This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.
The aim of this paper is to approximate multidimensional functions f∈C(R^s) by developing a new type of Feedforward neural networks (FFNS) which we called it Greedy ridge function neural networks (GRGFNNS). Also, we introduce a modification to the greedy algorithm which is used to train the greedy ridge function neural networks. An error bound are introduced in Sobolov space. Finally, a comparison was made between the three algorithms (modified greedy algorithm, Backpropagation algorithm and the result in [1]).
This work involves the calculation of the cooling load in Iraqi building constructions taking in account the effect of the convective heat transfer inside the buildings. ASHRAE assumptions are compared with the Fisher and Pedersen model of estimation of internal convective heat transfer coefficient when the high rate of ventilation from ceiling inlet configuration is used. Theoretical calculation of cooling load using the Radiant Time Series Method (RTSM) is implemented on the actual tested spaces. Also the theoretical calculated cooling loads are experimentally compared by measuring the cooling load in these tested spaces. The comparison appears that using the modified Fisher and Pedersen model when large ventilation ra
... Show MoreIn this experimental study, the use of stone powder as a stabilizer to the clayey soil studied. Tests of Atterberg limits, compaction, fall cone (FCT), Laboratory vane shear (LVT), and expansion index (EI) were carried out on soil-stone powder mixtures with fixed ratios of stone powder (0%, 5%, 10%, 15%, and 20%) by the dry weight. Results indicated that the undrained shear strength obtained from FCT and LVT increased at all the admixture ratios, and the expansion index reduced with the increase of the stone powder.
to study the discribrion and the pollution in the environment in the south of baghdad samples of waste water from industrail units using the mercury in its process also
Twilight is that light appear on the horizon before sunrise and after sunset, Astronomically it is known that sunrise and sunset are effected by high above sea level, but the effect of high above sea level on the time of astronomical twilight still not decided and controversy among astronomers, in This research we studies the effect of high above sea level on the time of astronomical twilight, through adding the equation correct high above sea level to equation computation of twilight and then calculate of changing in the time of twilight for different highest (0-10000) meters above sea level , and the ratio of increase for time with high between (15.45-20.5) minutes. It was found that there was an increase in the time of the twilight along
... Show MoreWhen the drawdown pressure amounts to a value below the dew point pressure, a minor droplet of condensate is shaped and accumulated in the close area of wellbore. As the accumulation happens, the saturation of the liquid will grow and a reduction in gas relative permeability will happen, therefore it will affect the productivity. Generally, condensate baking problem in gas wells is being deliberated and studied and numerous techniques have been suggested to solve the problem. The studying of condensate banking dynamics is essential to evaluate the productivity and behavior of the wells of the gas fields.
The separation of fluid-fluid mixtures is a major issue in various sectors. The liquid-liquid hydro-cyclone has a wide range of applications in various sectors due to its great efficiency in separating fluid mixtures, ease of installation, and low cost. In crude oil production, high water is consumed following the degrading of production quality, high processing costs, costs, and environmental impacts. Axial hydro cyclone is a tool for Downhole Oil/Water Separation (DOWS) in the petroleum production industry, but it has limitations. The main purpose of this work is to simulate the effect of compacting the conventional inline hydro cyclone with a converging-diverging nozzle on the oil/water dynamic flow and the separation process to
... Show MoreThe Old World Screwworm Fly Chrysomya bezziana is a new insect pest on cattles and other domestic recor¬ded for the first from Iraq. It was first observed in cow's vagina in September of 1996 in Shaikh Hammed (Tarmiya), near Baghdad city. Chrysomya bezziana Villeneuve is well known as one of the most important insect pests of livestock. Its larvae infest living tissues by causing myiasis. In a wide range of worm-blooded host species (Spradbery and Vanningham, 1980; Spradbery and Kirk. 1992). It is widely dist¬ributed species over an extensive area of tropical and subtropical Africa, the Arabian Gulf countries, Iran. Indian subcontinent. South-East Asia. Indonesia, and as far east as Papua New Guinea (Zurapt, 1965; Djalayer et al. 1978;
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