This work is concerned with designing two types of controllers, a PID and a Fuzzy PID, to be used
for flying and stabilizing a quadcopter. The designed controllers have been tuned, tested, and
compared using two performance indices which are the Integral Square Error (ISE) and the Integral
Absolute Error (IAE), and also some response characteristics like the rise time, overshoot, settling
time, and the steady state error. To try and test the controllers, a quadcopter mathematical model has
been developed. The model concentrated on the rotational dynamics of the quadcopter, i.e. the roll,
pitch, and yaw variables. The work has been simulated with “MATLAB”. To make testing the
simulated model and the controllers more realistic, the testing signals have been applied by a user
through a joystick interfaced to the computer. The results obtained indicated a general superiority in
performance for the Fuzzy PID controller over the PID controller used in this work. This conclusion
is based by the following figures: lesser ISA for the roll, pitch, and yaw
consequently, lesser IAE for the roll, pitch, and yaw consequently,
lesser rise time and settling time for the roll and pitch consequently, and
lesser settling time for the yaw. Moreover, the FPID gave zero overshoot versus , ,
and in the PID case for the roll, pitch, and yaw consequently. Both controllers gave zero steady
state error with close rise times for the yaw. This superiority of the FPID controller is gained as the
fuzzy part of it continuously and online adapts the parameters of the PID part.
DBN Rashid, Rimak International Journal of Humanities and Social Sciences, 2020
(16)
(7)
Most of the Internet of Things (IoT), cell phones, and Radio Frequency Identification (RFID) applications need high speed in the execution and processing of data. this is done by reducing, system energy consumption, latency, throughput, and processing time. Thus, it will affect against security of such devices and may be attacked by malicious programs. Lightweight cryptographic algorithms are one of the most ideal methods Securing these IoT applications. Cryptography obfuscates and removes the ability to capture all key information patterns ensures that all data transfers occur Safe, accurate, verified, legal and undeniable. Fortunately, various lightweight encryption algorithms could be used to increase defense against various at
... Show More
(3)
(1)
Abstract
The grey system model GM(1,1) is the model of the prediction of the time series and the basis of the grey theory. This research presents the methods for estimating parameters of the grey model GM(1,1) is the accumulative method (ACC), the exponential method (EXP), modified exponential method (Mod EXP) and the Particle Swarm Optimization method (PSO). These methods were compared based on the Mean square error (MSE) and the Mean Absolute percentage error (MAPE) as a basis comparator and the simulation method was adopted for the best of the four methods, The best method was obtained and then applied to real data. This data represents the consumption rate of two types of oils a he
... Show More
The adsorption of copper ions onto produced activated carbon from banana peels (with particle size 250 µm) in a single component system with applying magnetic field has been studied using fixed bed adsorber. The fixed bed breakthrough curves for the copper ions were investigated. The adsorption capacity for Cu (II) was investigated. It was found that 1) the exposure distance (E.D) and strength of magnetic field (B), affected the degree of adsorption; and 2) experiments showed that removal of Cu ions and accumulative adsorption capacity of adsorbent increase as the exposure distance and strength of magnetic field increase.
Cover crops (CC) improve soil quality, including soil microbial enzymatic activities and soil chemical parameters. Scientific studies conducted in research centers have shown positive effects of CC on soil enzymatic activities; however, studies conducted in farmer fields are lacking in the literature. The objective of this study was to quantify CC effects on soil microbial enzymatic activities (β-glucosidase, β-glucosaminidase, fluorescein diacetate hydrolase, and dehydrogenase) under a corn (Zea mays L.)–soybean (Glycine max (L.) Merr.) rotation. The study was conducted in 2016 and 2018 in Chariton County, Missouri, where CC were first established in 2012. All tested soil enzyme levels were significantly different between 2016 and 2018
... Show More
(20)
(17)
(16)
This research aims to removes dyes from waste water by adsorption using banana peels. The conduct experiment done by banana powder and banana gel to compare between them and find out which one is the most efficient in adsorption. Studying the effects different factors on adsorption material and calculate the best removal efficiency to get rid of the methylene blue dye (MB).
The tests that measure special strength defined by speed contributes a great deal in evaluating the players' weaknesses and strengths so as to aid coaches judge their players according to scientific and objective measurements. The problem of the study lies in answering the following question : is there a test that measures legs' vertical strength defined by speed especially for youth basketball players? The aim of the research was to construct and standardize a test for measuring legs' vertical strength defined by speed in youth basketball. The subjects of the study were 74 youth basketball players from Baghdad. The researchers concluded that the test measures leg's vertical strength defined by speed for youth basketball players as well as
... Show More
(2)
(2)