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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
Mon Mar 11 2019
Journal Name
Baghdad Science Journal
Analysing Iraqi Railways Network by Applying Specific Criteria Using the GIS Techniques
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The railways network is one of the huge infrastructure projects. Therefore, dealing with these projects such as analyzing and developing should be done using appropriate tools, i.e. GIS tools. Because, traditional methods will consume resources, time, money and the results maybe not accurate. In this research, the train stations in all of Iraq’s provinces were studied and analyzed using network analysis, which is one of the most powerful techniques within GIS. A free trial copy of ArcGIS®10.2 software was used in this research in order to achieve the aim of this study. The analysis of current train stations has been done depending on the road network, because people used roads to reach those train stations. The data layers for this st

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Publication Date
Sun Jan 01 2023
Journal Name
8th Engineering And 2nd International Conference For College Of Engineering – University Of Baghdad: Coec8-2021 Proceedings
Sentiment analysis in arabic language using machine learning: Iraqi dialect case study
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Publication Date
Wed Mar 05 2025
Journal Name
Lecture Notes In Networks And Systems
Using Artificial Intelligence to Enhance Family Cohesion and Promote Positive Social Values
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Publication Date
Tue Mar 10 2026
Journal Name
Academic Science Journal
Estimation Monthly Mean, Temperature using Correlation Formula in different provinces in Iraq
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Publication Date
Thu May 28 2015
Journal Name
International Journal Of Recent Scientific Research
HYBRID MACHINES PET/CT SCANNERS BY USING 18F, 82SR AND 68GE RADIONUCLIDE
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The increased use of hybrid PET /CT scanners combining detailed anatomical information along withfunctional data has benefits for both diagnostic and therapeutic purposes. This presented study is to makecomparison of cross sections to produce 18F , 82Sr and68Ge via different reactions with particle incident energy up to 60 MeV as a part of systematic studies on particle-induced activations on enriched natNe, natRb, natGa 18O,85Rb, and 69Ga targets, theoretical calculation of production yield, calculation of requiredtarget and suggestion of optimum reaction to produce: Fluorine-18 , Strontium-82 andGermanium-68 touse in Hybrid Machines PET/CT Scanners.

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Publication Date
Sun Feb 24 2019
Journal Name
Iraqi Journal Of Physics
High spatial resolution digital elevation model (DEM) production using different interpolations techniques
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DEMs, thus, simply regular grids of elevation measurements over the land surface.The aim of the present work is to produce high resolution DEM for certain investigated region (i.e. Baghdad University Campus\ college of science). The easting and northing of 90 locations, including the ground-base and buildings of the studied area, have been obtained by field survey using global positioning system (GPS). The image of the investigated area has been extracted from Quick-Bird satellite sensor (with spatial resolution of 0.6 m). It has been geo-referenced and rectified  using 1st order polynomial transformation. many interpolation methods have been used to estimate the elevation such as ordinary Kriging, inverse distance weight

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Publication Date
Wed Jun 27 2018
Journal Name
Iraqi Journal Of Science
Accurate Three Dimensional Coordinates Measurements Using Differential GPS Real Time Kinematic Mode
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The accurate 3-D coordinate's measurements of the global positioning systems are essential in many fields and applications. The GPS has numerous applications such as: Frequency Counters, Geographic Information Systems, Intelligent Vehicle Highway Systems, Car Navigation Systems, Emergency Systems, Aviations, Astronomical Pointing Control, and Atmospheric Sounding using GPS signals, tracking of wild animals, GPS Aid for the Blind, Recorded Position Information, Airborne Gravimetry and other uses. In this paper, the RTK DGPS mode has been used to create precise 3-D coordinates values for four rover stations in Baghdad university camp. The HiPer-II Receiver of global positioning system was used to navigate the coordinate value. The results wil

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Publication Date
Sun Nov 01 2020
Journal Name
International Journal Of Engineering
Pavement Maintenance Management Using Multi-objective Optimization: (Case Study: Wasit Governorate-Iraq)
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Publication Date
Sun Apr 30 2023
Journal Name
Journal Européen Des Systèmes Automatisés
Developing Multiple-Actuator Pneumatic Circuits Using the Karnaugh Maps Designing PLC Controlled
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Publication Date
Sun Aug 06 2023
Journal Name
Karbala International Journal Of Modern Science
Improving the BURT’s Sensitivity using Noise Calibration Unit via Crab Nebula Observations
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Radio observations from astronomical sources like supernovae became one the most important sources of information about the physical properties of those objects. However, such radio observations are affected by various types of noise such as those from sky, background, receiver, and the system itself. Therefore, it is essential to eliminate or reduce these undesired noise from the signals in order to ensure accurate measurements and analysis of radio observations. One of the most commonly used methods for reducing the noise is to use a noise calibrator. In this study, the 3-m Baghdad University Radio Telescope (BURT) has been used to observe crab nebula with and without using a calibration unit in order to investigate its impact on the sign

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