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
Sat Aug 12 2017
Journal Name
Journal Of Engineering
Regulations Enforcement Mechanisms for Sustainable Housing Projects
...Show More Authors


 

View Publication Preview PDF
Publication Date
Sun Nov 20 2022
Journal Name
Journal Of Optics
Good cleavers for fiber-optic communication technology
...Show More Authors

Fiber optics technology has shown immense applications in the areas of medicine, telecommunication, and imaging. For these particular applications, it requires fibers with precise cleaving. In this paper, we will demonstrate a quick, simple and efficient cleaving method that can result in a high-quality fiber surface that works well for many fiber-optic applications. The smooth tip and good surface quality obtained on the cleaved surface of optical fiber is demonstrated by using a microscope imaging system and was flat surface with a 900 angle for perpendicular cleavages. The precision cleaver provides smooth and high-quality cleaves on single-fiber surfaces as opposed to the ruby scribe pen. The defects that may occur during the cleaving p

... Show More
Scopus (2)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Tue May 16 2023
Journal Name
Journal Of Engineering
INITIAL COLLECTION EFFICIENCY FOR GLASS FILTER MEDIA
...Show More Authors

This study investigated the ability of using crushed glass solid wastes in water filtration by using a pilot plant, constructed in Al-Wathba water treatment plant in Baghdad. Different depths and different grain sizes of crushed glass were used as mono and dual media with sand and porcelaniate in the filtration process. The mathematical model by Tufenkji and Elimelech was used to evaluate the initial collection efficiency η of these filters. The results indicated that the collection efficiency varied inversely with the filtration rate. For the mono media filters the theoretical ηth values were more than the practical values ηprac calculated from
the experimental work. In the glass filter ηprac was obtained by multiplying ηth by a

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Engineering
Database for Baghdad Soil Using GIS Techniques
...Show More Authors

teen sites Baghdad are made. The sites are divided into two groups, one in Karkh and the other in Rusafa. Assessing the underground conditions can be occurred by drilling vertical holes called exploratory boring into the ground, obtaining soil (disturbed and undisturbed) samples, and testing these samples in a laboratory (civil engineering laboratory /University of Baghdad). From disturbed, the tests involved the grain size analysis and then classified the soil, Atterberg limit, chemical test (organic content, sulphate content, gypsum content and chloride content). From undisturbed samples, the test involved the consolidation test (from this test, the following parameters can be obtained: initial void ratio eo, compression index cc, swel

... Show More
View Publication Preview PDF
Crossref (9)
Crossref
Publication Date
Wed Jan 01 2020
Journal Name
Periodicals Of Engineering And Natural Sciences
Luminance pyramid for image generation and colorization
...Show More Authors

Many image processing and machine learning applications require sufficient image feature selection and representation. This can be achieved by imitating human ability to process visual information. One such ability is that human eyes are much more sensitive to changes in the intensity (luminance) than the color information. In this paper, we present how to exploit luminance information, organized in a pyramid structure, to transfer properties between two images. Two applications are presented to demonstrate the results of using luminance channel in the similarity metric of two images. These are image generation; where a target image is to be generated from a source one, and image colorization; where color information is to be browsed from o

... Show More
Scopus (3)
Scopus
Publication Date
Wed Sep 01 2021
Journal Name
Iop Conference Series: Earth And Environmental Science
Using Ultraviolet Technique for Well Water Disinfection
...Show More Authors

View Publication
Scopus (3)
Crossref (1)
Scopus Crossref
Publication Date
Mon Jul 11 2022
Journal Name
International Journal Of Online And Biomedical Engineering (ijoe)
Dynamic Background Subtraction in Video Surveillance Using Color-Histogram and Fuzzy C-Means Algorithm with Cosine Similarity
...Show More Authors

The background subtraction is a leading technique adopted for detecting the moving objects in video surveillance systems. Various background subtraction models have been applied to tackle different challenges in many surveillance environments. In this paper, we propose a model of pixel-based color-histogram and Fuzzy C-means (FCM) to obtain the background model using cosine similarity (CS) to measure the closeness between the current pixel and the background model and eventually determine the background and foreground pixel according to a tuned threshold. The performance of this model is benchmarked on CDnet2014 dynamic scenes dataset using statistical metrics. The results show a better performance against the state-of the art

... Show More
View Publication
Scopus (3)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Fri Jul 30 2021
Journal Name
Iraqi Journal For Electrical And Electronic Engineering
EEG Motor-Imagery BCI System Based on Maximum Overlap Discrete Wavelet Transform (MODWT) and Machine learning algorithm
...Show More Authors

The ability of the human brain to communicate with its environment has become a reality through the use of a Brain-Computer Interface (BCI)-based mechanism. Electroencephalography (EEG) has gained popularity as a non-invasive way of brain connection. Traditionally, the devices were used in clinical settings to detect various brain diseases. However, as technology advances, companies such as Emotiv and NeuroSky are developing low-cost, easily portable EEG-based consumer-grade devices that can be used in various application domains such as gaming, education. This article discusses the parts in which the EEG has been applied and how it has proven beneficial for those with severe motor disorders, rehabilitation, and as a form of communi

... Show More
View Publication
Scopus (4)
Crossref (3)
Scopus Crossref
Publication Date
Tue Dec 01 2015
Journal Name
Journal Of Engineering
Digital Image Authentication Algorithm Based on Fragile Invisible Watermark and MD-5 Function in the DWT Domain
...Show More Authors

Using watermarking techniques and digital signatures can better solve the problems of digital images transmitted on the Internet like forgery, tampering, altering, etc. In this paper we proposed invisible fragile watermark and MD-5 based algorithm for digital image authenticating and tampers detecting in the Discrete Wavelet Transform DWT domain. The digital image is decomposed using 2-level DWT and the middle and high frequency sub-bands are used for watermark and digital signature embedding. The authentication data are embedded in number of the coefficients of these sub-bands according to the adaptive threshold based on the watermark length and the coefficients of each DWT level. These sub-bands are used because they a

... Show More
View Publication Preview PDF
Publication Date
Sun Mar 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Prepare Maps For Greenhouse Gases With Some Weather Elements For Baghdad City Using Data Observation And Arc-GIS Techniques
...Show More Authors
Abstract<p>Air pollution refers to the release of pollutants into the air that are detrimental to human health and the planet as a whole.In this research, the air pollutants concentration measurements such as Total Suspended Particles(TSP), Carbon Monoxides(CO),Carbon Dioxide (CO2) and meteorological parameters including temperature (T), relative humidity (RH) and wind speed & direction were conducted in Baghdad city by several stations measuring numbered (22) stations located in different regions, and were classified into (industrial, commercial and residential) stations. Using Arc-GIS program ( spatial Analyses), different maps have been prepared for the distribution of different pollutant</p> ... Show More
View Publication Preview PDF
Scopus (4)
Crossref (3)
Scopus Crossref