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.
Used automobile oils were subjected to filtration to remove solid material and dehydration to remove water, gasoline and light components by using vacuum distillation under moderate pressure, and then the dehydrated waste oil is subjected to extraction by using liquid solvents. Two solvents, namely n-butanol and n-hexane were used to extract base oil from automobile used oil, so that the expensive base oil can be reused again.
The recovered base oil by using n-butanol solvent gives (88.67%) reduction in carbon residue, (75.93%) reduction in ash content, (93.73%) oil recovery, (95%) solvent recovery and (100.62) viscosity index, at (5:1) solvent to used oil ratio and (40 oC) extraction temperature, while using n-hexane solvent gives (6
Electrospinning is a novel technique that can be used to produce highly porous fibers with highly tunable properties. In this research, this technique is adopted to prepare the electrospun nanofiber membrane for membrane distillation application. A custom-built electrospinning setup was made to prepare the nanofibers membrane. Polyvinylidene fluoride (PVDF) polymer was used in the electrospinning process due to its high hydrophobicity. Electrospun (PVDF) nanofibers were tested in direct contact membrane distillation (DCMD) process using 0.6 M sodium chloride as a feed solution. The resulting nanofiber membrane exhibited high performance in DCMD (i.e. relatively high water flux and high salt rejection). It has been found
... Show MoreFace Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a
... Show MoreRecognizing speech emotions is an important subject in pattern recognition. This work is about studying the effect of extracting the minimum possible number of features on the speech emotion recognition (SER) system. In this paper, three experiments performed to reach the best way that gives good accuracy. The first one extracting only three features: zero crossing rate (ZCR), mean, and standard deviation (SD) from emotional speech samples, the second one extracting only the first 12 Mel frequency cepstral coefficient (MFCC) features, and the last experiment applying feature fusion between the mentioned features. In all experiments, the features are classified using five types of classification techniques, which are the Random Forest (RF),
... Show Moreteen sites Baghdad are made. The sites are divided into two groups, one in Karkh and the other in Rusafa. Assessing the underground conditions can be occurred by drilling vertical holes called exploratory boring into the ground, obtaining soil (disturbed and undisturbed) samples, and testing these samples in a laboratory (civil engineering laboratory /University of Baghdad). From disturbed, the tests involved the grain size analysis and then classified the soil, Atterberg limit, chemical test (organic content, sulphate content, gypsum content and chloride content). From undisturbed samples, the test involved the consolidation test (from this test, the following parameters can be obtained: initial void ratio eo, compression index cc, swel
... Show MoreDocument analysis of images snapped by camera is a growing challenge. These photos are often poor-quality compound images, composed of various objects and text; this makes automatic analysis complicated. OCR is one of the image processing techniques which is used to perform automatic identification of texts. Existing image processing techniques need to manage many parameters in order to clearly recognize the text in such pictures. Segmentation is regarded one of these essential parameters. This paper discusses the accuracy of segmentation process and its effect over the recognition process. According to the proposed method, the images were firstly filtered using the wiener filter then the active contour algorithm could b
... Show MoreThis study examined the adsorption behavior of anionic dye (orange G) from aqueous solution onto the raw and activated a mixture of illite, kaolinite and chlorite clays from area of Zorbatiya (east of Iraq).The chemical treatment involved alkali and acid activation. The alkali activation obtained by treated the raw clay (RC) with 5M NaOH (ACSO) and the acid activation founded by treated it with 0.25M HCl (ACH) and 0.25M (ACS). The thermal treatment carried out by calcination the produce activated clay at 750oC for acid activation and 105oC for alkali activation. Batch
... Show MoreThe aim of this paper is to study the Zariski topology of a commutative KU-algebra. Firstly, we introduce new concepts of a KU-algebra, such as KU-lattice, involutory ideal and prime ideal and investigate some basic properties of these concepts. Secondly, the notion of the topology spectrum of a commutative KU-algebra is studied and several properties of this topology are provided. Also, we study the continuous map of this topological space.
Systems on Chips (SoCs) architecture complexity is result of integrating a large numbers of cores in a single chip. The approaches should address the systems particular challenges such as reliability, performance, and power constraints. Monitoring became a necessary part for testing, debugging and performance evaluations of SoCs at run time, as On-chip monitoring is employed to provide environmental information, such as temperature, voltage, and error data. Real-time system validation is done by exploiting the monitoring to determine the proper operation of a system within the designed parameters. The paper explains the common monitoring operations in SoCs, showing the functionality of thermal, voltage and soft error monitors. The different
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