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Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
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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.

 

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Publication Date
Mon Jul 31 2017
Journal Name
Journal Of Engineering
Development of an On-Line Self-Tuning FPGA-PID-PWM Control Algorithm Design for DC-DC Buck Converter in Mobile Applications
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Publication Date
Wed Oct 25 2023
Journal Name
Urban Planning And Construction
A Review on Urban Planning and Its Role in Managing Flood Risks
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This review delves deep into the intricate relationship between urban planning and flood risk management, tracing its historical trajectory and the evolution of methodologies over time. Traditionally, urban centers prioritized defensive measures, like dikes and levees, with an emphasis on immediate solutions over long-term resilience. These practices, though effective in the short term, often overlooked broader environmental implications and the necessity for holistic planning. However, as urban areas burgeoned and climate change introduced new challenges, there has been a marked shift in approach. Modern urban planning now emphasizes integrated blue-green infrastructure, aiming to harmonize human habitation with water cycles. Resil

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Publication Date
Wed Jan 01 2014
Journal Name
Ieice Transactions On Communications
Fast Handoff Scheme for Cluster-Based Proxy Mobile IPv6 Protocol
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Publication Date
Tue Apr 02 2019
Journal Name
Artificial Intelligence Research
A three-stage learning algorithm for deep multilayer perceptron with effective weight initialisation based on sparse auto-encoder
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A three-stage learning algorithm for deep multilayer perceptron (DMLP) with effective weight initialisation based on sparse auto-encoder is proposed in this paper, which aims to overcome difficulties in training deep neural networks with limited training data in high-dimensional feature space. At the first stage, unsupervised learning is adopted using sparse auto-encoder to obtain the initial weights of the feature extraction layers of the DMLP. At the second stage, error back-propagation is used to train the DMLP by fixing the weights obtained at the first stage for its feature extraction layers. At the third stage, all the weights of the DMLP obtained at the second stage are refined by error back-propagation. Network structures an

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Publication Date
Mon Mar 01 2010
Journal Name
Al-khwarizmi Engineering Journal
Bionics-Based Approach for Object Tracking to Implement in Robot Applications
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In this paper, an approach for object tracking that is inspired from human oculomotor system is proposed and verified experimentally. The developed approach divided into two phases, fast tracking or saccadic phase and smooth pursuit phase. In the first phase, the field of the view is segmented into four regions that are analogue to retinal periphery in the oculomotor system. When the object of interest is entering these regions, the developed vision system responds by changing the values of the pan and tilt angles to allow the object lies in the fovea area and then the second phase will activate. A fuzzy logic method is implemented in the saccadic phase as an intelligent decision maker to select the values of the pan and tilt angle based

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Publication Date
Sun Mar 01 2020
Journal Name
Baghdad Science Journal
Mobile-based Telemedicine Application using SVD and F-XoR Watermarking for Medical Images
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A medical- service platform is a mobile application through which patients are provided with doctor’s diagnoses based on information gleaned from medical images. The content of these diagnostic results must not be illegitimately altered during transmission and must be returned to the correct patient. In this paper, we present a solution to these problems using blind, reversible, and fragile watermarking based on authentication of the host image. In our proposed algorithm, the binary version of the Bose_Chaudhuri_Hocquengham (BCH) code for patient medical report (PMR) and binary patient medical image (PMI) after fuzzy exclusive or (F-XoR) are used to produce the patient's unique mark using secret sharing schema (SSS). The patient’s un

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
انحلال العلاقة بین الانسان والاسطورة والطبیعة في قصیدة ارض الیباب ( ١٩٢٢ الشاعر الانجلیزي الیوت: انحلال العلاقة بین الانسان والاسطورة والطبیعة في قصیدة ارض الیباب ( ١٩٢٢ الشاعر الانجلیزي الیوت
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المستخلص
، ( اب ( ١٩٢٢ ô یدتھ ارض الیب ô ي قص ô وت ،ف ô زي الی ô اعر الانجلی ô یھدف ھذا البحث الى بیان مدى تأكید الش
ن ô ة م ô ان والطبیع ô ین الانس ô ت ب ô ا ربط ô ي لطالم ô ة ،الت ô على الحاجة الملحة للانسان الحدیث لاسترجاع الصلة الحمیم
ة ô ي بمثاب ô ة ھ ô ان الثلاث ô ذه الارك ô ین ھ ô ة ب ô ة الموثق ô ذه العلاق ô رى .ان ھ ô ة اخ ô ن جھ ô جھة ، وبین الانسان والاسطورة م
ات ô ي الثقاف ô ة ف ô وس الدینی ô وبة والطق ô اطیر الخ

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Publication Date
Sun Jan 14 2018
Journal Name
Journal Of Engineering
Optimum Design of Power System Stabilizer based on Improved Ant Colony Optimization Algorithm
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This paper presents an improved technique on Ant Colony Optimization (ACO) algorithm. The procedure is applied on Single Machine with Infinite Bus (SMIB) system with power system stabilizer (PSS) at three different loading regimes. The simulations are made by using MATLAB software. The results show that by using Improved Ant Colony Optimization (IACO) the system will give better performance with less number of iterations as it compared with a previous modification on ACO. In addition, the probability of selecting the arc depends on the best ant performance and the evaporation rate.

 

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Publication Date
Thu May 05 2022
Journal Name
Al-kindy College Medical Journal
Planning a Medical Lecture
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The aims of the lecture should be clearly defmed. These will help to define the teaching methods and the structure. If, for example, the purpose of the lecture is to introduce new knowledge and concepts, then a classic lecture structure might be most appropriate. On the other hand, if the purpose is to make the students aware of different approaches to a particular clinical problem, a problem oriented design in which alternative approaches are presented and discussed might be a more appropriate fonnat.
Lectures are still a common teaching methOd in both undergraduate and postgraduak medical education. Properly done, the lectwe is a creative and personal work by the teachll:l modeled upon his intellectual scaffolding. Few other fonns o

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Publication Date
Mon May 22 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Proposed Hybrid Algorithm for Generate Database Index Key Based on Image Contents
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  This paper deals with proposing new lifting scheme (HYBRID Algorithm) that is capable of preventing images and documents which are fraud through decomposing there in to the real colors value arrays (red, blue and green) to create retrieval keys for its properties and store it in the database and then check the document originality by retrieve the query image or document through the decomposition described above and compare the predicted color values (retrieval keys)  of the query document with those stored in the database. The proposed algorithm has been developed from the two known lifting schemes (Haar and D4) by merging them to find out HYBRID lifting scheme. The validity and accuracy of the proposed algorithm have been ev

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