Preferred Language
Articles
/
alkej-361
Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
...Show More Authors

Abstract

Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D* and Euclidean distances.  The quintic polynomial equation is utilized to provide a smooth trajectory path. According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments.

 

Keywords: D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Apr 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Business Risk Assessment Using Client Strategy Analysis Approach in order to Increase the Efficiency and Effectiveness of the Audit Process
...Show More Authors

Abstract

This study aimed to identify the business risks using the approach of the client strategy analysis in order to improve the efficiency and effectiveness of the audit process. A study of business risks and their impact on the efficiency and effectiveness of the audit process has been performed to establish a cognitive framework of the main objective of this study, in which the descriptive analytical method has been adopted. A survey questionnaire has been developed and distributed to the targeted group of audit firms which have profession license from the Auditors Association in the Gaza Strip (63 offices). A hundred questionnaires have been distributed to the study sample of which, a total of 84 where answered and

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Thu Aug 01 2019
Journal Name
2019 2nd International Conference On Engineering Technology And Its Applications (iiceta)
Human Gait Identification System Based on Average Silhouette
...Show More Authors

View Publication
Scopus (1)
Scopus Crossref
Publication Date
Thu Jan 01 2015
Journal Name
Iraqi Journal Of Science
Keystroke Dynamics Authentication based on Naïve Bayes Classifier
...Show More Authors

Authentication is the process of determining whether someone or something is, in fact, who or what it is declared to be. As the dependence upon computers and computer networks grows, the need for user authentication has increased. User’s claimed identity can be verified by one of several methods. One of the most popular of these methods is represented by (something user know), such as password or Personal Identification Number (PIN). Biometrics is the science and technology of authentication by identifying the living individual’s physiological or behavioral attributes. Keystroke authentication is a new behavioral access control system to identify legitimate users via their typing behavior. The objective of this paper is to provide user

... Show More
Publication Date
Mon Apr 15 2019
Journal Name
Proceedings Of The International Conference On Information And Communication Technology
Hybrid LDPC-STBC communications system based on chaos
...Show More Authors

View Publication
Scopus Clarivate Crossref
Publication Date
Sun Apr 23 2017
Journal Name
International Conference Of Reliable Information And Communication Technology
Classification of Arabic Writer Based on Clustering Techniques
...Show More Authors

Arabic text categorization for pattern recognitions is challenging. We propose for the first time a novel holistic method based on clustering for classifying Arabic writer. The categorization is accomplished stage-wise. Firstly, these document images are sectioned into lines, words, and characters. Secondly, their structural and statistical features are obtained from sectioned portions. Thirdly, F-Measure is used to evaluate the performance of the extracted features and their combination in different linkage methods for each distance measures and different numbers of groups. Finally, experiments are conducted on the standard KHATT dataset of Arabic handwritten text comprised of varying samples from 1000 writers. The results in the generatio

... Show More
Scopus (6)
Scopus
Publication Date
Mon May 15 2017
Journal Name
International Journal Of Image And Data Fusion
Image edge detection operators based on orthogonal polynomials
...Show More Authors

View Publication
Scopus (32)
Crossref (10)
Scopus Crossref
Publication Date
Sun Sep 24 2023
Journal Name
Journal Of Al-qadisiyah For Computer Science And Mathematics
Iris Data Compression Based on Hexa-Data Coding
...Show More Authors

Iris research is focused on developing techniques for identifying and locating relevant biometric features, accurate segmentation and efficient computation while lending themselves to compression methods. Most iris segmentation methods are based on complex modelling of traits and characteristics which, in turn, reduce the effectiveness of the system being used as a real time system. This paper introduces a novel parameterized technique for iris segmentation. The method is based on a number of steps starting from converting grayscale eye image to a bit plane representation, selection of the most significant bit planes followed by a parameterization of the iris location resulting in an accurate segmentation of the iris from the origin

... Show More
View Publication
Crossref
Publication Date
Sat Jun 26 2021
Journal Name
2021 Ieee International Conference On Automatic Control & Intelligent Systems (i2cacis)
Vulnerability Assessment on Ethereum Based Smart Contract Applications
...Show More Authors

View Publication
Scopus (10)
Crossref (5)
Scopus Clarivate Crossref
Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Physics: Conference Series
Improve topic modeling algorithms based on Twitter hashtags
...Show More Authors
Abstract<p>Today with increase using social media, a lot of researchers have interested in topic extraction from Twitter. Twitter is an unstructured short text and messy that it is critical to find topics from tweets. While topic modeling algorithms such as Latent Semantic Analysis (LSA) and Latent Dirichlet Allocation (LDA) are originally designed to derive topics from large documents such as articles, and books. They are often less efficient when applied to short text content like Twitter. Luckily, Twitter has many features that represent the interaction between users. Tweets have rich user-generated hashtags as keywords. In this paper, we exploit the hashtags feature to improve topics learned</p> ... Show More
View Publication
Scopus (20)
Crossref (18)
Scopus Crossref
Publication Date
Fri Sep 23 2022
Journal Name
Specialusis Ugdymas
Text Cryptography based on Arabic Words Characters Number
...Show More Authors

Cryptography is a method used to mask text based on any encryption method, and the authorized user only can decrypt and read this message. An intruder tried to attack in many manners to access the communication channel, like impersonating, non-repudiation, denial of services, modification of data, threatening confidentiality and breaking availability of services. The high electronic communications between people need to ensure that transactions remain confidential. Cryptography methods give the best solution to this problem. This paper proposed a new cryptography method based on Arabic words; this method is done based on two steps. Where the first step is binary encoding generation used t

... Show More