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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
Thu Jan 01 2015
Journal Name
Iraqi Journal Of Science
Improved Rijndael Algorithm by Encryption S-Box Using NTRU Algorithm
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With the wide developments of computer applications and networks, the security of information has high attention in our common fields of life. The most important issues is how to control and prevent unauthorized access to secure information, therefore this paper presents a combination of two efficient encryption algorithms to satisfy the purpose of information security by adding a new level of encryption in Rijndael-AES algorithm. This paper presents a proposed Rijndael encryption and decryption process with NTRU algorithm, Rijndael algorithm is widely accepted due to its strong encryption, and complex processing as well as its resistance to brute force attack. The proposed modifications are implemented by encryption and decryption Rijndael

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Publication Date
Wed Feb 22 2023
Journal Name
Iraqi Journal Of Science
Improved Rijndael Algorithm by Encryption S-Box Using NTRU Algorithm
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With the wide developments of computer science and applications of networks, the security of information must be increased and make it more complex. The most important issues is how to control and prevent unauthorized access to secure information, therefore this paper presents a combination of two efficient encryption algorithms to satisfy the purpose of information security by adding a new level of encryption in Rijndael-AES algorithm. This paper presents a proposed Rijndael encryption and decryption process with NTRU algorithm, Rijndael algorithm is important because of its strong encryption. The proposed updates are represented by encryption and decryption Rijndael S-Box using NTRU algorithm. These modifications enhance the degree of

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Publication Date
Sun Jan 03 2016
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Psychomotor delay, dysmorphsim and epilepsy with underlying genetic etiology: A case report of first child with a genetically confirmed diagnosis of Angelman Syndrome on a hospital-based setting in Iraq
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In this case report we discuss essential issue to be considered with regard to the clinical genetic testing in the epilepsies. The identification of genes that influence risk for the epilepsies has extremely important implications for both research and clinical practice. In a research context, information obtained may lead to the development of new treatments targeted to specific mechanisms, or even to ways of preventing epileptogenesis. In clinical practice, the use of genetic information can either clarify the diagnosis in people already known or suspected to have epilepsy (diagnostic testing), or to predict onset of epilepsy in people at risk of developing epilepsy because of a family history (predictive testing). This 8-year old girl

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Publication Date
Thu Jan 14 2021
Journal Name
Iraqi Journal Of Science
Efficiently-managed Cloudly-Secured Mobile User Data Sharing Code Implementation
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Increasing Mobile Device on Cloud Technology will dominate the various industries. Cloud has different data storage and data protecting techniques that based on Data User (DU) and industry’s needs. In this paper, an efficient way of managing user data sharing via Mobile Agent (MA) also called Mobile Proxy (MP) is proposed. The role of Mobile Agent Authorize User to collect the data from Cloud like Proxy and supply data to another Client due to this missing of cloud data is not possible. Instead of access data for all clients, the proxy hold required data and share the customer because of this network reliability, Network Bandwidth, User Congestion, Data Security. Also, this proposed scheme have more functionality like Cloud Authen

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Publication Date
Fri Jan 01 2021
Journal Name
Indonesian Journal Of Electrical Engineering And Computer Science
Lightweight route adjustment strategy for mobile sink wireless sensor networks
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<span>As a result of numerous applications and low installation costs, wireless sensor networks (WSNs) have expanded excessively. The main concern in the WSN environment is to lower energy consumption amidst nodes while preserving an acceptable level of service quality. Using multi-mobile sinks to reduce the nodes' energy consumption have been considered as an efficient strategy. In such networks, the dynamic network topology created by the sinks mobility makes it a challenging task to deliver the data to the sinks. Thus, in order to provide efficient data dissemination, the sensor nodes will have to readjust the routes to the current position of the mobile sinks. The route re-adjustment process could result in a significant m

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Publication Date
Mon Jan 24 2022
Journal Name
مجلة كلية التربية / الجامعة المستنصرية
The words of the members of the human body in the Diwan of Muhammad Mustafa Al-Mahi
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يدور هذا البحث حول جمع الالفاظ التي تتعلق بأعضاء جسم الانسان في ديوان محمد مصطفى الماحيّ, وترتيبها في حقول دَلاليّة على وفق دراسة معجمية, تناولت فيها الالفاظ التي تتعلّق بأعضاء جسم الانسان, فكان الهدف من هذه الدراسة هو دراسة الألفاظ التي ترتبط دَلالتها بمفهوم عام يجمعها حقل دلاليّ واحد كجمع الفاظ (الرأس, والعين, والانف), تحت مفهوم (أعضاء الانسان) وبيان العلاقات الدَلاليّة بين هذه الالفاظ, كــ (الترادف والمشترك

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Publication Date
Sun Apr 30 2017
Journal Name
Journal Of Engineering
Evaluation of Urban Planning Projects Criteria Using Fuzzy AHP Technique
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In this research,  Fuzzy Analytic Hierarchy Process technique is applied (Fuzzy AHP) which is one of  multi-criteria decision making techniques to evaluate the criteria for urban planning projects, the project of developing master plan of Al-Muqdadiyah city to 2035 has been chosen as a case study. The researcher prepared a list of criteria in addition to the authorized departments criteria and previous researches in order to choose optimized master plan according to these criteria. This research aims at employing the foundations of (Fuzzy AHP) technique in evaluating urban planning criteria precisely and flexible. The results of the data analysis to the individuals of the sample who are specialists, in this aspect.  The la

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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
Dynamic algorithm (DRBLTS) and potentially weighted (WBP) to estimate hippocampal regression parameters using a techniqueBootstrap (comparative study)
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Bootstrap is one of an important re-sampling technique which has given the attention of  researches recently. The presence of outliers in the original data set may cause serious problem to the classical bootstrap when the percentage of outliers are higher than the original one. Many methods are proposed to overcome this problem such  Dynamic Robust Bootstrap for LTS (DRBLTS) and Weighted Bootstrap with Probability (WBP). This paper try to show the accuracy of parameters estimation by comparison the results of both methods. The bias , MSE and RMSE are considered. The criterion of the accuracy is based on the RMSE value since the method that provide us RMSE value smaller than other is con

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Publication Date
Thu Dec 01 2022
Journal Name
Indonesian Journal Of Electrical Engineering And Computer Science
Cryptography based on retina information
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The security of message information has drawn more attention nowadays, so; cryptography has been used extensively. This research aims to generate secured cipher keys from retina information to increase the level of security. The proposed technique utilizes cryptography based on retina information. The main contribution is the original procedure used to generate three types of keys in one system from the retina vessel's end position and improve the technique of three systems, each with one key. The distances between the center of the diagonals of the retina image and the retina vessel's end (diagonal center-end (DCE)) represent the first key. The distances between the center of the radius of the retina and the retina vessel's end (ra

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Publication Date
Fri Sep 01 2023
Journal Name
Al-khwarizmi Engineering Journal
Creating a LabVIEW Sub VI for the INA219 Sensor for Detecting Extremely Low-Level Electrical Quantities
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An impressed current cathodic protection system (ICCP) requires measurements of extremely low-level quantities of its electrical characteristics. The current experimental work utilized the Adafruit INA219 sensor module for acquiring the values for voltage, current, and power of a default load, which consumes quite low power and simulates an ICCP system. The main problem is the adaptation of the INA219 sensor to the LabVIEW environment due to the absence of the library of this sensor. This work is devoted to the adaptation of the Adafruit INA219 sensor module in the LabVIEW environment through creating, developing, and successfully testing a Sub VI to be ready for employment in an ICCP system. The sensor output was monitored with an Ardui

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