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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
Sun Jan 01 2023
Journal Name
Ssrn Electronic Journal
Educating societies on sustainable development
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To move forward on the path of goodness and peace, we must realize that, in the midst of the great diversity of cultures and forms of human life in the world, that we form one human nation, which God Almighty created to worship Him on His earth and under His heavens and to enjoy His bounties and natural resources that God Almighty has bestowed upon that nation. On one land, and it is governed by one common destiny. Every country has been endowed with a natural resource by God Almighty that distinguishes it from the other country to live in prosperity if these wealth are distributed equally among the members of the same society and societal justice is achieved. We must join together to work for the establishment of a sustainable global commu

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Publication Date
Sun Dec 07 2008
Journal Name
Baghdad Science Journal
Some Results on Reduced Rings
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The main purpose of this paper is to study some results concerning reduced ring with another concepts as semiprime ring ,prime ring,essential ideal ,derivations and homomorphism ,we give some results a bout that.

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Publication Date
Thu Apr 08 2021
Journal Name
Journal Of Interdisciplinary Mathematics
On regular δ-semi.open space
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It is shown that if a subset of a topological space (χ, τ) is δ-semi.closed, then it is semi.closed. By use this fact, we introduce the concept regularity of a topological space (χ, τ) via δ-semi.open sets. Many properties and results were investigated and studied. In addition we study some maps that preserve the δ-semi.regularity of spaces.

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Scopus
Publication Date
Sun Jan 01 2023
Journal Name
Journal Of Discrete Mathematical Sciences & Cryptography
On β*-supra topological spaces
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In this paper, a new type of supra closed sets is introduced which we called supra β*-closed sets in a supra topological space. A new set of separation axioms is defined, and its many properties are examined. The relationships between supra β*-Ti –spaces (i = 0, 1, 2)   are studied and shown with instances. Additionally, new varieties of supra β*-continuous maps have been taken into consideration based on the supra β*-open sets theory. 

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Publication Date
Sun May 26 2019
Journal Name
Iraqi Journal Of Science
On H-µ-supplemented modules
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Weosay thatotheosubmodules A, B ofoan R-module Moare µ-equivalent , AµB ifoand onlyoif <<µand <<µ. Weoshow thatoµ relationois anoequivalent relationoand hasegood behaviorywith respectyto additionmof submodules, homorphismsr, andydirectusums, weaapplyothese resultsotoointroduced theoclassoof H-µ-supplementedomodules. Weosay thatoa module Mmis H-µ-supplementedomodule ifofor everyosubmodule A of M, thereois a directosummand D ofoM suchothat AµD. Variousoproperties ofothese modulesoarepgiven.

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Publication Date
Tue Feb 13 2024
Journal Name
Iraqi Journal Of Science
On D- Compact Topological Groups
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In the present paper, we have introduced some new definitions On D- compact topological group and D-L. compact topological group for the compactification in topological spaces and groups, we obtain some results related to D- compact topological group and D-L. compact topological group.

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Publication Date
Sun Feb 27 2022
Journal Name
Iraqi Journal Of Science
On Strong Dual Rickart Modules
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    Gangyong Lee, S. Tariq Rizvi, and Cosmin S. Roman studied Dual Rickart modules. The main purpose of this paper is to define strong dual Rickart module. Let M and N be R- modules , M is called N- strong dual Rickart module (or relatively sd-Rickart to N)which is  denoted by M it is N-sd- Rickart if for every submodule A of M and every homomorphism fHom (M , N) , f (A) is a direct summand of N. We prove that for an R- module M , if R is M-sd- Rickart , then every cyclic submodule of M is a direct summand . In particular, if M<

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Publication Date
Sun Apr 26 2020
Journal Name
Iraqi Journal Of Science
On ST-essential (complement) submodules
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Publication Date
Sun Dec 01 2013
Journal Name
Baghdad Science Journal
Notes on Approximately Pure Submodules
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Let R be a commutative ring with identity 1 and M be a unitary left R-module. A submodule N of an R-module M is said to be approximately pure submodule of an R-module, if for each ideal I of R. The main purpose of this paper is to study the properties of the following concepts: approximately pure essentialsubmodules, approximately pure closedsubmodules and relative approximately pure complement submodules. We prove that: when an R-module M is an approximately purely extending modules and N be Ap-puresubmodulein M, if M has the Ap-pure intersection property then N is Ap purely extending.

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Crossref
Publication Date
Sat Nov 28 2020
Journal Name
Iraqi Journal Of Science
On soft P_c-connected spaces
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In this paper, we define the concept of soft -connected sets and soft -connected spaces by using the notion of soft -open sets in soft topological spaces. Several properties of these concepts are investigated.

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