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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
Mon Jun 17 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Dynamic Channel Assignment Using Neural Networks
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This paper presents a proposed neural network algorithm to solve the shortest path problem (SPP) for communication routing. The solution extends the traditional recurrent Hopfield architecture introducing the optimal routing for any request by choosing single and multi link path node-to-node traffic to minimize the loss. This suggested neural network algorithm implemented by using 20-nodes network example. The result shows that a clear convergence can be achieved by 95% valid convergence (about 361 optimal routes from 380-pairs). Additionally computation performance is also mentioned at the expense of slightly worse results.

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Publication Date
Thu Jun 30 2016
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Modelling and Optimization of Carbon Steel Corrosion in CO2 Containing Oilfield Produced Water in Presence of HAc
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Previously, many empirical models have been used to predict corrosion rates under different CO2 corrosion parameters conditions. Most of these models did not predict the corrosion rate exactly, besides it determined effects of variables by holding some variables constant and changing the values of other variables to obtain the regression model. As a result the experiments will be large and cost too much. In this paper response surface methodology (RSM) was proposed to optimize the experiments and reduce the experimental running. The experiments studied effects of temperature (40 – 60 °C), pH (3-5), acetic acid (HAc) concentration (1000-3000 ppm) and rotation speed (1000-1500 rpm) on CO2 corrosion performance of t

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Publication Date
Sat Oct 01 2016
Journal Name
Journal Of Engineering
Optimization of Dye Removal Using Waste Natural Material and Polymer Particles
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In this paper waste natural material (date seed) and polymer particles(UF) were used for investigation of  removal dye of the potassium permanganate. Also study effect some variables such as pH, dye concentration and adsorbent concentration on dye removal. 15 experimental runs were done using  the itemized conditions designed established on the Box-Wilson design employed to optimize dye removal. The optimum conditions for the dye removal were found: (pH) 12, (dye con.) 2.38 ppm, (adsorbant con.) 0.0816 gm for date seed with 95.22% removal and for UF (pH) 12, (dye con.) 18 ppm, (adsorbant con.) 0.2235 gm with 91.43%. The value of R-square was 85.47%  for Date seed  and (88.77%) for UF.

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Publication Date
Fri Jun 30 2023
Journal Name
Iraqi Journal Of Science
Estimating the Rate of Occurrence of Extreme value process Using Classical and Intelligent Methods with Application: nonhomogeneous Poisson process with intelligent
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     In this paper, the propose is to use the xtreme value distribution as the rate of occurrence of the non-homogenous Poisson process, in order to improve the rate of occurrence of the non-homogenous process, which has been called the Extreme value Process. To estimate the parameters of this process, it is proposed to use the Maximum Likelihood method, Method of Moment and a smart method represented by the Artificial Bee Colony:(ABC) algorithm to reach an estimator for this process which represents the best data representation. The results of the three methods are compared through a simulation of the model, and it is concluded that the estimator of (ABC) is better than the estimator of the maximum likelihood method and method of mo

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Performance Evaluation and Comparison Between LDPC and Turbo Coded MC-CDMA
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This work presents a comparison between the Convolutional Encoding CE, Parallel Turbo code and Low density Parity Check (LDPC) coding schemes with a MultiUser Single Output MUSO Multi-Carrier Code Division Multiple Access (MC-CDMA) system over multipath fading channels. The decoding technique used in the simulation was iterative decoding since it gives maximum efficiency at higher iterations. Modulation schemes used is Quadrature Amplitude Modulation QAM. An 8 pilot carrier were
used to compensate channel effect with Least Square Estimation method. The channel model used is Long Term Evolution (LTE) channel with Technical Specification TS 25.101v2.10 and 5 MHz bandwidth bandwidth including the channels of indoor to outdoor/ pedestrian

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Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Extractive Multi-Document Summarization Model Based On Different Integrations of Double Similarity Measures
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Currently, the prominence of automatic multi document summarization task belongs to the information rapid increasing on the Internet. Automatic document summarization technology is progressing and may offer a solution to the problem of information overload. 

Automatic text summarization system has the challenge of producing a high quality summary. In this study, the design of generic text summarization model based on sentence extraction has been redirected into a more semantic measure reflecting individually the two significant objectives: content coverage and diversity when generating summaries from multiple documents as an explicit optimization model. The proposed two models have been then coupled and def

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Publication Date
Fri Dec 08 2023
Journal Name
Iraqi Journal Of Science
Video Image Compression Using Absolute Moment Block Truncation Method with Orthogonal Search Motion Estimation Technique
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Image compression has become one of the most important applications of the image processing field because of the rapid growth in computer power. The corresponding growth in the multimedia market, and the advent of the World Wide Web, which makes the internet easily accessible for everyone. Since the early 1980, digital image sequence processing has been an attractive research area because an image sequence, as acollection of images, may provide much compression than a single image frame. The increased computational complexity and memory space required for image sequence processing, has in fact, becoming more attainable. this research absolute Moment Block Truncation compression technique which is depend on adopting the good points of oth

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Publication Date
Fri Jun 29 2018
Journal Name
Journal Of The College Of Education For Women
HandWritten Numerals Recognition System
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  Recognition is one of the basic characteristics of human brain, and also for the living   creatures. It is possible to recognize images, persons, or patterns according to their characteristics. This recognition could be done using eyes or dedicated proposed methods. There are numerous applications for pattern recognition such as recognition of printed or handwritten letters, for example reading post addresses automatically and reading documents or check reading in bank.

      One of the challenges which faces researchers in character recognition field is the recognition of digits, which are written by hand. This paper describes a classification method for on-line handwrit

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Publication Date
Tue Mar 14 2023
Journal Name
Iraqi Journal Of Science
Improve PGP Cryptography Protocol Using Genetic NTRU Technique
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The strong cryptography employed by PGP (Pretty Good Privacy) is one of the best available today. The PGP protocol is a hybrid cryptosystem that combines some of the best features of both conventional and public-key cryptography. This paper aim to improve PGP protocol by combined between the Random Genetic algorithm, NTRU (N-th degree Truncated polynomial Ring Unit) algorithm with PGP protocol stages in order to increase PGP protocol speed, security, and make it more difficult in front of the counterfeiter. This can be achieved by use the Genetic algorithm that only generates the keys according to the Random Genetic equations. The final keys that obtained from Genetic algorithm were observed to be purely random (according to the randomne

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Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Iraqi stock market structure analysis based on minimum spanning tree
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tock markets changed up and down during time. Some companies’ affect others due to dependency on each other . In this work, the network model of the stock market is discribed as a complete weighted graph. This paper aims to investigate the Iraqi stock markets using graph theory tools. The vertices of this graph correspond to the Iraqi markets companies, and the weights of the edges are set ulrametric distance of minimum spanning tree.

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