inhibitor (Schiff base) was synthesized by reacting of the substrates materials (4-dimethylaminobenzaldehyde and 4-aminoantipyrine). It was diagnosed by infrared technology IR, where the IR spectrum and through the visible beams proved that the Schiff base was well formed and with high purity. The corrosion behavior of carbon steel and stainless steel in a saline medium (artificial seawater 3.5%NaCl) before and after using the inhibitor at four temperatures: 20, 30, 40, and 50 C° was studied by using thr

Publication Date

Thu Feb 28 2019

Journal Name

Journal Of Accounting And Financial Studies ( Jafs )

Using the Financial Analysis of Financial Information Published in the financial Statements for Predicting Stocks returns of Services and Insurance Sectors

أ .م .د سالم صلال

...Show More Authors

The aim of this study was to identify the rate of return of the stock through the financial information disclosed by the financial statements of companies both services and insurance included in Iraqi market for securities . The study used a descriptive statistical methods and the correlation matrix for the independent factors , in addition to a regression model for data analysis and hypothesis . Model included a number of independent variables , which was measured in the size of company (sales or revenue) , and the leverage , in addition to the structure of assets and the book value of owners' equity in the company , as well as the general price index .Based on the data of (11)companies and for three years, showed the result

View Publication Preview PDF

Publication Date

Sun Jan 01 2023

Journal Name

Plant Archives

INFLUENCE OF SOME FACTOR ON SOMATIC EMBRYOS INDUCTION AND GERMINATION OF DATE PALM CV BARHI BY USING CELL SUSPENSION CULTURE TECHNIQUEe

Moayad Rajab Abood

...Show More Authors

INFLUENCE OF SOME FACTOR ON SOMATIC EMBRYOS INDUCTION AND GERMINATION OF DATE PALM CV BARHI BY USING CELL SUSPENSION CULTURE TECHNIQUEe

Publication Date

Thu Oct 01 2020

Journal Name

August

INFLUENCE OF SOME FACTOR ON SOMATIC EMBRYOS INDUCTION AND GERMINATION OF DATE PALM BARHI C.V BY USING CELL SUSPENSION CULTURE TECHNIQUE

Ali . A

...Show More Authors

INFLUENCE OF SOME FACTOR ON SOMATIC EMBRYOS INDUCTION AND GERMINATION OF DATE PALM BARHI C.V BY USING CELL SUSPENSION CULTURE TECHNIQUE

Publication Date

Fri Mar 27 2020

Journal Name

Plant Archives 20 (supplement 1), 1666-1670‏

INFLUENCE OF SOME FACTOR ON SOMATIC EMBRYOS INDUCTION AND GERMINATION OF DATE PALM CV BARHI BY USING CELL SUSPENSION CULTURE TECHNIQUEث‏

Moayad Rajab Abood

...Show More Authors

Publication Date

Mon Apr 06 2020

Journal Name

August

INFLUENCE OF SOME FACTOR ON SOMATIC EMBRYOS INDUCTION AND GERMINATION OF DATE PALM CV BARHI BY USING CELL SUSPENSION CULTURE TECHNIQUE

This study was done to examine different concentrations of mercuric chloride (Hgcl2) for Explants sterilization and different concentration of NAA) mg/L with 2iP for their effect on initiation primary callus and subsequent embryogenesis in Phoenix dactyliferae cultivar Barhi. Leaf primordial and shoot tips were excised from 2-3 years old offshoot. The result showed that contamination percentage decreased with an increase in concentration of Hgcl2 for two explants where in the control (0.0)% gave highest value 75% and 62.5% of contamination for leaf primordial and shoot tip respectively while the addition (0.1)% gave a significant decrease 37.5 and 0% for explants respectively. The Explants were inoculated onto Murashiege and Skoog

1962 (MS) medium supplemented with 2iP 3mg/L and containing 0

25

50 or 100 mg/L of NAA

the addition (50) mg/L of NAA gave highest value 68.8% in percentage of callus initiation with significant difference from addition 0% gave lowest value (18.8)%

as well Explants of shoot tip gave significant difference was 53.1% while leaf primordial gave 28.1%

Primary callus was transferred to fresh MS medium containing (0

5

10 and 20) mg/L of NAA with 3mg/L 2iP

Results were recorded after 12 weeks. A highest value of embryonic callus induction percentage or fresh weight and dry weight 87.5% or 1.56g and 0.47g for the character respectively for the treat 20 mg/L while control treatment 0.0 gave the lowest value 12.5% or 0.37g and 0.14g for same character respectively. Inoculated 1g fresh biomass into a 250 ml Erlenmeyer flask containing 50 ml MS liquid medium supplemented with NAA 20mg/L and agitated at 150 rpm by shaker to making suspension culture the measurements of packed cell volume ( pcv) or fresh and dry weight taken weekly for 12 weeks

maximum values were reached in the eighth week of PCV and fresh weight but the dry weight reached to highest value in seventh week

then the curve began to decline gradually until it reached stability in the last two weeks. The cell suspension was Diluted to different initial cell density of 100

500

10000

50000 and 100000 cells /ml with hemocytometer. The initial cell number of (10000) cells gave significant different of plating efficiency PE (11.6)% while (100) cells gave lowest value 1.8% of PE.

