Preferred Language
Articles
/
joe-526
Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm
...Show More Authors

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.

 

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Jan 14 2018
Journal Name
Journal Of Engineering
Determination Optimum Inventory Level for Material Using Genetic Algorithm
...Show More Authors

The integration of decision-making will lead to the robust of its decisions, and then determination optimum inventory level to the required materials to produce and reduce the total cost by the cooperation of purchasing department with inventory department and also with other company,s departments. Two models are suggested to determine Optimum Inventory Level (OIL), the first model (OIL-model 1) assumed that the inventory level for materials quantities equal to the required materials, while the second model (OIL-model 2) assumed that the inventory level for materials quantities more than the required materials for the next period.             &nb

... Show More
View Publication Preview PDF
Publication Date
Sun Sep 01 2019
Journal Name
Baghdad Science Journal
PWRR Algorithm for Video Streaming Process Using Fog Computing
...Show More Authors

       The most popular medium that being used by people on the internet nowadays is video streaming.  Nevertheless, streaming a video consumes much of the internet traffics. The massive quantity of internet usage goes for video streaming that disburses nearly 70% of the internet. Some constraints of interactive media might be detached; such as augmented bandwidth usage and lateness. The need for real-time transmission of video streaming while live leads to employing of Fog computing technologies which is an intermediary layer between the cloud and end user. The latter technology has been introduced to alleviate those problems by providing high real-time response and computational resources near to the

... Show More
View Publication Preview PDF
Scopus (7)
Crossref (4)
Scopus Clarivate Crossref
Publication Date
Tue Sep 23 2025
Journal Name
Journal Of Plant Protection Research
Smart sprayer for weed control using an object detection algorithm (yolov5)
...Show More Authors

Spraying pesticides is one of the most common procedures that is conducted to control pests. However, excessive use of these chemicals inversely affects the surrounding environments including the soil, plants, animals, and the operator itself. Therefore, researchers have been encouraged to...

View Publication
Clarivate Crossref
Publication Date
Fri Jan 17 2025
Journal Name
Iraqi Journal For Electrical And Electronic Engineering
Optimal Hybrid Fuzzy PID for Pitch Angle Controller in Horizontal Axis Wind Turbines
...Show More Authors

Wind turbine (WT) is now a major renewable energy resource used in the modern world. One of the most significant technologies that use the wind speed (WS) to generate electric power is the horizontal-axis wind turbine. In order to enhance the output power over the rated WS, the blade pitch angle (BPA) is controlled and adjusted in WT. This paper proposes and compares three different controllers of BPA for a 500-kw WT. A PID controller (PIDC), a fuzzy logic controller (FLC) based on Mamdani and Sugeno fuzzy inference systems (FIS), and a hybrid fuzzy-PID controller (HFPIDC) have been applied and compared. Furthermore, Genetic Algorithm (GA) and Particle swarm optimization (PSO) have been applied and compared in order to identify the optimal

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sat Sep 30 2023
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Using cleaner production costs to achieve sustainable competitive advantage
...Show More Authors

Abstract

                Target costing and cleaner production are among the most important techniques in the field of cost and management accounting, which, when integrated, enable economic units to achieve the goal of cost management by reducing it by calculating cost more accurately than traditional methods.To achieve this, the researcher relied on the inductive approach in writing the theoretical framework for the research, relying on foreign and Arabic books, dissertations and university theses, foreign and Arabic research and periodicals related to the subject of the research, and relying on the descriptive and analytical approach in

... Show More
View Publication Preview PDF
Publication Date
Thu Sep 15 2022
Journal Name
Al-academy
Cultural context and its implications for graphic design
...Show More Authors

dictates the need to study the cultural aspects of the context and the consequent relations between the person and the objective environment surrounding him, as the philosophical understanding of the role of culture has led to the emergence of new theoretical interpretations of design that are organically linked with the development of society, especially that the development of the human environment philosophically and culturally is linked to the philosophical perception of its role in Culture as a precondition for new theoretical interpretations of design.
From the above, this problem can be studied by defining the following question (What are the implications of the cultural context in graphic design)?
The research included

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Dec 31 2011
Journal Name
Al-khwarizmi Engineering Journal
Back stepping-Based-PID-Controller Designed for an Artificial Pancreas model
...Show More Authors

Artificial pancreas is simulated to handle Type I diabetic patients under intensive care by automatically controlling the insulin infusion rate. A Backstepping technique is used to apply the effect of PID controller to blood glucose level since there is no direct relation between insulin infusion (the manipulated variable) and glucose level in Bergman’s system model subjected to an oral glucose tolerance test by applying a meal translated into a disturbance. Backstepping technique is usually recommended to stabilize and control the states of Bergman's class of nonlinear systems. The results showed a very satisfactory behavior of glucose deviation to a sudden rise represented by the meal that increase the blood glucose

 

... Show More
View Publication Preview PDF
Publication Date
Fri Feb 17 2012
Journal Name
Smart Materials And Structures
Frequency tuning of piezoelectric energy harvesters by magnetic force
...Show More Authors

View Publication
Scopus (109)
Crossref (99)
Scopus Clarivate Crossref
Publication Date
Thu Mar 19 2015
Journal Name
Al-academy
Theatrical Visual System between the Cultural Identity and Globalization Culture Iraqi Theatre as Case Study
...Show More Authors

Crossref
Publication Date
Thu Jan 01 2004
Journal Name
Journal Of Engineering
FUZZY CONTROLLERS F'OR SINGLE POINT CONTROLLER-I (SPC-l) SYSTEMS
...Show More Authors

FUZZY CONTROLLERS F'OR SINGLE POINT CONTROLLER-I (SPC-l) SYSTEMS