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All Journal Bulletin of Electrical Engineering and Informatics
H. Sabry, Ahmad
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Electrical & Electronics Engineering

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Developing a model for unmanned aerial vehicle with fixed-wing using 3D-map exploring rapidly random tree technique Dallal Bashi, Omar I.; K. Hameed, Husamuldeen; Al Kubaisi, Yasir Mahmood; H. Sabry, Ahmad
Bulletin of Electrical Engineering and Informatics Vol 13, No 1: February 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i1.5305

Abstract

While the motion planning algorithms consider the obstacles that were known in the map, it is possible to use obstacle avoidance algorithms to take over and send commands to theunmanned aerial vehicle (UAV), when there is an unknown obstacle on the way. The rapidly random tree (RRT) algorithm is used to plan paths for a quad-copter or a fixed-wing UAV. This work develops a model for UAV with fixed-wing using a 3D map exploring the RRT technique. The first step is to obtain a 3D occupancy map from the map data stored in the UAV city to provide a map with some pre-generated obstacles. The contribution of this work is to use RRT planning for 3D state space, where the motion segment or motion primitive connecting the two consecutive states should be defined in a 3D space while satisfying the motion constraints of a UAV. The simulation includes setting up a 3D map, providing the starting and destination pose, planning a way using RRT and 3D Dubins moving primitives, smoothing the acquired trajectory, and simulating the UAV flight. The results obtained demonstrate that the smoothed-generated waypoints significantly improved tracking in general with shorter paths.
Modeling two loops RLC circuit AC power source using symbolic arithmetic differential equations Hassan, Inaam Rikan; Abed, Ghuson S.; H. Sabry, Ahmad
Bulletin of Electrical Engineering and Informatics Vol 13, No 1: February 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i1.5321

Abstract

As oscillator applications, resistance-inductor-capacitor (RLC) circuits are employed in a diversity of settings. A low-pass, band-stop, band-pass, or high-pass filters can all be designed using an RLC circuit. A two-loop RLC circuit could not be represented mathematically in prior studies. Laplace transform is one type of integral transformation, which is able to resolve both second order non-uniform and uniform linear differential equations. This work solves the differential equations (DEs) of a two loops RLC circuit of an alternating voltage source by using two alternative approaches, Laplace transform (LT) and deep learning convolutional neural network (DLCNN). Initially, two DE have been declared. Next, Laplace transform is computed to solve these equations with symbolic variables for the first loop current and capacitor charge. Finally, we substitute the numerical values of the circuit elements for the symbolic variables. The charge and current initially decline exponentially. On the other hand, they oscillate over a long period of time. The capacitor charge and current initially decline exponentially and oscillate over a long period of time. The qualities of the result can be examined with a symbolic result, which is not possible with a numeric result.
Co-Authors Abed, Ghuson S. Al Kubaisi, Yasir Mahmood Dallal Bashi, Omar I. Hassan, Inaam Rikan K. Hameed, Husamuldeen