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 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.
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.
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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<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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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.
in this paper the notion of threshold relations by using resemblance relation are introduced to get a similarity relation from a resemnblance relation R
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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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.