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.
يحتل النفط مكانة هامة وجوهرية ضمن اقتصاديات العالم، حيث إنه يمثل سلعة استراتيجية عالمية ومادة أولية أساسية في الصناعات الكيميائية والبتروكيميائية، كما أنه متعدد الاستعمالات، سواء في الصناعة أو الزراعة، بالإضافة إلى استعمالاته في الحياة اليومية للإنسان، مما جعله ذا مكانة مهمة ضمن أطر التجارة الدولية وموقع خاص في تشكيل الخريطة الاقتصادية للعالم. وقد جاء هذا البحث ليسلط الضوء على استراتيجيات منظمة الأوبك لض
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المنزل هو الشغل الشاغل لكل انسان لانه المكان الذي يجد فيه راحته ويعبر عن ذوقه ويعكس شخصيته وهو بمن فيه يشكل وحدة عمل وانتاج يتطور بمرور الزمن .
من خلال ملاحظة الباحثة لكثير من النساء في مدينة المكلا انهن يقعن في اخطاء مختلفة عند تأثيث منازلهن بسبب جهلهن اساليب التخطيط السليم لشراء الاثاث او تنسيقه في فراغات المنزل المختلفة . ولكي تصل الباحثة الى هدف البحث كان لا
... Show MoreThe Indian costus plasma properties are investigated including electron temperature (Te), "electron density (ne)", "plasma frequency (fp)", " Debye sphere length", and amount of Debye(Nd), using the spectrum of optical emission technique. There are several energies used, with ranging from 300 to 600 mJ. The Boltzmann Plot is used to calculate the temperature; where as Stark's Line Broadening is used to calculate the electron density. The Indian costus was spectroscopically examined in the air with the laser at 10 cm away from the target and the optical fiber at 0.5 cm away. The results were obtained for an electron temperature range of (1.8-2.2) electron volts (ev) and a wavelength range of (300-600) nm. The XRF analysis reveals th
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İlk çağlarda yaşayan insanların hayal dünyasını tanıtan masallar görünümünde olan destanlar‚ aslında‚ milleylerin tarih öncesi devirlerde başlayan kuruluşlarını‚ inanışlarını‚ erdemlerini‚ fikir ve sanatlarını anlatır.
Destanlar‚ kökü tarihe dayanan olayların, halk gözüyle görülen‚ halk ruhuyla duyulan masallaşmış görüntüleridir. Destanlarda milletlerin dinleri, türlü inanışları‚ Tanrı karşısındaki davranışları, yaşadıkları coğrafyanın özellikleri ile birleşmiş duyguları vardır.
Su köpüğünden yaratılmış‚ bir ağacın karnından doğmuş, ışık kümelerinin içinden çıkmış‚ fil kadar kuvvetli, güneş kadar güzel insanların maceralarını
There is no doubt that the project control function is very important for administration, so the project Management depends on to monitor and control the project. The project control integrated to the planning which is the base of the administration functions; planning, organizing, directing, and controlling. Without project control cannot be insure to fulfill the plan of the project by the budget and specified time. The project management apply many methods of control to achieve the goals of project which are cost, time, and required specifications. Earned Value Management one of control methods that used in the project by international companies.
Earned Value Method is used in the project o
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A simple physical technique was used in this study to create stable and cost-effective copper oxide (CuO) nanoparticles from pure copper metal using the pulsed laser ablation technique. The synthesis of crystalline CuO nanoparticles was confirmed by various analytical techniques such as particle concentration measurement using atomic absorption spectrometry (AAS), field emission scanning electron microscopy (FE-SEM), the energy dispersive X-ray (EDX), and X-ray diffraction (XRD) to determine the crystal size and identify of the crystal structure of the prepared particles. The main characteristic diffraction peaks of the three samples were consistent. The corresponding 2θ is also consistent, and the cytotoxicity of the nanoparticles was
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Background: Dental casts come into direct contact with impression materials and other items that are contaminated by saliva and blood from a patient's mouth, leaving the casts susceptible to cross-contamination. The disinfectant solutions of the impression materials cause various adverse reactions. Therefore, disinfection of dental casts may be effective in preventing cross infection. This study was carried out to evaluate the surface hardness, dimensional accuracy, reproduction of details and surface porosity of type III, type IV and type IV extra hard dental stone after immersion in and spray by using SOLO and Sodium hypochlorite disinfectant solutions. Materials and methods: 240 Stone samples were prepared in rubber rings, A total of 60
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The research aims at identifyiny the effect of (Danials Model) in concepts Acquisition of Education Principles on Students at college at Education The total unmber of Students , is (65) male and female Students distributed in two groups . The First group is the experiemental group which is taught the (Danials Model) and is (34) Students . The second groupe is the control group which is taught the traditional method of teaching and it is (31) Students . The researcher has matcheol between the two groupe by the following variables : the age , (in monthes) their intelligence their parents a cademic leve of education . The research has constructed a test of (20) items of multiple choice test . The reliability of The test has been cal
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