Preferred Language
Articles
/
alkej-775
Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
...Show More Authors

planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the performance of the proposed algorithm. Simulations results showed that the proposed path planning algorithm effective performance by finding the shortest and free-collision path in different collide environments. Furthermore, the superiority of the proposed algorithm was proved through comparisons with other famous path planning algorithms with different static environments.

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Wed Sep 12 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Network Performance Analysis Based on Network Simulator NS-2.
...Show More Authors

     NS-2 is a tool to simulate networks and events that occur per packet sequentially based on time and are widely used in the research field. NS-2 comes with NAM (Network Animator) that produces a visual representation it also supports several simulation protocols. The network can be tested end-to-end. This test includes data transmission, delay, jitter, packet-loss ratio and throughput. The Performance Analysis simulates a virtual network and tests for transport layer protocols at the same time with variable data and analyzes simulation results based on the network simulator NS-2.

View Publication Preview PDF
Crossref
Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Facial Expression Recognition Based on Deep Learning: An Overview
...Show More Authors

      Recognizing facial expressions and emotions is a basic skill that is learned at an early age and it is important for human social interaction. Facial expressions are one of the most powerful natural and immediate means that humans use to express their feelings and intentions. Therefore, automatic emotion recognition based on facial expressions become an interesting area in research, which had been introduced and applied in many areas such as security, safety health, and human machine interface (HMI). Facial expression recognition transition from controlled environmental conditions and their improvement and succession of recent deep learning approaches from different areas made facial expression representation mostly based on u

... Show More
View Publication Preview PDF
Scopus (4)
Scopus Crossref
Publication Date
Wed Jul 29 2020
Journal Name
Iraqi Journal Of Science
Optical Fiber Biomedical Sensor Based on Surface Plasmon Resonance
...Show More Authors

Optical fiber biomedical sensor based on surface plasmon resonance for measuring and sensing the concentration and the refractive index of sugar in blood serum is designed and implemented during this work. Performance properties such as signal to noise ratio (SNR), sensitivity, resolution and the figure of merit were evaluated for the fabricated sensor. It was found that the sensitivity of the optical fiber-based SPR sensor with 40 nm thick and 10 mm long Au metal film of the exposed sensing region is 7.5µm/RIU, SNR is 0.697, figure of merit is 87.2 and resolution is 0.00026. The sort of optical fiber utilized in this work is plastic optical fiber with a core diameter of 980 µm, a cladding of 20μm, and a numerical aperture of 0.

... Show More
View Publication Preview PDF
Scopus (15)
Crossref (10)
Scopus Crossref
Publication Date
Thu Feb 28 2019
Journal Name
Iraqi Journal Of Science
Key Generator to Encryption Images Based on Chaotic Maps
...Show More Authors

It is known that images differ from texts in many aspects, such as high repetition and correlation, local structure, capacitance characteristics and frequency. As a result, traditional encryption methods can not be applied to images. In this paper we present a method for designing a simple and efficient messy system using a difference in the output sequence. To meet the requirements of image encryption, we create a new coding system for linear and nonlinear structures based on the generation of a new key based on chaotic maps.

The design uses a kind of chaotic maps including the Chebyshev 1D map, depending on the parameters, for a good random appearance. The output is a test in several measurements, including the complexity of th

... Show More
View Publication Preview PDF
Publication Date
Sat May 08 2021
Journal Name
Iraqi Journal Of Science
Software Fault Estimation Tool Based on Object-Oriented Metrics
...Show More Authors

A fault is an error that has effects on system behaviour. A software metric is a value that represents the degree to which software processes work properly and where faults are more probable to occur. In this research, we study the effects of removing redundancy and log transformation based on threshold values for identifying faults-prone classes of software. The study also contains a comparison of the metric values of an original dataset with those after removing redundancy and log transformation. E-learning and system dataset were taken as case studies. The fault ratio ranged from 1%-31% and 0%-10% for the original dataset and 1%-10% and 0%-4% after removing redundancy and log transformation, respectively. These results impacted direct

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
Photoconductive Detector Based on Graphene Doping with Silver Nanoparticles
...Show More Authors

      Graphene (Gr) decorated with silver nanoparticles (Ag NPs) were used to fabricate a wideband range photodetector. Silicon (Si) and porous silicon (PS) were used as a substrate to deposit Gr /Ag NPs by drop-casting technique. Silver nanoparticles (Ag NPs) were prepared using the chemical method. As well as the dispersion of silver NPs is achieved by a simple chemistry process on the surface of Gr.

