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Anti-Disturbance Compensator Design for Unmanned Aerial Vehicle
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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.

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Publication Date
Wed Nov 19 2025
Journal Name
Tikrit University Journal For Rights
Legal provisions for concluding contracts through public auctions
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Publication Date
Sun Aug 15 2021
Journal Name
Al-qadisiyah Journal Of Pure Science Vol.(26) Issue (special Issue Num.4) (2021) Pp. 30–33
Accounts for the groups (2, ), = 41 and 43
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Publication Date
Sun Jun 20 2021
Journal Name
Baghdad Science Journal
Multifactor Algorithm for Test Case Selection and Ordering
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Regression testing being expensive, requires optimization notion. Typically, the optimization of test cases results in selecting a reduced set or subset of test cases or prioritizing the test cases to detect potential faults at an earlier phase. Many former studies revealed the heuristic-dependent mechanism to attain optimality while reducing or prioritizing test cases. Nevertheless, those studies were deprived of systematic procedures to manage tied test cases issue. Moreover, evolutionary algorithms such as the genetic process often help in depleting test cases, together with a concurrent decrease in computational runtime. However, when examining the fault detection capacity along with other parameters, is required, the method falls sh

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Publication Date
Wed Feb 01 2023
Journal Name
Trends Technological And Science ,engineering
Automated Sorting for Tomatoes using Artificial Neural Network
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A .technology analysis image using crops agricultural of grading and sorting the test to conducted was experiment The device coupling the of sensor a with camera a and 75 * 75 * 50 dimensions with shape cube studio made-factory locally the study to studio the in taken were photos and ,)blue-green - red (lighting triple with equipped was studio The .used were neural artificial and technology processing image using maturity and quality ,damage of fruits the of characteristics external value the quality 0.92062, of was value regression the damage predict to used was network neural artificial The .network the using scheme regression a of means by 0.98654 of was regression the of maturity and 0.97981 of was regression the of .algorithm Marr

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Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Physics: Conference Series
Advanced nano membrane for an alkaline Fuel Cell
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Abstract<p>Structural and optical properties were studied as a function of Nano membrane after prepared, for tests. Nano membrane was deposited by the spray coating method on substrates (glass) of thickness 100 mm. The X-ray diffraction spectra of (CNTs, WO3) were studied. AFM tests are good information about the roughness, It had been designed electrolysis cell and fuel cell. Studies have been performed on electrochemical parameters.</p>
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Publication Date
Tue Mar 30 2021
Journal Name
Wasit Journal Of Computer And Mathematics Science
Dynamic Data Replication for Higher Availability and Security
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The paradigm and domain of data security is the key point as per the current era in which the data is getting transmitted to multiple channels from multiple sources. The data leakage and security loopholes are enormous and there is need to enforce the higher levels of security, privacy and integrity. Such sections incorporate e-administration, long range interpersonal communication, internet business, transportation, coordinations, proficient correspondences and numerous others. The work on security and trustworthiness is very conspicuous in the systems based situations and the private based condition. This examination original copy is exhibiting the efficacious use of security based methodology towards the execution with blockchain

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Publication Date
Wed Jan 02 2019
Journal Name
Journal Of Educational And Psychological Researches
Parents Role in Social Personality Formation for Children
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Experts of Psychology and education emphasized that childhood is one of the most important stages in the formation of human personality, and the most influential in his public life, especially the stage in which he lives within his family, which must provide him with the requirements of healthy growth of physical, emotional, moral and social. Emotional-social connection of the child to his family, is especially important in determining the characteristics of his social character, in accordance with the norms and values ​​prevailing in society. This requires the child to be cared for and cared for, and to deal with him in a healthy social manner. So as to achieve positive growth and harmony in the process of social control in internal

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Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Engineering
Different Resolution Merging Methods For Environmental Areas Extraction
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The usage of remote sensing techniques in managing and monitoring the environmental areas is increasing due to the improvement of the sensors used in the observation satellites around the earth. Resolution merge process is used to combine high resolution one band image with another one that have low resolution multi bands image to produce one image that is high in both spatial and spectral resolution. In this work different merging methods were tested to evaluate their enhancement capabilities to extract different environmental areas; Principle component analysis (PCA), Brovey, modified (Intensity, Hue ,Saturation) method and High Pass Filter methods were tested and subjected to visual and statistical comparison for evaluation. Both visu

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Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Physics: Conference Series
Purification Techniques for Cheap Multi –Walled Carbon Nanotubes
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Abstract<p>Multi-walled carbon nanotubes from cheap tubs company MWCNT-CP were purified by alcohol \ H2O2 \ separation funnel which is simple, easy and scalable techniques. The steps of purification were characterized by X-ray diffraction, Raman spectroscopy, scanning electron microscopy SEM with energy dispersive of X-ray spectroscopy EDX and surface area measurements. The technique was succeeded to remove most the trace element from MWCNT-CP which causing increase the surface area. The ratios of impurities were reduced to less 0.6% after treatment by three steps with losing less than 5% from MWCNT-CP.</p>
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Publication Date
Mon Apr 01 2013
Journal Name
مجلة كلية بغداد للعلوم الاقتصادية الجامعة العدد الخاص بمؤتمر الكلية
A propose method for hiding image into image
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