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Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PIaDb Controller
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Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order  PIaDb (FOPID) controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to  torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of mobile robot was driven for the case where the centroid  of mobile robot platform is not coincide with reference frame of mobile robot (i.e. reference frame is located at midpoint of driven wheels axis), while the inertia is counted for. The Evolutionary Algorithm has been used to modified the parameters (Kp, Kd, Ki,a, and b) of the FOPID controller for wheeled mobile robot. Simulation results show the effectiveness of the proposed control algorithm: that is demonstrated by applied this controller at four case studies (Circular trajectory, S-shape trajectory, Infinity trajectory, and Line trajectory at two cases, with presences of disturbance and without), these results shows good matching between desired trajectory and simulation one while error in posture goes to zero rapidly.

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Publication Date
Sun Mar 06 2011
Journal Name
Baghdad Science Journal
Numeral Recognition Using Statistical Methods Comparison Study
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The area of character recognition has received a considerable attention by researchers all over the world during the last three decades. However, this research explores best sets of feature extraction techniques and studies the accuracy of well-known classifiers for Arabic numeral using the Statistical styles in two methods and making comparison study between them. First method Linear Discriminant function that is yield results with accuracy as high as 90% of original grouped cases correctly classified. In the second method, we proposed algorithm, The results show the efficiency of the proposed algorithms, where it is found to achieve recognition accuracy of 92.9% and 91.4%. This is providing efficiency more than the first method.

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Publication Date
Sat Jan 01 2022
Journal Name
Turkish Journal Of Physiotherapy And Rehabilitation
classification coco dataset using machine learning algorithms
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In this paper, we used four classification methods to classify objects and compareamong these methods, these are K Nearest Neighbor's (KNN), Stochastic Gradient Descentlearning (SGD), Logistic Regression Algorithm(LR), and Multi-Layer Perceptron (MLP). Weused MCOCO dataset for classification and detection the objects, these dataset image wererandomly divided into training and testing datasets at a ratio of 7:3, respectively. In randomlyselect training and testing dataset images, converted the color images to the gray level, thenenhancement these gray images using the histogram equalization method, resize (20 x 20) fordataset image. Principal component analysis (PCA) was used for feature extraction, andfinally apply four classification metho

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Publication Date
Thu Feb 19 2026
Journal Name
Journal Of Baghdad College Of Dentistry
Genders identification using mandibular canines(Iraqi study)
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Background: This study aimed to determine the gender of a sample of Iraqi adults using the mesio-distal width of mandibular canines, inter-canine width and standard mandibular canine index, and to determine the percentage of dimorphism as an aid in forensic dentistry. Materials and methods: The sample included 200 sets of study models belong to 200 subjects (100 males and 100 females) with an age ranged between 17-23 years. The mesio-distal crown dimension was measured manually, from the contact points for the mandibular canines (both sides), in addition to the inter-canine width using digital vernier. Descriptive statistics were obtained for the measurements for both genders; paired sample t-test was used to evaluate the side difference of

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Publication Date
Thu Feb 07 2019
Journal Name
Journal Of The College Of Education For Women
Visible image watermarking using biorthogonal wavelet transform
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In this paper, visible image watermarking algorithm based on biorthogonal wavelet
transform is proposed. The watermark (logo) of type binary image can be embedded in the
host gray image by using coefficients bands of the transformed host image by biorthogonal
transform domain. The logo image can be embedded in the top-left corner or spread over the
whole host image. A scaling value (α) in the frequency domain is introduced to control the
perception of the watermarked image. Experimental results show that this watermark
algorithm gives visible logo with and no losses in the recovery process of the original image,
the calculated PSNR values support that. Good robustness against attempt to remove the
watermark was s

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Publication Date
Thu Jul 01 2021
Journal Name
Journal Of Physics: Conference Series
Human Dynamic Behavior: Reconstruction Trajectories Using CDRs
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Abstract<p>Investigating the human mobility patterns is a highly interesting field in the 21th century, and it takes vast attention from multi-disciplinary scientists in physics, economic, social, computer, engineering…etc. depending on the concept that relates between human mobility patterns and their communications. Hence, the necessity for a rich repository of data has emerged. Therefore, the most powerful solution is the usage of GSM network data, which gives millions of Call Details Records gained from urban regions. However, the available data still have shortcomings, because it gives only the indication of spatio-temporal data at only the moment of mobile communication activities. In th</p> ... Show More
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Publication Date
Sun Jun 07 2009
Journal Name
Baghdad Science Journal
Public key system by using isomorphism group
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In this paper we deal with the problem of ciphering and useful from group isomorphism for construct public key cipher system, Where construction 1-EL- Gamal Algorithm. 2- key- exchange Algorithm

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Publication Date
Sat Aug 01 2020
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Text hiding in text using invisible character
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Steganography can be defined as the art and science of hiding information in the data that could be read by computer. This science cannot recognize stego-cover and the original one whether by eye or by computer when seeing the statistical samples. This paper presents a new method to hide text in text characters. The systematic method uses the structure of invisible character to hide and extract secret texts. The creation of secret message comprises four main stages such using the letter from the original message, selecting the suitable cover text, dividing the cover text into blocks, hiding the secret text using the invisible character and comparing the cover-text and stego-object. This study uses an invisible character (white space

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Publication Date
Tue Mar 07 2017
Journal Name
The First International Conference For Engineering Research
Colony Counting Using iPad and iPhone Applications
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Publication Date
Sun Jun 01 2008
Journal Name
Baghdad Science Journal
The Writer Authentication by Using Syllables Frequency
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An approach is depended in the recent years to distinguish any author or writer from other by analyzing his writings or essays. This is done by analyzing the syllables of writings of an author. The syllable is composed of two letters; therefore the words of the writing are fragmented to syllables and extract the most frequency syllables to become trait of that author. The research work depend on analyzed the frequency syllables in two cases, the first, when there is a space between the words, the second, when these spaces are ignored. The results is obtained from a program which scan the syllables in the text file, the performance is best in the first case since the sequence of the selected syllables is higher than the same syllables in

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Publication Date
Wed Jan 01 2025
Journal Name
Lecture Notes In Networks And Systems
Diagnosis of Diabetes Using Artificial Intelligence Programs
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Scientific development has occupied a prominent place in the field of diagnosis, far from traditional procedures. Scientific progress and the development of cities have imposed diseases that have spread due to this development, perhaps the most prominent of which is diabetes for accurate diagnosis without examining blood samples and using image analysis by comparing two images of the affected person for no less than a period. Less than ten years ago they used artificial intelligence programs to analyze and prove the validity of this study by collecting samples of infected people and healthy people using one of the Python program libraries, which is (Open-CV) specialized in measuring changes to the human face, through which we can infer the

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