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alkej-283
Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
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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.

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Publication Date
Thu Nov 17 2022
Journal Name
Journal Of Discrete Mathematical Sciences And Cryptography
On large-hollow lifting modules
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Publication Date
Mon Jan 30 2023
Journal Name
Iraqi Journal Of Science
More on Result Involution Graphs
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     The result involution graph of a finite group , denoted by  is an undirected simple graph whose vertex set is the whole group  and two distinct vertices are adjacent if their product is an involution element. In this paper, result involution graphs for all Mathieu groups and connectivity in the graph are studied. The diameter, radius and girth of this graph are also studied. Furthermore, several other graph properties are obtained.

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Publication Date
Tue May 30 2023
Journal Name
Iraqi Journal Of Science
Some Cases on Cozy Partitions
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     The cozy partitions achieved more creativity by emerging with many topics in representation theory and mathematical relations. We find the precise number of cozy tableaux in the case  with any number of  and . Specifically, we use the MATLAB programme that coincided with the mathematical solution in giving precision to these numbers in this case.

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Publication Date
Mon Jan 30 2023
Journal Name
Iraqi Journal Of Science
On Graph- Syriac Letters Partition
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     The Syriac language is one of the ancient Semitic languages that appeared in the first century AD. It is currently used in a number of cities in Iraq, Turkey, and others. In this research paper, we tried to apply the work of  Ali and Mahmood 2020  on the letters and words in the Syriac language to find a new encoding for them and increase the possibility of reading the message by other people.

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Publication Date
Wed Aug 11 2021
Journal Name
International Journal Of Interactive Mobile Technologies (ijim)
Survey on 3D Content Encryption
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<p class="0abstract">The rapidly growing 3D content exchange over the internet makes securing 3D content became a very important issue. The solution for this issue is to encrypting data of 3D content, which included two main parts texture map and 3D models. The standard encryption methods such as AES and DES are not a suitable solution for 3D applications due to the structure of 3D content, which must maintain dimensionality and spatial stability. So, these problems are overcome by using chaotic maps in cryptography, which provide confusion and diffusion by providing uncorrelated numbers and randomness. Various works have been applied in the field of 3D content-encryption based on the chaotic system. This survey will attempt t

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Publication Date
Mon Mar 01 2021
Journal Name
Journal Of Physics: Conference Series
On Quasi-Small Prime Modules
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Abstract<p>Let R be a commutative ring with identity, and W be a unital (left) R-module. In this paper we introduce and study the concept of a quasi-small prime modules as generalization of small prime modules.</p>
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Publication Date
Thu Apr 27 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On Semi-p-Proper Mappings
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  The aim of this paper is to introduce a new type of proper mappings called semi-p-proper mapping by using semi-p-open sets, which is weaker than the proper mapping. Some properties and characterizations of this type of mappings are given.

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
On treshold relation & thier application
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in this paper the notion of threshold relations by using resemblance relation are introduced to get a similarity relation from a resemnblance relation R

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Publication Date
Wed Oct 28 2020
Journal Name
Iraqi Journal Of Science
On y-closed Rickart Modules
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     In a previous work, Ali and Ghawi studied closed Rickart modules. The main purpose of this paper is to define and study the properties of y-closed Rickart modules .We prove that, Let  and   be two -modules such that  is singular. Then  is -y-closed Rickart module if and only if   Also, we study the direct sum  of  y-closed Rickart modules.

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Publication Date
Mon May 22 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On Fuzzy Internal Direct Product
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The main aim of this paper is to introduce the concept of a Fuzzy Internal Direct Product of fuzzy subgroups of group . We study some properties and prove some theorems about this concept ,which is very important and interesting of fuzzy groups and very useful in applications of fuzzy mathematics in general and especially in fuzzy groups.

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