Preferred Language
Articles
/
alkej-283
Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Wed Apr 10 2019
Journal Name
Engineering, Technology & Applied Science Research
Content Based Image Clustering Technique Using Statistical Features and Genetic Algorithm
...Show More Authors

Text based-image clustering (TBIC) is an insufficient approach for clustering related web images. It is a challenging task to abstract the visual features of images with the support of textual information in a database. In content-based image clustering (CBIC), image data are clustered on the foundation of specific features like texture, colors, boundaries, shapes. In this paper, an effective CBIC) technique is presented, which uses texture and statistical features of the images. The statistical features or moments of colors (mean, skewness, standard deviation, kurtosis, and variance) are extracted from the images. These features are collected in a one dimension array, and then genetic algorithm (GA) is applied for image clustering.

... Show More
View Publication
Scopus (9)
Crossref (5)
Scopus Crossref
Publication Date
Thu Oct 01 2020
Journal Name
Defence Technology
A novel facial emotion recognition scheme based on graph mining
...Show More Authors

Recent years have seen an explosion in graph data from a variety of scientific, social and technological fields. From these fields, emotion recognition is an interesting research area because it finds many applications in real life such as in effective social robotics to increase the interactivity of the robot with human, driver safety during driving, pain monitoring during surgery etc. A novel facial emotion recognition based on graph mining has been proposed in this paper to make a paradigm shift in the way of representing the face region, where the face region is represented as a graph of nodes and edges and the gSpan frequent sub-graphs mining algorithm is used to find the frequent sub-structures in the graph database of each emotion. T

... Show More
View Publication Preview PDF
Scopus (48)
Crossref (40)
Scopus Clarivate Crossref
Publication Date
Wed Jan 28 2026
Journal Name
International Journal Of Innovations In Applied Sciences & Engineering
Design and Evaluation of an XOR Auto-Associative Memory Based Framework for Robust Iraqi License Plate Recognition
...Show More Authors

This project presents an enhanced Iraqi vehicle plate identification system, incorporating digital processing technologies and the XOR Auto-Associative Memory advanced associative memory algorithm, towards a fast and efficient performance under diverse conditions of imagery. The system consists of three major stages: identification of the panel area, or localization, using edge transformations and morphological operations; symbol segmentation, or segmentation, based on horizontal and vertical projections for the exact extraction of numbers and letters; and finally, recognition use of XOR operations and a binary distance criterion known as Hamming Distance. The model was tested on 420 images of panels in different scenarios of lighting

... Show More
View Publication Preview PDF
Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
On Training Of Feed Forward Neural Networks
...Show More Authors

In this paper we describe several different training algorithms for feed forward neural networks(FFNN). In all of these algorithms we use the gradient of the performance function, energy function, to determine how to adjust the weights such that the performance function is minimized, where the back propagation algorithm has been used to increase the speed of training. The above algorithms have a variety of different computation and thus different type of form of search direction and storage requirements, however non of the above algorithms has a global properties which suited to all problems.

View Publication Preview PDF
Publication Date
Sun Mar 17 2019
Journal Name
Baghdad Science Journal
Geolocation Android Mobile Phones Using GSM/UMTS
...Show More Authors

The proliferation of cellular network enabled users through various positioning tools to track locations, location information is being continuously captured from mobile phones, created a prototype that enables detected location based on using the two invariant models for Global Systems for Mobile (GSM) and Universal Mobile Telecommunications System (UMTS). The smartphone application on an Android platform applies the location sensing run as a background process and the localization method is based on cell phones. The proposed application is associated with remote server and used to track a smartphone without permissions and internet. Mobile stored data location information in the database (SQLite), then transfer it into location AP

... Show More
View Publication Preview PDF
Scopus (6)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Thu Apr 18 2013
Journal Name
International Journal Of Computer Applications
Design and Simulation of Hartley based Multi Orthogonal Band OFDM
...Show More Authors

Recent advances in wireless communication systems have made use of OFDM technique to achieve high data rate transmission. The sensitivity to frequency offset between the carrier frequencies of the transmitter and the receiver is one of the major problems in OFDM systems. This frequency offset introduces inter-carrier interference in the OFDM symbol and then the BER performance reduced. In this paper a Multi-Orthogonal-Band MOB-OFDM system based on the Discrete Hartley Transform (DHT) is proposed to improve the BER performance. The OFDM spectrum is divided into equal sub-bands and the data is divided between these bands to form a local OFDM symbol in each sub-band using DHT. The global OFDM symbol is formed from all sub-bands together using

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sun Dec 15 2019
Journal Name
Al-academy
Applications of Interior Space Design According to Shape Generation Systems: عبد الكريم علي حسين
...Show More Authors

Treatises concerning analyzing the interior spaces multiplied and their directions varied, that some of them analyzed the interior space on the basis of the intellectual and philosophical affiliation or the historical period and others in the light of the concept and mechanisms of the shape. The researcher has not been able to find a research that dealt with analyzing the space within the systems of shape generation, thus it is possible to determine the research problem with the following question: to what extent is it possible to analyze the interior space based on systems of shape generation? As far as the importance of the research is concerned, it sheds light on five of the systems of the shape generation which are: Syntax, shape gra

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Apr 03 2023
Journal Name
Journal Of Educational And Psychological Researches
The Effectiveness of a Training Program for Children with Autism and their Mothers Based on the Picture Exchange Commination System to Confront Some of Basic Disorders for these Children
...Show More Authors

Abstract

The current research aims to examine the effectiveness of a training program for children with autism and their mothers based on the Picture Exchange Communication System to confront some basic disorders in a sample of children with autism. The study sample was (16) children with autism and their mothers in the different centers in Taif city and Tabuk city. The researcher used the quasi-experimental approach, in which two groups were employed: an experimental group and a control group. Children aged ranged from (6-9) years old. In addition, it was used the following tools: a list of estimation of basic disorders for a child with autism between (6-9) years, and a training program for children with autism

... Show More
View Publication Preview PDF
Publication Date
Fri Jan 01 2010
Journal Name
International Journal Of Communication Networks And Distributed Systems
A novel Radon-based multi-carrier direct sequence code division multiple access transceiver design and simulation
...Show More Authors

Multi-carrier direct sequence code division multiple access (MC-DS-CDMA) has emerged recently as a promising candidate for the next generation broadband mobile networks. Multipath fading channels have a severe effect on the performance of wireless communication systems even those systems that exhibit efficient bandwidth, like orthogonal frequency division multiplexing (OFDM) and MC-DS-CDMA; there is always a need for developments in the realisation of these systems as well as efficient channel estimation and equalisation methods to enable these systems to reach their maximum performance. A novel MC-DS-CDMA transceiver based on the Radon-based OFDM, which was recently proposed as a new technique in the realisation of OFDM systems, will be us

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Fri Nov 01 2024
Journal Name
Journal Of Drug Delivery Science And Technology
Localized delivery of healing stimulator medicines for enhanced wound treatment
...Show More Authors

View Publication
Scopus (50)
Crossref (31)
Scopus Clarivate Crossref