In this paper, an Anti-Disturbance Compensator is suggested for the stabilization of a 6-DoF quadrotor Unmanned Aerial vehicle (UAV) system, namely, the Improved Active Disturbance Rejection Control (IADRC). The proposed Control Scheme rejects the disturbances subjected to this system and eliminates the effect of the uncertainties that the quadrotor system exhibits. The complete nonlinear mathematical model of the 6-DoF quadrotor UAV system has been used to design the four ADRCs units for the attitude and altitude stabilization. Stability analysis has been demonstrated for the Linear Extended State Observer (LESO) of each IADRC unit and the overall closed-loop system using Hurwitz stability criterion. A minimization to a proposed multi-objective Output Performance Index (OPI) is achieved in the MATLAB environment to tune the IADRCs parameters using Genetic Algorithm (GA). The IADRC has been tested for the 6-DOF quadrotor under different tracking scenarios, including disturbance rejection and uncertainties elimination and compared with nonlinear and linear PID controllers. The simulations showed the excellent performance of the proposed compensator against the controllers used in the comparison.
This study presents the design of flash-lamps for pumped solid-state lasers. In this research have been study some of characters for flash lamp. The optimum pressure operation is found using different flash lamps about (600-4000) mbar. In conclusion, it was shown that the increase in pressure due to improve efficiency of radiation and decrease of temperature. Also this study illustrated the reason of decrease temperature is atomic number and due to increase of radiation efficiency.
Forty isolates of Bacillus spp. were isolated from fifty samples including different source of soil to detect the ability to produce keratinase enzyme in liquid state fermentation, Bacillus (Bs13)was the highest keratinase producer , it was identified as a strain of Bacillus licheniformis. The optimum conditions for keratinase productions were in a media contains keratin 4% (hooves) as a carbon and nitrogen and energy sources, peptone 1% as a secondary nitrogen source with pH 8 , inculums size 1%, and incubated at 37Co for 24 hrs.
After the fall of the Soviet Union, a number of Eastern Bloc countries and Soviet republics have witnessed political transition. However, Turkmenistan, as one of the former Soviet republics, succeeded to preserve the authoritarian nature of the former Soviet regime. This study seeks to answer a number of research questions, the most prominent of which are: How were the political elite in Turkmenistan able to preserve the legacy of the Soviet policy based on centralization of power and individual rule?. The study reaches a set of conclusions, the most important of which are:
1-The roots of the tyranny in Turkmenistan are du to internal and external structural factors. The most important of which are: the former Soviet policies of m
... Show MoreThe goal of this research is to better understand the physical features of starburst galaxies. Radio and X-ray observations are good for exploring the stuff within the central regions of galaxies. A galaxy that is undergoing a strong star formation, usually in its central area, is known as a starburst galaxy. This paper provides the results of a statistical analysis of a sample of starburst galaxies. The data used in this research have been collected from NASA Extragalactic Database (NED), and HYPERLEDA. Those data have been used to examine possible luminosity correlations of X-ray to a radio of a sample of starburst galaxies. In this research, statistical software, known as statistic-win-program, has been used to investigat
... Show MoreThe purpose of this work is to clarify the effect of the Active Galactic Nucleus (AGN) on the properties of the galaxy. A photometric study of two galaxies by surface optical measurements techniques and by using'griz filters' was performed. The scientific material that used in this work was obtained from ''SLOAN DIGITAL SKY SURVEY'' (DR7), a fuzzy color, contour maps, photometric parameters, and color indices were studied by using surface photometric technique. The work was done by Ellipse task in IRAF (Image Reduction and Analysis Facility) software from the National Optical Astronomy Observatory (NOAO).
Developing an efficient algorithm for automated Magnetic Resonance Imaging (MRI) segmentation to characterize tumor abnormalities in an accurate and reproducible manner is ever demanding. This paper presents an overview of the recent development and challenges of the energy minimizing active contour segmentation model called snake for the MRI. This model is successfully used in contour detection for object recognition, computer vision and graphics as well as biomedical image processing including X-ray, MRI and Ultrasound images. Snakes being deformable well-defined curves in the image domain can move under the influence of internal forces and external forces are subsequently derived from the image data. We underscore a critical appraisal
... Show MoreBrain tissues segmentation is usually concerned with the delineation of three types of brain matters Grey Matter (GM), White Matter (WM) and Cerebrospinal Fluid (CSF). Because most brain structures are anatomically defined by boundaries of these tissue classes, accurate segmentation of brain tissues into one of these categories is an important step in quantitative morphological study of the brain. As well as the abnormalities regions like tumors are needed to be delineated. The extra-cortical voxels in MR brain images are often removed in order to facilitate accurate analysis of cortical structures. Brain extraction is necessary to avoid the misclassifications of surrounding tissues, skull and scalp as WM, GM or tumor when implementing s
... Show MoreZubair oilfield is an efficient contributor to the total Iraqi produced hydrocarbon. Drilling vertical wells as well as deviated and horizontal wells have been experiencing intractable challenges. Investigation of well data showed that the wellbore instability issues were the major challenges to drill in Zubair oilfield. These experienced borehole instability problems are attributed to the increase in the nonproductive time (NPT). This study can assist in managing an investment-drilling plan with less nonproductive time and more efficient well designing.
To achieve the study objectives, a one dimension geomechanical model (1D MEM) was constructed based on open hole log measurements, including Gamma-
... Show MoreIn this paper an eco-epidemiological system has been proposed and studied analytically as well as numerically. The boundedness, existence and uniqueness of the solution are discussed. The local and global stability of all possible equilibrium point are investigated. The global dynamics is studied numerically. It is obtained that system has rich in dynamics including Hopf bifurcation.
In this work, we consider a modification of the Lotka-Volterra food chain model of three species, each of them is growing logistically. We found that the model has eight equilibrium points, four of them always exist, while the rest exist under certain conditions. In terms of stability, we found that the system has five unstable equilibrium points, while the rest points are locally asymptotically stable under certain satisfying conditions. Finally, we provide an example to support the theoretical results.