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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
Fri May 15 2020
Journal Name
Egyptian Journal Of Chemistry
Application of Response Surface Methodology for Optimization of Phenol Removal from Simulated Wastewater using Rotating Tubular Packed bed Electrochemical Reactor
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Publication Date
Wed Sep 21 2022
Journal Name
Journal Of Thermoplastic Composite Materials
Enhancement of thermal characteristics of flexible poly(vinyl chloride) for automotive applications by using environmentally friendly heavy metal-free modifier
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This work intends to develop an effective heavy metal-free modifier having properties comparable to traditional stabilizers and flame retardants, simultaneously being environmentally friendly and may be superior in many aspects. The important requirement focused on is: how to increase thermal stability and flame retardancy of flexible poly(vinyl chloride). Due to the typical materials now used with poly(vinyl chloride), which increases health and environmental concerns, utilizing a novel heavy metal-free additive will make poly(vinyl chloride) substantially safer. We have used an artificial silicate for this aim, which proved to be an efficient flame retardant and surprisingly showed excellent heat stabilizing effect. Thermal stabi

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Publication Date
Fri Jun 20 2025
Journal Name
Journal Of Kufa For Chemical Sciences
Synthesis, Characterization, Antimicrobial Activity of New Schiff Base Complexes and Thermodynamic Study for Adsorption of Pt(IV) Complex Using Bentonite
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Publication Date
Sun Apr 08 2018
Journal Name
Al-khwarizmi Engineering Journal
Building a Management System to Control the Construction Claims in Iraq
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The paper deals with claims in construction projects in Iraq and studies their types, causes, impacts, resolution methods and then proposes a management system to control the impacts of claims. Two parts have been done to achieve the research objective (theoretical part and practical part). The findings showed that the main types of the claims are extra work claims, different site condition claims, delay claims and the main causes of the claims are variation of the orders, design errors and omission, delay in payments by owner, variation in quantities and scheduling errors. The claims have bad impacts on the cost by increasing (10% to 25%) and also on the duration of the project by increasing from (25% to 50%).The negotiation is the main

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Publication Date
Tue Aug 01 2023
Journal Name
Journal Of Engineering
Developing a Proposed System to Organize the Investment Opportunities in Iraq
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The Iraqi government seeks to overcome the financial crisis by investing and privatizing some projects to achieve sustainable growth. Most of the investment projects in Iraq suffer from many constraints that greatly impact the success of these projects. A survey of the opinions of a group of experts was conducted to identify the most important constraints facing the investment process in Iraq. Then the experts' answers were arranged in a closed questionnaire and distributed to the research sample for which the statistical analysis was conducted. Through it, the most important (17) factors that had the greatest impact on the failure of investment projects in Iraq were reached. One of the main constraints was

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Publication Date
Sun Feb 28 2021
Journal Name
Journal Of Economics And Administrative Sciences
Enhancing national security through foreseeing the economic intelligence system in Iraq
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         Economic intelligence represents a modern field of knowledge that has been and is still the focus of many studies and research, including this research that deals with economic intelligence and its role in strengthening Iraqi national security - an analytical study. Economic development and economic development without security, and in a situation such as that of Iraq, which is still suffering from conflicts, conflicts and the effects of wars, as well as the unstable conditions in its regional environment, the directions of that relationship cannot be determined except through the availability of accurate information, indicators, full knowledge of reality and the pos

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Publication Date
Wed Jul 12 2023
Journal Name
Energies
Finite Time Disturbance Observer Based on Air Conditioning System Control Scheme
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A novel robust finite time disturbance observer (RFTDO) based on an independent output-finite time composite control (FTCC) scheme is proposed for an air conditioning-system temperature and humidity regulation. The variable air volume (VAV) of the system is represented by two first-order mathematical models for the temperature and humidity dynamics. In the temperature loop dynamics, a RFTDO temperature (RFTDO-T) and an FTCC temperature (FTCC-T) are designed to estimate and reject the lumped disturbances of the temperature subsystem. In the humidity loop, a robust output of the FTCC humidity (FTCC-H) and RFTDO humidity (RFTDO-H) are also designed to estimate and reject the lumped disturbances of the humidity subsystem. Based on Lyapunov theo

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Publication Date
Tue Dec 01 2020
Journal Name
Journal Of Engineering
National Grid Connected 3-Phase Inverter based on Photovoltaic Solar System
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In this paper, a national grid-connected photovoltaic (PV) system is proposed. It extracts the maximum power point (MPP) using three-incremental-steps perturb and observe (TISP&O) maximum power point tracking (MPPT) method. It improves the classic P&O by using three incremental duty ratio (ΔD) instead of a single one in the conventional P and O MPPT method. Therefore, the system's performance is improved to a higher speed and less power fluctuation around the MPP. The Boost converter controls the MPPT and then is connected to a three-phase voltage source inverter (VSI). This type of inverter needs a high and constant input voltage. A second-order low pass (LC) filter is connected to the output of VSI to reduce t

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Publication Date
Sat Aug 01 2015
Journal Name
Journal Of Engineering
Choosing Appropriate Distribution ‏‎by Minitab’s 17 Software to Analysis System Reliability
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This research aims to choose the appropriate  probability ‎ distribution  ‎‏‎ to the reliability‎        analysis‎ for  an   item through ‎ collected data for operating and stoppage  time of  the case  study.

    Appropriate choice for .probability distribution   is when  the data look to be on or  close the form fitting line for probability plot and test the data  for  goodness of fit .

     Minitab’s 17 software  was used ‎  for this  purpose after  arranging collected data and setting it in the the program‎.

 &nb

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Publication Date
Fri Aug 01 2014
Journal Name
International Journal Of Engineering And Innovative Technology (ijeit)
New Predictive Block Matching Searching Algorithms and Hybrid Predictive Search System
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In this paper, two new simple, fast and efficient block matching algorithms are introduced, both methods begins blocks matching process from the image center block and moves across the blocks toward image boundaries. With each block, its motion vector is initialized using linear prediction that depending on the motion vectors of its neighbor blocks that are already scanned and their motion vectors are assessed. Also, a hybrid mechanism is introduced, it depends on mixing the proposed two predictive mechanisms with Exhaustive Search (ES) mechanism in order to gain matching accuracy near or similar to ES but with Search Time ST less than 80% of the ES. Also, it offers more control capability to reduce the search errors. The experimental tests

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