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.
Background: Changes of coagulation profile have been described in patients with B-Thalassemia major. Prolongation of prothrombin time and partial thromboplastin time and reduced levels of coagulation factors and natural anticoagulants have been variously described though the mechanisms involved in the thrombotic tendency seen in some Thalassemia patients have not been fully clarified.
Objectives: To investigate changes in the coagulation profile in patients with B-Thalassemia according to the available hemostatic parameters in Thalassemia patients in Al-Karama Teaching Hospital in Wasit governorate.
Methods: Hemostatic variables were studied in pre-transfusion blood samples from 50 transfusion-dependent children with Beta Thalassem
(3)
The best design of subsurface trickle irrigation systems requires knowledge of water and salt distribution patterns around the emitters that match the root extraction and minimize water losses. The transient distribution of water and salt in a two-dimensional homogeneous Iraqi soil domain under subsurface trickle irrigation with different settings of an emitter is investigated numerically using 2D-HYDRUS software. Three types of Iraqi soil were selected. The effect of altering different values of water application rate and initial soil water content was investigated in the developed model. The coefficient of correlation (R2) and the root-mean-square error (RMSE) was used to validate the predicted numerical res
... Show More
This piece of research deals with assimilation as one of the phonological processes in the language. It is a trial to give more attention to this important process in English language with deep explanation to its counterpart in Arabic. in addition, this study sheds light on the points of similarities and differences concerning this process in the two languages. Assimilation in English means two sounds are involved, and one becomes more like the other.
The assimilating phoneme picks up one or more of the features of another nearby phoneme. The English phoneme /n/ has t
... Show MoreThe present study attempts to give a detailed discussion and analysis of parenthetical constructions in English and Arabic, the aim being to pinpoint the points of similarity and difference between the two languages in this particular linguistic area.The study claims that various types of constructions in English and Arabic could be considered parenthetical; these include non-restrictive relative clauses, non-restrictive appositives, comment clauses, vocatives, interjections, among others. These are going to be identified, classified, and analyzed according to the Quirk grammar - the approach to grammatical description pioneered by Randolph Quirk and his associates, and published in a series of reference grammars during the 1970
... Show MoreWhen industrial and constructional renaissance started in the world, the great interest was going on towards the equipment’s, which was the first mean for production. After industry was settled the interest was going on towards the men ship which manpower on which the production depends. It was approved that it represents the basic part in all of the processes and the protection of those individuals against dangers of these equipment’s, industry and its accidents was the basic things which was studied in many researches until it crystallized in general principles for all industries and other take care in each industry.
The professional safety is concerned as restrict which
... Show MoreThe traditional voice call over Global System for Mobile Communications (GSM) and Public Switched Telephone Network (PSTN) is expensive and does not provide a secure end to end voice transmission. However, the growth in telecommunication industry has offered a new way to transmit voice over public network such as internet in a cheap and more flexible way. Due to insecure nature of the public network, the voice call becomes vulnerable to attacks such as eavesdropping and call hijacking. Accordingly, protection of voice call from illegal listening becomes increasingly important.
To this end, an android-based application (named E2ESeVoice application) to transmit voice in a secure way between the end users is proposed based on modified R
Transport is a problem and one of the most important mathematical methods that help in making the right decision for the transfer of goods from sources of supply to demand centers and the lowest possible costs, In this research, the mathematical model of the three-dimensional transport problem in which the transport of goods is not homogeneous was constructed. The simplex programming method was used to solve the problem of transporting the three food products (rice, oil, paste) from warehouses to the student areas in Baghdad, This model proved its efficiency in reducing the total transport costs of the three products. After the model was solved in (Winqsb) program, the results showed that the total cost of transportation is (269,
... Show More
Fractal image compression depends on representing an image using affine transformations. The main concern for researches in the discipline of fractal image compression (FIC) algorithm is to decrease encoding time needed to compress image data. The basic technique is that each portion of the image is similar to other portions of the same image. In this process, there are many models that were developed. The presence of fractals was initially noticed and handled using Iterated Function System (IFS); that is used for encoding images. In this paper, a review of fractal image compression is discussed with its variants along with other techniques. A summarized review of contributions is achieved to determine the fulfillment of fractal image co
... Show More
(4)
(1)
Background: Malnutrition is an adverse prognostic factor in the outcome of children with standard risk acute lymphoblastic leukemia due to a significantly higher rate of bone marrow relapse in the malnourished patients. The event free survival of children with acute lymphoblastic leukemia in developed countries has increased substantially in the last two decades as treatment with intensive protocols has brought the estimated probability of event free survival at 5 years close to 75%. Although the prognosis of acute lymphoblastic leukemia has also been improved in underdeveloped countries, the figures for event free survival are lower, even when aggressive protocols are used. Unfavorable socioeconomic fa
... Show More