Preferred Language
Articles
/
alkej-360
A Cognitive Hybrid Tuning Control Algorithm Design for Nonlinear Path-Tracking Controller for Wheeled Mobile Robot
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Thu Mar 16 2023
Journal Name
Wireless Personal Communications
Technology Applications in Tracking 2019-nCoV and Defeating Future Outbreaks: Iraqi Healthcare Industry in IoT Remote
...Show More Authors

View Publication
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Tue Jan 01 2019
Journal Name
International Journal Of Information Systems And Change Management
Designing a knowledge management measurement for educational institutions: a qualitative research
...Show More Authors

View Publication
Scopus (3)
Crossref (2)
Scopus Crossref
Publication Date
Wed Jul 01 2020
Journal Name
Journal Of Physics: Conference Series
A New Iterative Methods For a Family of Asymptotically Severe Mappings
...Show More Authors
Abstract<p>The aim of this paper is to introduce the concepts of asymptotically p-contractive and asymptotically severe accretive mappings. Also, we give an iterative methods (two step-three step) for finite family of asymptotically p-contractive and asymptotically severe accretive mappings to solve types of equations.</p>
View Publication
Scopus (6)
Crossref (2)
Scopus Crossref
Publication Date
Sun Nov 19 2023
Journal Name
Aip Conference Proceedings
Designing a database for a three dimensional model using geomatics techniques
...Show More Authors

View Publication Preview PDF
Scopus Crossref
Publication Date
Fri Jan 01 2016
Journal Name
Journal Of Engineering
Mobile position estimation using artificial neural network in CDMA cellular systems
...Show More Authors

Using the Neural network as a type of associative memory will be introduced in this paper through the problem of mobile position estimation where mobile estimate its location depending on the signal strength reach to it from several around base stations where the neural network can be implemented inside the mobile. Traditional methods of time of arrival (TOA) and received signal strength (RSS) are used and compared with two analytical methods, optimal positioning method and average positioning method. The data that are used for training are ideal since they can be obtained based on geometry of CDMA cell topology. The test of the two methods TOA and RSS take many cases through a nonlinear path that MS can move through that region. The result

... Show More
Publication Date
Tue Dec 01 2020
Journal Name
International Journal Of Electrical And Computer Engineering
Analysis of threats and security issues evaluation in mobile P2P networks
...Show More Authors

Technically, mobile P2P network system architecture can consider as a distributed architecture system (like a community), where the nodes or users can share all or some of their own software and hardware resources such as (applications store, processing time, storage, network bandwidth) with the other nodes (users) through Internet, and these resources can be accessible directly by the nodes in that system without the need of a central coordination node. The main structure of our proposed network architecture is that all the nodes are symmetric in their functions. In this work, the security issues of mobile P2P network system architecture such as (web threats, attacks and encryption) will be discussed deeply and then we prop

... Show More
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Wed Apr 24 2019
Journal Name
Annals Of Telecommunications
Traveling distance estimation to mitigate unnecessary handoff in mobile wireless networks
...Show More Authors

View Publication
Scopus (8)
Crossref (7)
Scopus Clarivate Crossref
Publication Date
Tue Oct 29 2019
Journal Name
Journal Of Engineering
Mobile-based Human Emotion Recognition based on Speech and Heart rate
...Show More Authors

Mobile-based human emotion recognition is very challenging subject, most of the approaches suggested and built in this field utilized various contexts that can be derived from the external sensors and the smartphone, but these approaches suffer from different obstacles and challenges. The proposed system integrated human speech signal and heart rate, in one system, to leverage the accuracy of the human emotion recognition. The proposed system is designed to recognize four human emotions; angry, happy, sad and normal. In this system, the smartphone is used to   record user speech and send it to a server. The smartwatch, fixed on user wrist, is used to measure user heart rate while the user is speaking and send it, via Bluetooth,

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Fri Jan 01 2016
Journal Name
Journal Of Engineering
Mobile position estimation using artificial neural network in CDMA cellular systems
...Show More Authors

Using the Neural network as a type of associative memory will be introduced in this paper through the problem of mobile position estimation where mobile estimate its location depending on the signal strength reach to it from several around base stations where the neural network can be implemented inside the mobile. Traditional methods of time of arrival (TOA) and received signal strength (RSS) are used and compared with two analytical methods, optimal positioning method and average positioning method. The data that are used for training are ideal since they can be obtained based on geometry of CDMA cell topology. The test of the two methods TOA and RSS take many cases through a nonlinear path that MS can move through that region. The result

... Show More
Publication Date
Fri Jan 01 2016
Journal Name
Journal Of Engineering
Mobile Position Estimation using Artificial Neural Network in CDMA Cellular Systems
...Show More Authors

Using the Neural network as a type of associative memory will be introduced in this paper through the problem of mobile position estimation where mobile estimate its location depending on the signal strength reach to it from several around base stations where the neural network can be implemented inside the mobile. Traditional methods of time of arrival (TOA) and received signal strength (RSS) are used and compared with two analytical methods, optimal positioning method and average positioning method. The data that are used for training are ideal since they can be obtained based on geometry of CDMA cell topology. The test of the two methods TOA and RSS take many cases through a nonlinear path that MS can move through tha

... Show More
View Publication Preview PDF