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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
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
Sun Jan 01 2017
Journal Name
International Journal Of Advanced Computer Science And Applications
Fast Hybrid String Matching Algorithm based on the Quick-Skip and Tuned Boyer-Moore Algorithms
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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
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
Sun Apr 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
مقارنة بين دالة الإنتماء ودالة الأنتروبي في الإنحدار الخطي الضبابي المكيف
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Abstract

       There are many uncertainty sources that may affect the statistical reasoning. However, traditional methods can not deal with all kinds of uncertainty sources, which has led many researchers to develop traditional methods. Studies still exist to this day, making hypotheses to create a common understanding for the purpose of reaching new solutions through the use of new methods that combine traditional and modern theories of sources of uncertainty

       The aim of current study was to develop the adaptive fuzzy linear regression model in the case of using inaccurate data as the source of uncertainty. Specifically, the

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Publication Date
Sun Jan 02 2011
Journal Name
Political Sciences Journal
THE New Iraq – A Study in the Political and Democratic Developments Since 2003
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يسلط هذا البحث الضوءعلى طبيعة النظام السياسي في العراق الجديد الذى اضحى وبموجب الدستور العراقي الدائم لعام 2005 دولة حرة, ديمقراطية,موحدة,وبرلمانية(نيابية) تتمع بنظام فدرالي قائم على اساس الفصل بين السلطات الثلاث التشريعية والتنفيذية والقضائية. فلقد شهد العراق اكبر تظاهرة ديمقراطية في تاريخه المعاصر منذ نشأة الدولة العراقية وحتى 2003 ولحد الان خمسة /4/ السابع من أذار 2010 . فالمسرح السياسي العرا

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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
Sat Nov 05 2022
Journal Name
Sensors
Enhancement of the CAST Block Algorithm Based on Novel S-Box for Image Encryption
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Background and Aim: due to the rapid growth of data communication and multimedia system applications, security becomes a critical issue in the communication and storage of images. This study aims to improve encryption and decryption for various types of images by decreasing time consumption and strengthening security. Methodology: An algorithm is proposed for encrypting images based on the Carlisle Adams and Stafford Tavares CAST block cipher algorithm with 3D and 2D logistic maps. A chaotic function that increases the randomness in the encrypted data and images, thereby breaking the relation sequence through the encryption procedure, is introduced. The time is decreased by using three secure and private S-Boxes rather than using si

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Publication Date
Fri Jan 01 2010
Journal Name
Journal Of Sports Sciences
Study the reality of the level of arbitration in Iraq Season of 2009-2008 and compared with the previous two seasons
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تعد لعبة كرة القدم ولا زالت من الألعاب التي تحظى بمتابعة الكثير من شرائح المجتمع، وهناك عناصر أساسية لها ( الملعب، الأدوات، اللاعبين، الحكام ) والحكام يشكلون العنصر الرئيس لهذه اللعبة إذ تدار كل مباراة بواسطة طاقم تحكيمي يشمل حكم ساحة بالتعاون مع حكمين مساعدين وحكم رابع ، ومن خلال خبرة الباحثان كونهما يعملان في مجال التحكيم وجدا إن هناك ضعفا في هذا المجال للموسم الكروي (2008 – 2009)، وهذا ما أشارت أليه العديد من وس

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Publication Date
Sat Jun 01 2019
Journal Name
2019 Ieee International Conference On Automatic Control And Intelligent Systems (i2cacis)
Study on Solar Panel Cleaning Robot
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