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A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
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Abstract

This research presents a on-line cognitive tuning control algorithm for the nonlinear controller of path-tracking for dynamic wheeled mobile robot to stabilize and follow a continuous reference path with minimum tracking pose error. The goal of the proposed structure of a hybrid (Bees-PSO) algorithm is to find and tune the values of the control gains of the nonlinear (neural and back-stepping method) controllers as a simple on-line with fast tuning techniques in order to obtain the best torques actions of the wheels for the cart mobile robot from the proposed two controllers. Simulation results (Matlab Package 2012a) show that the nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is more accurate in terms of fast on-line finding and tuning  parameters of the controller lead to obtaining smoothness with small spikes control action as well as minimizing tracking pose error of the wheeled mobile robot than the performance of nonlinear back-stepping technique.

 

Keywords: Bees Algorithm, Nonlinear Controller, Matlab Package, Particle Swarm Optimization, Wheeled Mobile Robots.

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Publication Date
Sun Jun 30 2013
Journal Name
Al-khwarizmi Engineering Journal
Effect of Solid Particle Properties on Heat Transfer and Pressure Drop in Packed Duct
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This work examines numerically the effects of particle size, particle thermal conductivity and inlet velocity of forced convection heat transfer in uniformly heated packed duct. Four packing material (Aluminum, Alumina, Glass and Nylon) with range of thermal conductivity (from200 W/m.K for Aluminum to 0.23 W/m.K for Nylon), four particle diameters (1, 3, 5 and 7 cm), inlet velocity ( 0.07, 0.19 and 0.32 m/s) and constant heat flux ( 1000, 2000 and 3000 W/ m 2) were investigated. Results showed that heat transfer (average Nusselt number Nuav) increased with increasing packing conductivity; inlet velocity and heat flux, but decreased with increasing particle size.Also, Aluminum average Nusselt number is about (0.85,2.

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Publication Date
Mon Dec 25 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Preparation and Evaluation of Ketoprofen Nanosuspension Using Solvent Evaporation Technique
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The effective surface area of drug particle is increased by a reduction in the particle size. Since dissolution takes place at the surface of the solute, the larger the surface area, the further rapid is the rate of drug dissolution. Ketoprofen     is class II type drug according to (Biopharmaceutics Classification System BCS) with low solubility and high permeability. The aim of this investigation was to increase the solubility and hence the dissolution rate by the preparation of ketoprofen     nanosuspension using solvent evaporation method. Materials like PVP K30, poloxamer 188, HPMC E5, HPMC E15, HPMC E50, Tween 80 were used as stabilizers in perpetration of differ

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Publication Date
Wed Apr 05 2023
Journal Name
Journal Of Engineering
Construction Time-Cost Optimization Modeling Using Ant Colony Optimization
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In the field of construction project management, time and cost are the most important factors to be considered in planning every project, and their relationship is complex. The total cost for each project is the sum of the direct and indirect cost. Direct cost commonly represents labor, materials, equipment, etc.
Indirect cost generally represents overhead cost such as supervision, administration, consultants, and interests. Direct cost grows at an increasing rate as the project time is reduced from its original planned time. However, indirect cost continues for the life of the project and any reduction in project time means a reduction in indirect cost. Therefore, there is a trade-off between the time and cost for completing construc

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Publication Date
Thu Nov 29 2018
Journal Name
Iraqi Journal Of Science
Improving Extractive Multi-Document Text Summarization Through Multi-Objective Optimization
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Multi-document summarization is an optimization problem demanding optimization of more than one objective function simultaneously. The proposed work regards balancing of the two significant objectives: content coverage and diversity when generating summaries from a collection of text documents.

     Any automatic text summarization system has the challenge of producing high quality summary. Despite the existing efforts on designing and evaluating the performance of many text summarization techniques, their formulations lack the introduction of any model that can give an explicit representation of – coverage and diversity – the two contradictory semantics of any summary. In this work, the design of

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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
An Approximate Solution of some Variational Problems Using Boubaker Polynomials
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In this paper, an approximate solution of nonlinear two points boundary variational problem is presented. Boubaker polynomials have been utilized to reduce these problems into quadratic programming problem. The convergence of this polynomial has been verified; also different numerical examples were given to show the applicability and validity of this method.