Ali A.

...Show More Authors

View Publication

Publication Date

Mon Oct 01 2018

Journal Name

Journal Of Economics And Administrative Sciences

Comparison of Beran estimator using Nadaraya-Waston and Prestley-chao weights in estimating the conditional survival function of breast cancer patients

دالة البقاء

اوزان (Nadaraya- Waston)

واوزان(Prestley-chao)

وزن Kernel

معلمة عرض الحزمة

survival function

Nadaraya-Waston

Prestley-chao weight

Kernel weight

Bandwidth parameter

علي عبد الحسين

مها محمد

امل هادي

...Show More Authors

This study includes the application of non-parametric methods in estimating the conditional survival function of the Beran method using both the Nadaraya-Waston and the Priestley-chao weights and using data for Interval censored and Right censored of breast cancer and two types of treatment, Chemotherapy and radiation therapy Considering age is continuous variable, through using (MATLAB) use of the (MSE) To compare weights The results showed a superior weight (Nadaraya-Waston) in estimating the survival function and condition of Both for chemotherapy and radiation therapy.

View Publication Preview PDF

Publication Date

Tue Jun 20 2023

Journal Name

Baghdad Science Journal

Enhancement of corrosion protection of metal carbon steel C45 and stainless steel 316 by using inhibitor (Schiff base) in sea water

Corrosion inhibition

Carbon steel

Inhibitor

Schiff base

Stainless steel

Mazin Hasan

Noor Ali

Taghreed H.

Salam R.

Hussian H.

Shatha M. H.

...Show More Authors

This research has presented a solution to the problem faced by alloys: the corrosion problem, by reducing corrosion and enhancing protection by using an inhibitor (Schiff base). The inhibitor (Schiff base) was synthesized by reacting of the substrates materials (4-dimethylaminobenzaldehyde and 4-aminoantipyrine). It was diagnosed by infrared technology IR, where the IR spectrum and through the visible beams proved that the Schiff base was well formed and with high purity. The corrosion behavior of carbon steel and stainless steel in a saline medium (artificial seawater 3.5%NaCl) before and after using the inhibitor at four temperatures: 20, 30, 40, and 50 C° was studied by using three electrodes potentiostat. The corrosion behavior was

View Publication Preview PDF

(16)

(4)

Publication Date

Wed Jan 01 2020

Journal Name

Asian Journal Of Ournal Of Chemistry

Assessment of an Electrocoagulation Reactor for the Removal of Oil Content and Turbidity from Real Oily Wastewater Using Response Surface Method

Energy and electrodes consumption

Oily wastewater

RSM

electrocoagulation reactor

oil content

optimization

turbidity

Forat Y.

Basma A.

Ali A.

...Show More Authors

Background: Large amounts of oily wastewater and its derivatives are discharged annually from several industries to the environment. Objective: The present study aims to investigate the ability to remove oil content and turbidity from real oily wastewater discharged from the wet oil's unit (West Qurna 1-Crude Oil Location/ Basra-Iraq) by using an innovated electrocoagulation reactor containing concentric aluminum tubes in a monopolar mode. Methods: The influences of the operational variables (current density (1.77-7.07 mA/cm2) and electrolysis time (10-40 min)) were studied using response surface methodology (RSM) and Minitab-17 statistical program. The agitation speed was taken as 200 rpm. Energy and electrodes consumption had been studi

Preview PDF

(20)

Publication Date

Tue Jun 20 2023

Journal Name

Baghdad Science Journal

Enhancement of corrosion protection of metal carbon steel C45 and stainless steel 316 by using inhibitor (Schiff base) in sea water

Mazin Hasan

Noor Ali

Taghreed H.

Salam R.

Hussian H.

Shatha M. H.

...Show More Authors

This research has presented a solution to the problem faced by alloys: the corrosion problem, by reducing corrosion and enhancing protection by using an inhibitor (Schiff base). The inhibitor (Schiff base) was synthesized by reacting of the substrates materials (4-dimethylaminobenzaldehyde and 4-aminoantipyrine). It was diagnosed by infrared technology IR, where the IR spectrum and through the visible beams proved that the Schiff base was well formed and with high purity. The corrosion behavior of carbon steel and stainless steel in a saline medium (artificial seawater 3.5%NaCl) before and after using the inhibitor at four temperatures: 20, 30, 40, and 50 C° was studied by using three electrodes potentiostat. The corrosion behavior

View Publication

(16)

(4)

1 2 ... 291 292 293 294 ... 2917 2918