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Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm

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
Wed May 10 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Use The Crustacean Cyclocypria As Bioclaner For Bacteria Escherichia Coli & Staphylococcus Aurous In Contaminated Water.

   In this study the Individuals of Ostracoda crustacean Cyclocypria were used as bioclaner of two species of bacteria namely Escherichia coli & Staphylococcus aurous, these bacteria have been introduced to an artificial aquatic environment with known number from pure cultures. The aim was to check the predation efficiency and ecological role of Cyclocypria as biological cleaners.      The results showed that the predation rate was between 6 106 ×  and 7× 10 6 colony/ ml/ 3 days/ 10 crustacean in the first three days. This rate increased remarkably in the 9th, 12th & 15th day from the beginning of the experiment and it was 10 × 10 6 and 15 × 10 6 respectively.  &nb

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Publication Date
Sun Feb 10 2019
Journal Name
Iraqi National Journal Of Nursing Specialties
Functional Performance For Patients Post Heart's Valves Replacement at Cardiac Surgery Centers in Baghdad City

Abstract
Objectives: The study is carried out to assess functional performance for heart's valve replacement patients and find out relationship with sociodemographic data and clinical data
Methodology: Descriptive design is carried out at cardiac surgery centers in Baghdad ; Ibn -Al Betar Specialized for cardiac surgery center and Al-Iraqi center for cardiac disease. its initiation from December28the 2013 to September 1st 2014,A non- probability (purposive) sample of 50 adults patients are attended cardiac surgery centers at Baghdad city and who have heart valves replacement. The data collection through development of questionnaire which is composed from three parts(socio demographic data, clinical information, functional performa

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Publication Date
Wed May 11 2022
Journal Name
Journal Of Economics And Administrative Sciences
Comparing Some Methods For A single Imputed A missing Observation In Estimating Nonparametric Regression Function

In this paper, we will study non parametric model when the response variable have missing data (non response) in observations it under missing mechanisms MCAR, then we suggest Kernel-Based Non-Parametric Single-Imputation instead of missing value and compare it with Nearest Neighbor Imputation by using the simulation about some difference models and with difference cases as the sample size, variance and rate of missing data.      

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Publication Date
Wed Jan 01 2020
Journal Name
2nd International Conference On Materials Engineering & Science (iconmeas 2019)
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Publication Date
Thu Dec 01 2022
Journal Name
Journal Of Engineering
The Optimum Reinforcement Layer Number for Soil under the Ring Footing Subjected to Inclined Load

The primary components of successful engineering projects are time, cost, and quality. The use of the ring footing ensures the presence of these elements. This investigation aims to find the optimum number of geogrid reinforcement layers under ring footing subjected to inclined loading. For this purpose, experimental models were used. The parameters were studied to find the optimum geogrid layers number, including the optimum geogrid layers spacing and the optimum geogrid layers number. The optimum geogrid layers spacing value is 0.5B. And as the load inclination angle increased, the tilting and the tilting improvement percent for the load inclination angles (5°,10°,15°) are (40%,28%, and 5%) respectively. The reduction percent o

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Publication Date
Wed Jul 26 2023
Journal Name
Journal Of Aridland Agriculture
Modern GPS diagnostic technique to determine and map soil hardpan for enhancing agricultural operation management

Among the undesirable effects of soil compaction is a measurable reduction in plant growth and crop yield. The prevailing belief is that compacted tillage pans are caused by repetitive farming practices, heavy tractors, tillage tools, and field traffic. This experiment was conducted to determine and map the hardpan layers across an agricultural field through advanced technologies of precision agriculture. These valuable techniques such as data logger, yield map, and data analysis of performance indicators were linked with accurate global positioning systems (GPS) datasets. These important technologies provided the farmers and helped them to identify and manage areas of the fields with higher compacted layers. Three ground speeds 4.3

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Publication Date
Sun Jul 04 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Digital Image Analysis versus Visual Scoring for Bcl-2 and P53 Protein Expression in Glioma.

Background: Traditionally, evaluation of the results of immunohistochemistry was done by visual quantification.
Materials and methods: for reliable evaluation, more time-efficient and user friendly method we used simple computer program with image analysis options as independent parameters for reading positive results. To test the validity of visually scored results, we compare and correlate the results of Digital image analysis (DIA) variables with the visual scores of 280 pictures taken from entire stained glioma tumor sections for Bcl-2 and P53 oncoproteins in different glioma tumor grades.
Results: In this study, rates expression of both oncoproteins was evaluated visually in glioma tumor samples (

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Publication Date
Sun Dec 03 2017
Journal Name
Baghdad Science Journal
The Innovative Method for Vaccine Preparation Against Multidrug Resistant and Virulence Acinetobacter baumannii Iraqi Isolates

The expanding of the medically important diseases created by multidrug-resistant Acinetobacter baumannii warrants the evolve a new methodology for prevention includes vaccination and treatment. Totally of forty-five clinical isolates identified as A.baumannii were obtained from hospitalized patients from three hospital in Baghdad City during the period from February 2016 to August 2016. Followed by diagnosing using different methods. Every strain was tested for susceptibility testing also some important virulence factorswere detected. Two isolates were chosen for the immunization and vaccine model, the first one remittent for most antibiotics except one are too virulence (strong) and the second is less virulent and resistance (weak).Enzyme-

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Publication Date
Sun Feb 03 2019
Journal Name
Journal Of The College Of Education For Women
Radioactive contamination in Iraq and its impact on birth defects for the period (2004-2013)

In the present time, radioactive contamination is considered one of the most dangerous types of environmental pollution. It usually takes place because of a leakage of radioactive materials to one of the environment natural components, such as, water, air, and soil. Iraq is considered one of the most contaminated environments in the world; this is closely associated with the wars Iraq had suffered from; especially, in 1991 and 2003. Considering the importance of the radioactive contamination and its different health impacts on the population, the current paper is interested in studying this type of environmental contamination and its impact on the birth defects depending on the data available in the annual reports issued by the Iraqi min

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Publication Date
Sat Oct 01 2011
Journal Name
Journal Of Engineering
A GENERAL VELOCITY PROFILE FOR A LAMINAR BOUNDARY LAYER OVER FLAT PLATE WITH ZERO INCIDENCE

A general velocity profile for a laminar flow over a flat plate with zero incidence is obtained by employing a new boundary condition to the other available boundary conditions. The general velocity profile is mathematically simple and nearest to the exact solution. Also other related values, boundary layer thickness, displacement thickness, momentum thickness and coefficient of friction are nearest to the exact solution compared with other corresponding values for other researchers.

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