The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is implemented based on hybrid Crossoved Firefly Algorithm with Artificial Bee Colony (CFA-ABC) to tune the controller's parameters to achieve the optimal path. The performance of the hybrid optimization algorithm is verified by various benchmark functions. The simulation results show that the utilizing of CFA and (CFA-ABC ) are better than the original Firefly Algorithm. A simulation example is given to indicate the effectiveness of the proposed algorithm, the results have been done using MATLAB (R2013b), and all trajectory tracking results with two reference trajectories (circular and lemniscates ) are presented.
In this paper, we define the concept of soft -connected sets and soft -connected spaces by using the notion of soft -open sets in soft topological spaces. Several properties of these concepts are investigated.
Let be a commutative ring with unity and let be a non-zero unitary module. In
this work we present a -small projective module concept as a generalization of small
projective. Also we generalize some properties of small epimorphism to δ-small
epimorphism. We also introduce the notation of δ-small hereditary modules and δ-small
projective covers.
Let be a commutative ring with identity , and be a unitary (left) R-module. A proper submodule of is said to be quasi- small prime submodule , if whenever with and , then either or . In this paper ,we give a comprehensive study of quasi- small prime submodules.
(2)
(1)
the regional and spatial dimension of development planning must be taken as a point of departure to the mutual of the spatial structure of the economy , development strategy and policies applied 'therein such as the location principles and regional development coordination of the territorial problems with the national development planning and timing of regional vis-a-vis national development plan_. Certain balance and integration is of sound necessity' between national _regional and local development objectives through which the national development strategy should have to represent the guidelines of the local development aspirations and goals. The economic development exerts an impact on the spatial evolution, being itself subje
... Show MoreIn this notion we consider a generalization of the notion of a projective modules , defined using y-closed submodules . We show that for a module M = M1M2 . If M2 is M1 – y-closed projective , then for every y-closed submodule N of M with M = M1 + N , there exists a submodule M`of N such that M = M1M`.
Let be an R-module, and let be a submodule of . A submodule is called -Small submodule () if for every submodule of such that implies that . In our work we give the definition of -coclosed submodule and -hollow-lifiting modules with many properties.
In this work we shall introduce the concept of weakly quasi-prime modules and give some properties of this type of modules.
The purpose of this paper is to introduce a new type of compact spaces, namely semi-p-compact spaces which are stronger than compact spaces; we give properties and characterizations of semi-p-compact spaces.