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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
Wed Feb 16 2022
Journal Name
Iraqi Journal Of Science
New Arabic Stemming based on Arabic Patterns
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Algorithms for Arabic stemming available in two main types which are root-based approach and stem-based approach. Both types have problems which have been solved in the proposed stemmer which combined rules of both main types and based on Arabic patterns (Tafealat1) to find the added letters. The proposed stemmer achieved root exploration ratio (99.08) and fault ratio (0.9).

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Publication Date
Mon May 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Image Retrieval Based on Coefficient Correlation Index
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Image retrieval is an active research area in image processing, pattern recognition, and
computer vision. In this proposed method, there are two techniques to extract the feature
vector, the first one is applying the transformed algorithm on the whole image and the second
is to divide the image into four blocks and then applying the transform algorithm on each part
of the image. In each technique there are three transform algorithm that have been applied
(DCT, Walsh Transform, and Kekre’s Wavelet Transform) then finding the similarity and
indexing the images, useing the correlation between feature vector of the query image and
images in database. The retrieved method depends on higher indexing number. <

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Skull Stripping Based on the Segmentation Models
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Skull image separation is one of the initial procedures used to detect brain abnormalities. In an MRI image of the brain, this process involves distinguishing the tissue that makes up the brain from the tissue that does not make up the brain. Even for experienced radiologists, separating the brain from the skull is a difficult task, and the accuracy of the results can vary quite a little from one individual to the next. Therefore, skull stripping in brain magnetic resonance volume has become increasingly popular due to the requirement for a dependable, accurate, and thorough method for processing brain datasets. Furthermore, skull stripping must be performed accurately for neuroimaging diagnostic systems since neither no

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Proposed Steganography Method Based on DCT Coefficients
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      In this paper an algorithm for Steganography using DCT for cover image and DWT for hidden image with an embedding order key is proposed. For more security and complexity the cover image convert from RGB to YIQ, Y plane is used and divided into four equally parts and then converted to DCT domain. The four coefficient of the DWT of the hidden image are embedded into each part of cover DCT, the embedding order based on the order key of which is stored with cover in a database table in both the sender and receiver sender. Experimental results show that the proposed algorithm gets successful hiding information into the cover image. We use Microsoft Office Access 2003 database as DBMS, the hiding, extracting algo

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Publication Date
Mon May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Modeling Dynamic Background based on Linear Equation
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     Detection moving car in front view is difficult operation because of the dynamic background due to the movement of moving car and the complex environment that surround the car, to solve that, this paper proposed new method based on linear equation to determine the region of interest by building more effective background model to deal with dynamic background scenes. This method exploited the permitted region between cars according to traffic law to determine the region (road) that in front the moving car which the moving cars move on. The experimental results show that the proposed method can define the region that represents the lane in front of moving car successfully with precision over 94%and detection rate 86

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Publication Date
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Science
Network Traffic Prediction Based on Boosting Learning
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Classification of network traffic is an important topic for network management, traffic routing, safe traffic discrimination, and better service delivery. Traffic examination is the entire process of examining traffic data, from intercepting traffic data to discovering patterns, relationships, misconfigurations, and anomalies in a network. Between them, traffic classification is a sub-domain of this field, the purpose of which is to classify network traffic into predefined classes such as usual or abnormal traffic and application type. Most Internet applications encrypt data during traffic, and classifying encrypted data during traffic is not possible with traditional methods. Statistical and intelligence methods can find and model traff

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Skull Stripping Based on the Segmentation Models
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Skull image separation is one of the initial procedures used to detect brain abnormalities. In an MRI image of the brain, this process involves distinguishing the tissue that makes up the brain from the tissue that does not make up the brain. Even for experienced radiologists, separating the brain from the skull is a difficult task, and the accuracy of the results can vary quite a little from one individual to the next. Therefore, skull stripping in brain magnetic resonance volume has become increasingly popular due to the requirement for a dependable, accurate, and thorough method for processing brain datasets. Furthermore, skull stripping must be performed accurately for neuroimaging diagnostic systems since neither non-brain tissues nor

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Publication Date
Fri Dec 08 2023
Journal Name
Iraqi Journal Of Science
Intrusion Detection Approach Based on DNA Signature
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Intrusion-detection systems (IDSs) aim at detecting attacks against computer systems and networks or, in general, against information systems. Most of the diseases in human body are discovered through Deoxyribonucleic Acid (DNA) investigations. In this paper, the DNA sequence is utilized for intrusion detection by proposing an approach to detect attacks in network. The proposed approach is a misuse intrusion detection that consists of three stages. First, a DNA sequence for a network traffic taken from Knowledge Discovery and Data mining (KDD Cup 99) is generated. Then, Teiresias algorithm, which is used to detect sequences in human DNA and assist researchers in decoding the human genome, is used to discover the Shortest Tandem Repeat (S

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Publication Date
Thu Dec 30 2021
Journal Name
Iraqi Journal Of Science
3D Model Watermarking based on Wavelet Transform
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      In the last decade, 3D models gained interest in many applications, such as games, the medical field, and manufacture. It is necessary to protect these models from unauthorized copying, distribution, and editing. Digital watermarking is the best way to solve this problem. This paper introduces a robust watermarking method by embedding the watermark in the low-frequency domain, then selecting the coarsest level for embedding the watermark based on the strength factor. The invisibility of the watermark for the proposed algorithm is tested by using different measurements, such as HD and PSNR. The robustness was tested by using different types of attacks; the correlation coefficient was applied for the evaluati

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Scopus (9)
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Publication Date
Thu Aug 01 2019
Journal Name
International Journal Of Machine Learning And Computing
Emotion Recognition System Based on Hybrid Techniques
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Emotion recognition has important applications in human-computer interaction. Various sources such as facial expressions and speech have been considered for interpreting human emotions. The aim of this paper is to develop an emotion recognition system from facial expressions and speech using a hybrid of machine-learning algorithms in order to enhance the overall performance of human computer communication. For facial emotion recognition, a deep convolutional neural network is used for feature extraction and classification, whereas for speech emotion recognition, the zero-crossing rate, mean, standard deviation and mel frequency cepstral coefficient features are extracted. The extracted features are then fed to a random forest classifier. In

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Scopus (15)
Crossref (12)
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