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Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm
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Quadrotors are coming up as an attractive platform for unmanned aerial vehicle (UAV) research, due to the simplicity of their structure and maintenance, their ability to hover, and their vertical take-off and landing (VTOL) capability. With the vast advancements in small-size sensors, actuators, and processors, researchers are now focusing on developing mini UAV’s to be used in both research and commercial applications. This work presents a detailed mathematical nonlinear dynamic model of the quadrotor which is formulated using the Newton-Euler method. Although the quadrotor is a 6 DOF under-actuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is under-actuated. The derivation of the mathematical model was followed by the development of the controller to control the altitude, attitude, heading and position of the quadrotor in space, which is, based on the linear Proportional-Derivative- Integral (PID) controller; thus, a simplified version of the model is obtained. The gains of the controllers will be tuned using optimization techniques to improve the system's dynamic response. The standard Imperialist Competitive Algorithm (ICA) was applied to tune the PID parameters and then it was compared to Cultural Exchange Imperialist Competitive algorithm (CEICA) tuning, and the results show improvement in the proposed algorithm. The objective function results were enhanced by (23.91%) in the CEICA compared with ICA.

 

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Publication Date
Thu Mar 04 2021
Journal Name
Journal Of Coastal Conservation
Solar system planetary alignment triggers tides and earthquakes
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Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
Public budget System repair Targets Prepared Public Budget
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Require senior management of the state when developing the strategy the general budget to the clarity of the reasons that are based upon the ministries in the preparation of estimates of expenditure for the next year to justify the spending, and in the absence of targets, the ministry or government unit would not be in front, but be guided by the size of expenditure for the last year in addition to the percentage of represented an increase of appropriations required for the next year in light of the fiscal policy of the state, so the requested increase in appropriations to meet the desired increase in some of its activities and to meet the increase in salaries and prices. So must be available to the Ministry of criteria that coul

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Publication Date
Sun Jun 12 2011
Journal Name
Baghdad Science Journal
Comparison between Direct and Coherent Optical Communication System
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The work in this paper focuses on the system quality of direct and coherent communication system for two computers. A system quality is represented by Signal to Noise ratio (SNR) and Bit Error Rate (BER). First part of the work includes implementation of direct optical fiber communication system and measure the system quality .The second part of the work include implementation both the( homodyne and heterodyne)coherent optical fiber communication system and measure the system quality . Laser diode 1310 nm wavelength with its drive circuit used in the transmitter circuit . A single mode of 62.11 km optical fiber is selected as transmission medium . A PIN photo detector is used in the receiver circuit. The optical D-coupler was u

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Publication Date
Wed Jun 01 2022
Journal Name
Bulletin Of Electrical Engineering And Informatics
Global virtual teams management system: project manager guide
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Global virtual teams (GVTs) are a recent organizational adaptation created to meet the needs of globalizatized marketplace. GVTs are essentially teams that are distributed across national boundaries and concerned through advanced information and communication technology (ICT) such as email, instant messaging, and video conferencing. The research on GVTs is important in the information system (IS) field because GVTs are dependent on information communication technology and the use of other technologies; GVTs also consists of people from different cultures. This paper tried to answer two research questions. The first one is: what are the GVTs problems facing the project manager (PM). A literature review was conducted to answer the fir

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Publication Date
Sat Feb 09 2019
Journal Name
Journal Of The College Of Education For Women
The Turn-Taking System in American Presidential Debates
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The organization and coordination of any communication is based on the system of turn-taking which refers to the process by which a participant in a conversation takes the role of speaker. The progression of any conversation is achieved by the change of roles between speaker and hearer which, in its turn, represents the heart of the turn-taking system. The turn-taking system is not a random process but it is a highly organized process governed by a set of rules. Thus, this system has certain features and rules which exist in any English communicative process. These rules, if applied by speakers, help to achieve successful exchange of turns in any conversation. This paper attempts to present full exposition of the concepts of conversation

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Publication Date
Mon Apr 15 2019
Journal Name
Proceedings Of The International Conference On Information And Communication Technology
Hybrid LDPC-STBC communications system based on chaos
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Publication Date
Fri Mar 01 2019
Journal Name
Al-khwarizmi Engineering Journal
COMPUTER-BASED ECG SIGNAL ANALYSIS AND MONITORING SYSTEM
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This paper deals with the design and implementation of an ECG system. The proposed system gives a new concept of ECG signal manipulation, storing, and editing. It consists mainly of hardware circuits and the related software. The hardware includes the circuits of ECG signals capturing, and system interfaces. The software is written using Visual Basic languages, to perform the task of identification of the ECG signal. The main advantage of the system is to provide a reported ECG recording on a personal computer, so that it can be stored and processed at any time as required. This system was tested for different ECG signals, some of them are abnormal and the other is normal, and the results show that the system has a good quality of diagno

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Publication Date
Tue Mar 24 2009
Journal Name
Proceeding Of 3d Scientific Conference Of The College Of Science, University Of Baghdad 24 To 26 March 2009
Bacterial DNA induces inflammations in murine renal system
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Abstract Since unmethylated CpG motifs are more common in DNA from bacteria than vertebrates, and the unmethylated CpG motif has recently been reported to have stimulatory effects on lymphocytes, we speculated that bacterial DNA may induce inflammation in the urinary tract. To determine the role of bacterial DNA in lower UTI, we intraurethrally injected prokaryotic DNA (extracted from E. coli) in white mice and performed histopathological study for the kidneys and urinary bladders, 24 h after the exposure. The results showed infiltration of inflammatory cells, shrinkage of glomerulus and increase the capsular space, as well as edema formation in kidney tissues. Moreover, urinary bladder sections showed infiltration of inflammatory cells.

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Publication Date
Wed Sep 11 2019
Journal Name
Journal Of Mechanical Engineering Research And Developments
INDUSTRIAL TRACKING CAMERA AND PRODUCT VISION DETECTION SYSTEM
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Publication Date
Fri Jul 01 2022
Journal Name
Journal Of Engineering
Using Water Quality Index to Assess Drinking Water For AL-Muthana Project
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The water quality index is the most common mathematical way of monitoring water characteristics due to the reasons for the water parameters to identify the type of water and the validity of its use, whether for drinking, agricultural, or industrial purposes. The water arithmetic indicator method was used to evaluate the drinking water of the Al-Muthana project, where the design capacity was (40000) m3/day, and it consists of traditional units used to treat raw water. Based on the water parameters (Turb, TDS, TH, SO4, NO2, NO3, Cl, Mg, and Ca), the evaluation results were that the quality of drinking water is within the second category of the requirements of the WHO (86.658%) and the first category of the standard has not

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