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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
Wed May 10 2023
Journal Name
Journal Of Engineering
A Proposal Algorithm to Solve Delay Constraint Least Cost Optimization Problem
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Traditionally, path selection within routing is formulated as a shortest path optimization problem. The objective function for optimization could be any one variety of parameters such as number of hops, delay, cost...etc. The problem of least cost delay constraint routing is studied in this paper since delay constraint is very common requirement of many multimedia applications and cost minimization captures the need to
distribute the network. So an iterative algorithm is proposed in this paper to solve this problem. It is appeared from the results of applying this algorithm that it gave the optimal path (optimal solution) from among multiple feasible paths (feasible solutions).

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Publication Date
Tue Oct 12 2021
Journal Name
Review Of International Geographical Education Online
Tracking the Emergence of the Iraqi Paralympic Committee until 2020
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MII Al-Itabi, WH Abdulameer, OSS Al-Mashhadani, Review of International Geographical Education Online, 2021 - Cited by 1

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Publication Date
Tue Jan 17 2023
Journal Name
International Journal Of Online And Biomedical Engineering (ijoe)
Private Backend Server Software-Based Telehealthcare Tracking and Monitoring System
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In these recent years, the world has witnessed a kind of social exclusion and the inability to communicate directly due to the Corona Virus Covid 19 (COVID-19) pandemic, and the consequent difficulty of communicating with patients with hospitals led to the need to use modern technology to solve and facilitate the problem of people communicating with each other. healthcare has made many remarkable developments through the Internet of things (IOT) and cloud computing to monitor real-time patients' data, which has enabled many patients' lives to be saved. this paper presents the design and implementation of a Private Backend Server Software based on an IoT health monitoring system concerned emergency medical services utilizing biosenso

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Publication Date
Sat Oct 30 2021
Journal Name
Iraqi Journal Of Science
Retrieving Mobile Phone Information Based on Digital Search Tree
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     The current study primarily aims to develop a dictionary system for tracing mobile phone numbers for call centers of mobile communication companies. This system tries to save the numbers using a digital search tree in order to make the processes of searching and retrieving customers’ information easier and faster. Several shrubs that represent digits of the total phone numbers will be built through following the phone number digits to be added to the dictionary, with the owner name being at the last node in the tree. Thus, by such searching process, every phone number can be tracked digit-by-digit according to a required path inside its tree, until reaching the leaf. Then, the value stored in the node, that rep

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Publication Date
Thu Aug 31 2023
Journal Name
Journal Of Kufa For Mathematics And Computer
Hiding a Secret Message Encrypted by S-DES Algorithm
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Nowadays, it is quite usual to transmit data through the internet, making safe online communication essential and transmitting data over internet channels requires maintaining its confidentiality and ensuring the integrity of the transmitted data from unauthorized individuals. The two most common techniques for supplying security are cryptography and steganography. Data is converted from a readable format into an unreadable one using cryptography. Steganography is the technique of hiding sensitive information in digital media including image, audio, and video. In our proposed system, both encryption and hiding techniques will be utilized. This study presents encryption using the S-DES algorithm, which generates a new key in each cyc

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Publication Date
Wed Jan 01 2020
Journal Name
Aip Conference Proceedings
Developing a lightweight cryptographic algorithm based on DNA computing
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This work aims to develop a secure lightweight cipher algorithm for constrained devices. A secure communication among constrained devices is a critical issue during the data transmission from the client to the server devices. Lightweight cipher algorithms are defined as a secure solution for constrained devices that require low computational functions and small memory. In contrast, most lightweight algorithms suffer from the trade-off between complexity and speed in order to produce robust cipher algorithm. The PRESENT cipher has been successfully experimented on as a lightweight cryptography algorithm, which transcends other ciphers in terms of its computational processing that required low complexity operations. The mathematical model of

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Publication Date
Mon Jun 22 2020
Journal Name
Baghdad Science Journal
Using Evolving Algorithms to Cryptanalysis Nonlinear Cryptosystems
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            In this paper, new method have been investigated using evolving algorithms (EA's) to cryptanalysis one of the nonlinear stream cipher cryptosystems which depends on the Linear Feedback Shift Register (LFSR) unit by using cipher text-only attack. Genetic Algorithm (GA) and Ant Colony Optimization (ACO) which are used for attacking one of the nonlinear cryptosystems called "shrinking generator" using different lengths of cipher text and different lengths of combined LFSRs. GA and ACO proved their good performance in finding the initial values of the combined LFSRs. This work can be considered as a warning for a stream cipher designer to avoid the weak points, which may be f

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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Double Function Random Early Detection (DFRED): A Revised RED-Oriented Algorithm
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     Dropping packets with a linear function between two configured queue thresholds in Random Early Detection (RED) model is incapable of yielding satisfactory network performance. In this article, a new enhanced and effective active queue management algorithm, termed Double Function RED (DFRED in short) is developed to further curtail network delay. Specifically, DFRED algorithm amends the packet dropping probability approach of RED by dividing it into two sub-segments. The first and second partitions utilizes and implements a quadratic and linear increase respectively in the packet dropping probability computation to distinguish between two traffic loads: low and high. The ns-3 simulation performance evaluations clearly indicate t

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Publication Date
Sat Feb 09 2019
Journal Name
Journal Of The College Of Education For Women
Stages of God's creation of man in the Koran stu
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Thanks allah and peace be upon our prophet muhammed and upon his family and his
followers……
The name is only called by the Almighty, One of the Names of the Creator Deity
features and slavery. He is the idol who worshiped.
The creator is derived from the creation of a sophisticated and significant from create Aharaz
for crust, and tailor the gown and the end of launch on God's creation of the creature, and this
release was a matter of metaphor One of the names of Allah, God is the creator himself is not
a partner Creator of all things, is the one who created
man from Nothingness began creating Adam peace be upon him and that he has passed the
stages in the process of creation, namely: He created him from du

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Publication Date
Sat Oct 01 2022
Journal Name
Al–bahith Al–a'alami
DEMOCRACY AND HUMAN RIGHTS AND THEIR ROLE IN ACHIEVING SUSTAINABLE DEVELOPMENT
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The study of the concepts of "democracy" and "human rights" and their impact on development, has taken a prominent place in the context of general political and cultural concerns, or in specialized studies even though researchers and scholars do not agree on defining the concepts: Democracy, Human Rights, Development or deriving a global definition hindering them, and that because of the importance of this topic, which proceeds from a number of considerations standing in the forefront, of which:

 

First: What the world witnesses today in the first decade of this century of consecration of the unipolar theory, trying to give its concepts and perceptions through the law ((excessive force)) to the power of international

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