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alkej-317
Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
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This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of ACO algorithm for the same problem with the same environmental conditions by providing the shortest path for multiple testing environments.

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Publication Date
Tue Dec 01 2020
Journal Name
Baghdad Science Journal
Approximate Numerical Solutions for Linear Volterra Integral Equations Using Touchard Polynomials
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In this paper, Touchard polynomials (TPs) are presented for solving Linear Volterra integral equations of the second kind (LVIEs-2k) and the first kind (LVIEs-1k) besides, the singular kernel type of this equation. Illustrative examples show the efficiency of the presented method, and the approximate numerical (AN) solutions are compared with one another method in some examples. All calculations and graphs are performed by program MATLAB2018b.

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Publication Date
Wed Feb 01 2023
Journal Name
Baghdad Science Journal
Retrieving Encrypted Images Using Convolution Neural Network and Fully Homomorphic Encryption
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A content-based image retrieval (CBIR) is a technique used to retrieve images from an image database. However, the CBIR process suffers from less accuracy to retrieve images from an extensive image database and ensure the privacy of images. This paper aims to address the issues of accuracy utilizing deep learning techniques as the CNN method. Also, it provides the necessary privacy for images using fully homomorphic encryption methods by Cheon, Kim, Kim, and Song (CKKS). To achieve these aims, a system has been proposed, namely RCNN_CKKS, that includes two parts. The first part (offline processing) extracts automated high-level features based on a flatting layer in a convolutional neural network (CNN) and then stores these features in a

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Publication Date
Thu Mar 12 2020
Journal Name
Al-khwarizmi Engineering Journal
Improving Reverse Engineering Processes by using Articulated Arm Coordinate Measuring Machine
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The invention relates to a coordinate measuring machine (CMM) for determining a measuring position of a probe. The AACMM isdepends on the robotkinematics (forward and reverse) in their measurementprinciple, i.e., using the AACMM links and joint angles todetermine the exact workspace or part coordinates. Hence, themeasurements are obtained using an AACMM will be extremely accurate and precise since that ismerely dependent on rigid structural parameters and the only source of measurement error is due to human operators. In this paper, a new AACMM design was proposed. The new AACMM design addresses common issues such as solving the complex kinematics, overcoming the workspace limitation, avoiding singularity, and eliminating the effects of

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Publication Date
Tue Feb 01 2022
Journal Name
Baghdad Science Journal
Numerical Solution for Linear State Space Systems using Haar Wavelets Method
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In this research, Haar wavelets method has been utilized to approximate a numerical solution for Linear state space systems. The solution technique is used Haar wavelet functions and Haar wavelet operational matrix with the operation to transform the state space system into a system of linear algebraic equations which can be resolved by MATLAB over an interval from 0 to . The exactness of the state variables can be enhanced by increasing the Haar wavelet resolution. The method has been applied for different examples and the simulation results have been illustrated in graphics and compared with the exact solution.

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Publication Date
Sun Mar 01 2009
Journal Name
Journal Of Economics And Administrative Sciences
Use the path analysis method to diagnoseFactors influencing the intentions of the employees of the University of Dhi Qar To introduce Internet behavior
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The purpose of this study is to diagnose factors that effect Thi-Qar behavioral intention to use internet. A sample of (127) internet users of university staff was taken in the study and were analyzed by using path analyze . The study concluded that there is a set of affecting correlation. It was founded that exogenous variables (gender, income, perceived fun, perceived usefulness, Image, and ease of use) has significant effect on endogenous (behavioral intention) . The result of analysis indicated that image hopeful gained users comes first, ease of use secondly, perceived fan and perceived usefulness on (dependent variables (daily internet usage and diversity of internet usage. Implication of these result are discussed . the st

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Publication Date
Fri Dec 01 2017
Journal Name
2017 Ieee 56th Annual Conference On Decision And Control (cdc)
Hierarchical non-singular terminal sliding mode controller for a single link flexible joint robot manipulator
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—This paper studies the control motion of a single link flexible joint robot by using a hierarchical non-singular terminal sliding mode controller (HNTSMC). In comparison to the conventional sliding mode controller (CSMC), the proposed algorithm (NTSMC) not only can conserve characteristics of the convention CSMC, such as easy implementation, guaranteed stability and good robustness against system uncertainties and external disturbances, but also can ensure a faster convergence rate of the systems states to zero in a finite time and singularity free. The flexible joint robot (FJR) is a two degree of freedom (2DOF) nonlinear and underactuated system. The system here is modeled as a fourth order system by using Lagrangian method. Based on t

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Publication Date
Mon Apr 24 2017
Journal Name
Spe Kingdom Of Saudi Arabia Annual Technical Symposium And Exhibition
Optimization of Infill Drilling in Whicher Range Field in Australia
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Abstract<p>Now that most of the conventional reservoirs are being depleted at a rapid pace, the focus is on unconventional reservoirs like tight gas reservoirs. Due to the heterogeneous nature and low permeability of unconventional reservoirs, they require a huge number of wells to hit all the isolated hydrocarbon zones. Infill drilling is one of the most common and effective methods of increasing the recovery, by reducing the well spacing and increasing the sweep efficiency. However, the problem with drilling such a large number of wells is the determination of the optimum location for each well that ensures minimum interference between wells, and accelerates the recovery from the field. Detail</p> ... Show More
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Scopus (15)
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Publication Date
Sun Feb 25 2024
Journal Name
Baghdad Science Journal
Early Diagnose Alzheimer's Disease by Convolution Neural Network-based Histogram Features Extracting and Canny Edge
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Alzheimer's disease (AD) increasingly affects the elderly and is a major killer of those 65 and over. Different deep-learning methods are used for automatic diagnosis, yet they have some limitations. Deep Learning is one of the modern methods that were used to detect and classify a medical image because of the ability of deep Learning to extract the features of images automatically. However, there are still limitations to using deep learning to accurately classify medical images because extracting the fine edges of medical images is sometimes considered difficult, and some distortion in the images. Therefore, this research aims to develop A Computer-Aided Brain Diagnosis (CABD) system that can tell if a brain scan exhibits indications of

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Scopus (9)
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Publication Date
Sun Sep 15 2019
Journal Name
Al-academy
Mural Photography Techniques: منى حيدر علي
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The study aimed to study the role of technology in the production of the mural photography, and to develop its concept to the viewer, through the achievement of the aesthetic and functional vision. Through this study, some types of these techniques, which are organically related to architecture, were identified.

The mural photography includes a huge amount of techniques, and methods, and the researcher presented them through five techniques: (AlTamira, Alfresk, acrylic, mosaic, and glass art, which takes the architectural character.

The research consists of:

Methodological framework: research problem, research objectives, research limits, importance of research, and definition of terms.

Theoretical framewo

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Publication Date
Fri Sep 23 2022
Journal Name
Specialusis Ugdymas
Intrusion Detection System Techniques A Review
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With the high usage of computers and networks in the current time, the amount of security threats is increased. The study of intrusion detection systems (IDS) has received much attention throughout the computer science field. The main objective of this study is to examine the existing literature on various approaches for Intrusion Detection. This paper presents an overview of different intrusion detection systems and a detailed analysis of multiple techniques for these systems, including their advantages and disadvantages. These techniques include artificial neural networks, bio-inspired computing, evolutionary techniques, machine learning, and pattern recognition.