This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA). The software program  uses th

With the wide developments of computer science and applications of networks, the security of information must be increased and make it more complex. The most important issues is how to control and prevent unauthorized access to secure information, therefore this paper presents a combination of two efficient encryption algorithms to satisfy the purpose of information security by adding a new level of encryption in Rijndael-AES algorithm. This paper presents a proposed Rijndael encryption and decryption process with NTRU algorithm, Rijndael algorithm is important because of its strong encryption. The proposed updates are represented by encryption and decryption Rijndael S-Box using NTRU algorithm. These modifications enhance the degree of

     One technique used to prepare nanoparticles material is Pulsed Laser Ablation in Liquid (PLAL), Silver Oxide nanoparticles (AgO) were prepared by using  this technique, where silver target was submerged in ultra-pure water (UPW)  at room temperature after that Nd:Yag laser which characteristics by 1064 nm wavelength, Q-switched, and 6ns pulse duration was used to irradiated silver target. This preparation method was used to study the effects of laser irradiation on Nanoparticles synthesized by used varying laser pulse energy 1000 mJ, 500 mJ, and 100 mJ, with 500 pulses each time on the particle size. Nanoparticles are characterized using XRD, SEM, AFM, and UV-Visible spectroscopy. All the structural peaks determined by the XRD

Abstract

Pneumatic processes sequence (PPS) is used widely in industrial applications. It is common to do a predetermined PPS to achieve a specific larger task within the industrial application like the PPS achieved by the pick and place industrial robot arm. This sequence may require change depending on changing the required task and usually this requires the programmer intervention to change the sequence’ sprogram, which is costly and may take long time. In this research a PLC-based PPS control system is designed and implemented, in which the PPS is programmed by demonstration. The PPS could be changed by demonstrating the new required sequence via the user by following simple series of manual steps without h

In multivariate survival analysis, estimating the multivariate distribution functions and then measuring the association between survival times are of great interest. Copula functions, such as Archimedean Copulas, are commonly used to estimate the unknown bivariate distributions based on known marginal functions. In this paper the feasibility of using the idea of local dependence to identify the most efficient copula model, which is used to construct a bivariate Weibull distribution for bivariate Survival times, among some Archimedean copulas is explored. Furthermore, to evaluate the efficiency of the proposed procedure, a simulation study is implemented. It is shown that this approach is useful for practical situations and applicable fo

With the wide developments of computer applications and networks, the security of information has high attention in our common fields of life. The most important issues is how to control and prevent unauthorized access to secure information, therefore this paper presents a combination of two efficient encryption algorithms to satisfy the purpose of information security by adding a new level of encryption in Rijndael-AES algorithm. This paper presents a proposed Rijndael encryption and decryption process with NTRU algorithm, Rijndael algorithm is widely accepted due to its strong encryption, and complex processing as well as its resistance to brute force attack. The proposed modifications are implemented by encryption and decryption Rijndael

This work studies the performance of zeolite permeable reactive barrier in removing cadmium from a contaminated shallow aquifer. Batch tests have been performed to characterize the equilibrium sorption properties of the zeolite in cadmium-containing aqueous solutions. A 1D numerical finite difference model has been developed to describe pollutant transport within groundwater taking pollutant sorption on the permeable reactive barrier (PRB), which is performed by Langmuir equation, into account. Numerical results show that the PRB starts to saturate after a period of time (~120 h) due to reduction of the retardation factor, indicating a decrease in the percentage of zeolite functionality. However, a reasonable agreement between model predict