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Comparative Transfer Learning Models for End-to-End Self-Driving Car
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Self-driving automobiles are prominent in science and technology, which affect social and economic development. Deep learning (DL) is the most common area of study in artificial intelligence (AI). In recent years, deep learning-based solutions have been presented in the field of self-driving cars and have achieved outstanding results. Different studies investigated a variety of significant technologies for autonomous vehicles, including car navigation systems, path planning, environmental perception, as well as car control. End-to-end learning control directly converts sensory data into control commands in autonomous driving. This research aims to identify the most accurate pre-trained Deep Neural Network (DNN) for predicting the steering angle of a self-driving vehicle that is suitable to be applied to embedded automotive technologies with limited performance. Three well-known pre-trained models were compared in this study: AlexNet, ResNet18, and DenseNet121.

Transfer learning was utilized by modifying the final layer of pre-trained models in order to predict the steering angle of the vehicle. Experiments were conducted on the dataset collected from two different tracks. According to the study's findings, ResNet18 and DenseNet121 have the lowest error percentage for steering angle values. Furthermore, the performance of the modified models was evaluated on predetermined tracks. ResNet18 outperformed DenseNet121 in terms of accuracy, with less deviation from the center of the track, while DenseNet121 demonstrated greater adaptability across multiple tracks, resulting in better performance consistency.

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Publication Date
Sat Jul 28 2018
Journal Name
Journal Of Engineering
Heat Transfer and Thermal Expansion of Coefficient EP -(MWCNT/x-TiO2)Nanocomposites
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The thermal properties (thermal transfer and thermal expansion coefficient) of the enhanced epoxy resin (MWCNT / x-TiO2) were studied by weight ratios with the values (0%, 3%, 5%, 7% and 10%) and a constant ratio of 3% of MWCNT. The ultrasonic technology was used to prepare the neat and composites which were then poured into Teflon molds according to standard conditions. Thermo-analyzer sensor technology was used to measure thermal transfer (thermal conductivity, thermal flow, thermal diffusion, thermal energy and heat resistance). The thermal conductivity, flow, and thermal conductivity values were increased sequentially by increasing the weight ratio of the filler while the results of stored energy values an

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Publication Date
Sun Nov 01 2015
Journal Name
Energy Conversion And Management
Laminar convective heat transfer of hexylamine-treated MWCNTs-based turbine oil nanofluid
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Multi-walled carbon nanotubes (MWCNTs) were functionalized by hexylamine (HA) in a promising, cost-effective, rapid and microwave-assisted approach. In order to decrease defects and remove acid-treatment stage, functionalization of MWCNTs with HA was carried out in the presence of diazonium reaction. Surface functionality groups and morphology of chemically-functionalized MWCNTS were characterized by FTIR, Raman spectroscopy, thermogravimetric analysis (DTG), and transmission electron microscopy (TEM). To reach a promising dispersibility in oil media, MWCNTs were functionalized with HA. While the cylindrical structures of MWCNTs were remained reasonably intact, characterization results consistently confirmed the sidewall-functionalization o

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Publication Date
Fri Dec 01 2023
Journal Name
Al-khwarizmi Engineering Journal
PDF Comparison based on Various FSO Channel Models under Different Atmospheric Turbulence
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Recently, wireless communication environments with high speeds and low complexity have become increasingly essential. Free-space optics (FSO) has emerged as a promising solution for providing direct connections between devices in such high-spectrum wireless setups. However, FSO communications are susceptible to weather-induced signal fluctuations, leading to fading and signal weakness at the receiver. To mitigate the effects of these challenges, several mathematical models have been proposed to describe the transition from weak to strong atmospheric turbulence, including Rayleigh, lognormal, Málaga, Nakagami-m, K-distribution, Weibull, Negative-Exponential, Inverse-Gaussian, G-G, and Fisher-Snedecor F distributions. This paper extensive