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Publication Date
Sun Sep 01 2013
Journal Name
International Journal Of Advanced Research In Computer Science And Software Engineering
Real Time Motion Detection in Surveillance Camera Using MATLAB
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Surveillance cameras are video cameras used for the purpose of observing an area. They are often connected to a recording device or IP network, and may be watched by a security guard or law enforcement officer. In case of location have less percentage of movement (like home courtyard during night); then we need to check whole recorded video to show where and when that motion occur which are wasting in time. So this paper aims at processing the real time video captured by a Webcam to detect motion in the Scene using MATLAB 2012a, with keeping in mind that camera still recorded which means real time detection. The results show accuracy and efficiency in detecting motion

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Publication Date
Sat Jan 01 2011
Journal Name
Journal Of Engineering
FINITE ELEMENT ANALYSIS OF STRIP FOOTING RESTING ON GIBSON-TYPE SOIL BY USING MATLAB
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This research presents a method of using MATLAB in analyzing a nonhomogeneous soil (Gibson-type) by
estimating the displacements and stresses under the strip footing during applied incremental loading
sequences. This paper presents a two-dimensional finite element method. In this method, the soil is divided into a number of triangle elements. A model soil (Gibson-type) with linearly increasing modulus of elasticity with depth is presented. The influences of modulus of elasticity, incremental loading, width of footing, and depth of footing are considered in this paper. The results are compared with authors' conclusions of previous studies.

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Extraction ،Purification and Characterization Of Peroxidase From cabbage (Brassica oleracea Var)
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The activity of peroxidase (POD) in cabbage was evaluated using
spectrophotometric method. The enzyme was extracted from the cabbage leaves
with 0.1 M phosphate buffer solution pH 7. 0 . POD activity was determined using
(O-dianisidine) as a substrate. The effects of the amounts of enzyme extract,
substrate concentration, pH and temperature were investigated. The highest activity
of POD was recored at 2 mg/ml. The highest activity of POD was optimized with
16 mM O-dianisidine, The optimum pH was 7.0 for POD , The optimum
temperature was 30°C for POD. These optimum conditions were used to
determined the enzyme activities in cabbage sample. Acetone fractionated
peroxidase from crude extract of Brassica oleracea

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Publication Date
Wed May 01 2019
Journal Name
Desalination And Water Treatment
Synthesis and characterization of alumina-grafted acrylic acid monomer and polymer and its adsorption of phenol and p-chlorophenol
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Aluminum oxide (ALO) was grafted by acrylic acid monomer (AlO-AM) and then, it was polymerized to produce alumina grafted poly(acrylic acid) (AlO-AP). The prepared AlO-AM and AlO-AP were characterized by Fourier-transform infrared, differential scanning calorimetry , thermogravemetric analyzer and particle size distribution. Adsorption equilibrium isotherms, adsorption kinetics and thermodynamic studies of the batch adsorption process were used to examine the fundamental adsorption properties of phenol (P) and p-chlorophenol (PCP). The experimental equilibrium adsorption data were analyzed by three widely used two-parameters Langmuir, Freundlich and DubininRadushkevich isotherms. The maximum P and PCP adsorption capacities based on t

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Scopus (8)
Scopus
Publication Date
Mon Nov 29 2021
Journal Name
Iraqi Journal Of Science
The Bulk of Solar Energetic Particles (SEP) Acceleration as Seen From the Intensity-Time Profile
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In this work 27 events have been chosen for the period from (17 Feb 2000 to 10 Sep 2014) to analyze their intensity profile and find out what is the most effective reason behind the bulk of the accelerated SEPs as seen in the interval from the onset to the maximum intensity. It was found that the parameters of the associated eruptions (CME and solar flare) could play a major role in this acceleration. We considered some of these parameters such as: flare class related to soft X-ray flux, CME's speed and acceleration, site of the eruption (western, eastern) and particle transport in the IP medium. The shape of the profile showed a clear changing in ΔT1 (time from onset to maximum), as an inverse relation with the acceleration of coronal

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