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.
The establishment of a high quality service in oral health care achieved by a member of dental professional is an important feature of any system of peer review in dentistry. This protocol attempts to discuss two crucial elements (I) suitability and feasibility of treatment modality and (II) quality of treatment performed to Iraqi patients. The Iraq endodontic society is designing a standardized protocol for endodontic treatment following the quality guidelines of European society of Endodontology (2006) to meet the highest standard of care generally given by competent practitioners. The Iraqi endodontic society has the expertise and professional responsibility clinically relevant to empower the dental profession through creating significan
... Show MoreWe present mid-infrared imaging observations of the debris disk around one of the main sequence star Epsilon Eridani in the Q-band at (20.5 µm) and (17.6 µm). The dust that produces emission in debris disk is spatially resolved in the inner region of the debris disk of Epsilon Eridani at distance approximately between 1.4 - 4 AU.
The principal forms of radiation dosage for humans from spontaneous radiation material are being recognized as radon and its progenitors in the interior environment. Radiation-related health risks are caused by radon in water supply, which can be inhaled or ingested. Materials and Methods: The solid-state CR-39 nuclear trace detectors method was using in this research for measuring accumulation of radioactivity in water supply in different locations of Iraq's southwest corner of Baghdad. In Baghdad district, 42 samples were selected from 14 regions (3 samples out of each region) and put in dosimeters for 50 days. Results: The mean radon concentration was 49.75 Bq/m3, that is lower than the internationally recognized limit of 1100 Bq /m3. Th
... Show MoreIn this paper, we propose a method using continuous wavelets to study the multivariate fractional Brownian motion through the deviations of the transformed random process to find an efficient estimate of Hurst exponent using eigenvalue regression of the covariance matrix. The results of simulations experiments shown that the performance of the proposed estimator was efficient in bias but the variance get increase as signal change from short to long memory the MASE increase relatively. The estimation process was made by calculating the eigenvalues for the variance-covariance matrix of Meyer’s continuous wavelet details coefficients.
The purpose of this paper is to solve the stochastic demand for the unbalanced transport problem using heuristic algorithms to obtain the optimum solution, by minimizing the costs of transporting the gasoline product for the Oil Products Distribution Company of the Iraqi Ministry of Oil. The most important conclusions that were reached are the results prove the possibility of solving the random transportation problem when the demand is uncertain by the stochastic programming model. The most obvious finding to emerge from this work is that the genetic algorithm was able to address the problems of unbalanced transport, And the possibility of applying the model approved by the oil products distribution company in the Iraqi Ministry of Oil to m
... Show MoreDesalination is a process where fresh water produces from high salinity solutions, many ways used for this purpose and one of the most important processes is membrane distillation (MD). Direct contact membrane distillation (DCMD) can be considered as the most prominent type from MD types according to ease of design and modus operandi. This work studies the efficiency of using DCMD operation for desalination brine with different concentration (1.75, 3.5, 5 wt. % NaCl). Frame and plate cell was used with flat sheet PTFE hydrophobic type membrane. The study proves that MD is an effective process for desalination brines with feed temperature less than 60˚C especially for feed with low TDS. 37˚C, 47˚C, and 57˚C was feed t
... Show MoreSpatial and frequency domain techniques have been adopted in this search. mean
value filter, median filter, gaussian filter. And adaptive technique consists of
duplicated two filters (median and gaussian) to enhance the noisy image. Different
block size of the filter as well as the sholding value have been tried to perform the
enhancement process.
Building a system to identify individuals through their speech recording can find its application in diverse areas, such as telephone shopping, voice mail and security control. However, building such systems is a tricky task because of the vast range of differences in the human voice. Thus, selecting strong features becomes very crucial for the recognition system. Therefore, a speaker recognition system based on new spin-image descriptors (SISR) is proposed in this paper. In the proposed system, circular windows (spins) are extracted from the frequency domain of the spectrogram image of the sound, and then a run length matrix is built for each spin, to work as a base for feature extraction tasks. Five different descriptors are generated fro
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