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Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm
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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
Sun Feb 24 2019
Journal Name
Iraqi Journal Of Physics
Construction and performance study of a solar - powered hybrid cooling system in Iraq
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The systems cooling hybrid solar uses solar collector to convert solar energy into the source of heat for roasting Refrigerant outside of the compressor and this process helps in the transformation of Refrigerant from the gas to a liquid state in two-thirds the top of the condenser instead of two-thirds the bottom of the condenser as in Conventional cooling systems and this in turn reduces the energy necessary to lead the process of cooling. The system cooling hybrid use with a capacity of 1 ton and Refrigerant type R22 and the value of current drawn by the system limits (3.9-4.2A), the same value of electric current calculated by the system are  Conventional  within this atmosphere of Iraq, and after taking different readings

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Publication Date
Wed Jul 01 2020
Journal Name
Journal Of Engineering
Development of Iraqi License Plate Recognition System based on Canny Edge Detection Method
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In recent years, there has been expanding development in the vehicular part and the number of vehicles moving on the road in all the sections of the country. Vehicle number plate identification based on image processing is a dynamic area of this work; this technique is used for security purposes such as tracking of stolen cars and access control to restricted areas. The License Plate Recognition System (LPRS) exploits a digital camera to capture vehicle plate numbers is used as input to the proposed recognition system. Basically, the developing system is consist of three phases, vehicle license plate localization, character segmentation, and character recognition, the License Plate (LP) detection is presented using canny

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Publication Date
Thu Sep 01 2016
Journal Name
Applied Thermal Engineering
Solidification of a PCM with nanoparticles in triplex-tube thermal energy storage system
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Publication Date
Fri Jan 01 2010
Journal Name
Int. J. Adv. Comp. Techn.
Adding PC Connectivity to the MTS-88 Microcomputer Teaching System
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The MTS-88. c trainer is a training system targeting students in the microprocessors course. It has a built in single-line assembler allowing the users to enter programs in assembly. It has the problem that long programs cannot be traced and tested efficiently. A simple error may cause all the code to be erased and the system to stop responding. Also, this system lacks the ability to be connected to the PC. The aim of this work is to modify the system to make it possible to be connected to the PC through the parallel port. This gives the capability to download long programs to the system after being developed in the PC. The 8255 Programmable Peripheral Interface available in the teaching system is interfaced to the parallel port and used as

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Publication Date
Fri May 31 2019
Journal Name
Journal Of Engineering
WSN-WCCS: A Wireless Sensor Network Wavelet Curve Ciphering System
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With wireless sensor network (WSN) wide applications in popularity, securing its data becomes a requirement. This can be accomplished by encrypting sensor node data. In this paper a new an efficient symmetric cryptographic algorithm is presented. This algorithm is called wireless sensor network wavelet curve ciphering system (WSN-WCCS).  The algorithm idea based on discrete wavelet transformation to generate keys for each node in WSN.  It implements on hierarchical clustering WSN using LEACH protocol. Python programming language version 2.7 was used to create the simulator of WSN framework and implement a WSN-WCCS algorithm. The simulation result of the proposed WSN-WCCS with other symmetric algorithms has show

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Publication Date
Sun Sep 03 2023
Journal Name
Iraqi Journal Of Computers, Communications, Control & Systems Engineering (ijccce)
Efficient Iris Image Recognition System Based on Machine Learning Approach
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HM Al-Dabbas, RA Azeez, AE Ali, IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2023

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Publication Date
Wed Feb 29 2012
Journal Name
Al-khwarizmi Engineering Journal
A New Audio Steganography System Based on Auto-Key Generator
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Stenography is the art of hiding the very presence of communication by embedding secret message into innocuous looking cover document, such as digital image, videos, sound files, and other computer files that contain perceptually irrelevant or redundant information as covers or carriers to hide secret messages.

In this paper, a new Least Significant Bit (LSB) nonsequential embedding technique in wave audio files is introduced. To support the immunity of proposed hiding system, and in order to recover some weak aspect inherent with the pure implementation of stego-systems, some auxiliary processes were suggested and investigated including the use of hidden text jumping process and stream ciphering algorithm. Besides, the suggested

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Publication Date
Thu Apr 16 2015
Journal Name
Frontiers In Physiology
Dopaminergic signaling within the primary cilia in the renovascular system
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Publication Date
Tue Dec 01 2020
Journal Name
Al-khwarizmi Engineering Journal
Remote Patient Healthcare surveillance system based real-time vital signs
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Today many people suffering from health problems like dysfunction in lungs and cardiac. These problems often require surveillance and follow up to save a patient's health, besides control diseases before progression. For that, this work has been proposed to design and developed a remote patient surveillance system, which deals with 4 medical signs (temperature, SPO2, heart rate, and Electrocardiogram ECG. An adaptive filter has been used to remove any noise from the signal, also, a simple and fast search algorithm has been designed to find the features of  ECG signal such as Q,R,S, and T waves.  The system performs analysis for medical signs that are used to detected abnormal values. Besides, it sends data to the Base-Stati

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Publication Date
Tue Oct 01 2019
Journal Name
2019 Ieee 9th International Conference On System Engineering And Technology (icset)
A Digital Signature System Based on Real Time Face Recognition
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This study proposed a biometric-based digital signature scheme proposed for facial recognition. The scheme is designed and built to verify the person’s identity during a registration process and retrieve their public and private keys stored in the database. The RSA algorithm has been used as asymmetric encryption method to encrypt hashes generated for digital documents. It uses the hash function (SHA-256) to generate digital signatures. In this study, local binary patterns histograms (LBPH) were used for facial recognition. The facial recognition method was evaluated on ORL faces retrieved from the database of Cambridge University. From the analysis, the LBPH algorithm achieved 97.5% accuracy; the real-time testing was done on thirty subj

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