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Publication Date
Sun Jun 01 2025
Journal Name
Methodsx
How mathematical models might predict desertification from global warming and dust pollutants
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Publication Date
Wed Dec 30 2020
Journal Name
Modern Sport
The effect of exercises according to the differentiated education method in developing agility and learning the collar skill of students in rhythmic gymnastics
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The second half of the last century witnessed a great scientific revolution that was able to bring about wide changes in various fields, including the field of physical education, which plays a fundamental role in the process of change for the better, and which knocked all the doors of modern science in various aspects and from this perspective we see that students have different capabilities And interests and motives, which require providing a differentiated education, and this depends on the necessity of knowing each student and on the school’s ability to know appropriate strategies for teaching each student so there is no single way to teach so the research problem comes in experimenting with an educational method that works on

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Publication Date
Sun Jan 01 2017
Journal Name
Journal Of The College Of Languages (jcl)
SER Y ESTAR EN LA ENSEÑANZA Y EL APRENDIZAJE DEL ELE Verb (to be) in Learning and Teaching Spanish as a Foreign Language
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Resumen

El presente trabajo nace de una inquietud por la enseñanza del español en Irak a nivel universitario especialmente ante las dificultades que los alumnos árabes en general, e iraquíes en particular, encuentran en su proceso de aprendizaje. Nuestra primera inclinación fue, pues, prestar una atención directa  y cercana al alumno como sujeto del aprendizaje, así como a lo que el alumno produce como resultado del mismo. En el presente trabajo pretendemos dotar al estudiante de los conocimientos lingüísticos necesarios para poder interaccionar en una variedad de situaciones y enfrentarse a problemas cotidianos, de manera que desarrolle las destrezas comunicativas que le permitan establecer una co

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Publication Date
Sat Jul 01 2023
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Auditing the performance of the structural capital according to standards of e-learning and its reflection on the performance of universities: applied research
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The developments and transformations taking place in the era and the growth of knowledge economies and communication technology led this development to compel higher education institutions in Iraq to reconsider their objectives to keep pace with development. And one of the most important tools of development was the application of e-learning standards and its long-term impact on the performance of the educational institution. Performance auditing plays an important role in verifying the extent to which these institutions have implemented their activities and programs that auditing performance by adopting e-learning standards helps the institutions’ management by providing appropriate information on the extent to which they achieve thei

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Publication Date
Tue Oct 01 2013
Journal Name
Journal Of Economics And Administrative Sciences
Comparison Robust M Estimate With Cubic Smoothing Splines For Time-Varying Coefficient Model For Balance Longitudinal Data
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In this research، a comparison has been made between the robust estimators of (M) for the Cubic Smoothing Splines technique، to avoid the problem of abnormality in data or contamination of error، and the traditional estimation method of Cubic Smoothing Splines technique by using two criteria of differentiation which are (MADE، WASE) for different sample sizes and disparity levels to estimate the chronologically different coefficients functions for the balanced longitudinal data which are characterized by observations obtained through (n) from the independent subjects، each one of them is measured repeatedly by group of  specific time points (m)،since the frequent measurements within the subjects are almost connected an

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Publication Date
Sun Jun 01 2014
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The role of tax policy in the development of the Iraqi economy: (Applied Research for the period from 1995 to 2010)
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The tax policy is an important tool of fiscal policy tools which is usedasits multiple tools the State seeks to achieve objectives, such as theachievement of economic development.The importance of the research comes from the importance ofeconomic development resulting from economic policies and prudent fiscaland appropriate to the economic situation of Iraq at the moment is the mostimportant tax policy that taxes one of the most important financial instruments.The research aims to clarify the role of tax policy in developing of theIraqi economy.In an effort to achieve the goals researchers tried to prove thehypothesis ((The tax policy and through multiple tools that seeks to contributeto the achievement of economic development in Iraq)).

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Publication Date
Wed Mar 04 2020
Journal Name
كلية التربية البدنية وعلوم الرياضة
الاعاقة الذاتية وعلاقتها بالتصرف المعرفي لبعض المهارات الاساسية والاداء الخططي الهجومي للاعبي الشباب بكرة القدم
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