    The optical, structure and electrical characteristics of AgNPs and Gr decorated with Ag NPs were characterized by ultraviolet-visible spectroscopy (UV-Vis), x-ray diffraction (XRD).  The X-ray diffraction (XRD) spectrum of Ag NPs exhibited 2θ values (38.1o, 44.3 o, 64.5 o and 77.7

... Show More
View Publication Preview PDF
Scopus (5)
Crossref (4)
Scopus Crossref
Publication Date
Wed Nov 27 2019
Journal Name
Iraqi Journal Of Science
A Comparative Study between Conventional Pap Smear and Liquid-Based Cytology: A Clinco-Cytological Study of Iraqi Women with Some Health Problems of Cervix
...Show More Authors

A cervical screening by Pap test is necessary in recognizing precancerous and cancerous cases to reduce mortality due to cervical cancer among women. Regular screening and follow up can make it easier to early diagnose and eventually, to treat and control cervical cancer.

    This study aimed to detect atypical pathological changes of the vagina and uterine cervix of a sample of Iraqi women by macro- and micro-examination, and to determine the link with the demographic features. Also the study aimed to evaluate the two Pap smear techniques; the conventional and the base liquid methods.

     The study included 50 women with genital health problems (18-50 years old) who were referred to&nb

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Tue Oct 18 2022
Journal Name
Applied Sciences
The Influence of Flight Direction and Camera Orientation on the Quality Products of UAV-Based SfM-Photogrammetry
...Show More Authors

Unmanned aerial vehicles (UAVs) can provide valuable spatial information products for many projects across a wide range of applications. One of the major challenges in this discipline is the quality of positioning accuracy of the resulting mapping products in professional photogrammetric projects. This is especially true when using low-cost UAV systems equipped with GNSS receivers for navigation. In this study, the influence of UAV flight direction and camera orientation on positioning accuracy in an urban area on the west bank of the Euphrates river in Iraq was investigated. Positioning accuracy was tested in this study with different flight directions and camera orientation settings using a UAV autopilot app (Pix4Dcapture software

... Show More
View Publication
Scopus (10)
Crossref (6)
Scopus Clarivate Crossref
Publication Date
Mon Nov 11 2019
Journal Name
Day 3 Wed, November 13, 2019
Drill Bit Selection Optimization Based on Rate of Penetration: Application of Artificial Neural Networks and Genetic Algorithms
...Show More Authors
Abstract<p>The drill bit is the most essential tool in drilling operation and optimum bit selection is one of the main challenges in planning and designing new wells. Conventional bit selections are mostly based on the historical performance of similar bits from offset wells. In addition, it is done by different techniques based on offset well logs. However, these methods are time consuming and they are not dependent on actual drilling parameters. The main objective of this study is to optimize bit selection in order to achieve maximum rate of penetration (ROP). In this work, a model that predicts the ROP was developed using artificial neural networks (ANNs) based on 19 input parameters. For the</p> ... Show More
View Publication
Crossref (7)
Crossref
Publication Date
Mon May 31 2021
Journal Name
Iraqi Journal Of Science
Single-based and Population-based Metaheuristics for Solving NP-hard Problems
...Show More Authors

Metaheuristic is one of the most well-known fields of research used to find optimum solutions for non-deterministic polynomial hard (NP-hard) problems, for which it is difficult to find an optimal solution in a polynomial time. This paper introduces the metaheuristic-based algorithms and their classifications and non-deterministic polynomial hard problems. It also compares the performance of two metaheuristic-based algorithms (Elephant Herding Optimization algorithm and Tabu Search) to solve the Traveling Salesman Problem (TSP), which is one of the most known non-deterministic polynomial hard problems and widely used in the performance evaluations for different metaheuristics-based optimization algorithms. The experimental results of Ele

... Show More
View Publication Preview PDF
Crossref (8)
Crossref