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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
Fri Apr 24 2026
Journal Name
F1000research
Machine Learning Assisted Hybrid Cuckoo Search for Predictive Optimization in Renewable Energy Systems
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Background Due to the intermittent, nonlinear, and uncertain behavior of renewable energy sources (res) such as solar and wind, grid stability and reliability require very high forecasting and optimization skills as widely reported in the literature. Traditional optimization methods work very well in small or static systems but are suffer difficulty on large-scale, dynamic and stochastic renewable environment due to their NP-hard nature. Methods The framework introduces the concept of a Machine Learning-Assisted Hybrid Cuckoo Search (ML-HCS) that combines CS with a hybrid metaheuristic and integrates Long Short-Term Memory (LSTM) networks for forecasting based on both regression models of LSTMs and hybrid optimization algorithm

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Publication Date
Wed Sep 03 2025
Journal Name
Plos One
Effective SMOTE boost with deep learning for IDC identification in whole-slide images
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Breast cancer is highlighted in recent research as one of the most prevalent types of cancer. Timely identification is essential for enhancing patient results and decreasing fatality rates. Utilizing computer-assisted detection and diagnosis early on may greatly improve the chances of recovery by accurately predicting outcomes and developing suitable treatment plans. Grading breast cancer properly, especially evaluating nuclear atypia, is difficult owing to faults and inconsistencies in slide preparation and the intricate nature of tissue patterns. This work explores the capability of deep learning to extract characteristics from histopathology photos of breast cancer. The research introduces a new method called SMOTE-based Convolut

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Publication Date
Thu Jan 01 2026
Journal Name
Ieee Transactions On Cognitive And Developmental Systems
M2RU: Memristive Minion Recurrent Unit for On-Chip Continual Learning at the Edge
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Continual learning on edge platforms remains challenging because recurrent networks depend on energy-intensive training procedures and frequent data movement that are impractical for embedded deployments. This work introduces M2RU, a mixed-signal architecture that implements the minion recurrent unit for efficient temporal processing with on-chip continual learning. The architecture integrates weighted-bit streaming, which enables multi-bit digital inputs to be processed in crossbars without high-resolution conversion, and an experience replay mechanism that stabilizes learning under domain shifts. M2RU achieves ∼13 GOPS at 16.76 mW, corresponding to 776 GOPS per watt, and maintains accuracy within 5 percent of software baselines on seque

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Geological Journal
Evaluating Machine Learning Techniques for Carbonate Formation Permeability Prediction Using Well Log Data
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Machine learning has a significant advantage for many difficulties in the oil and gas industry, especially when it comes to resolving complex challenges in reservoir characterization. Permeability is one of the most difficult petrophysical parameters to predict using conventional logging techniques. Clarifications of the work flow methodology are presented alongside comprehensive models in this study. The purpose of this study is to provide a more robust technique for predicting permeability; previous studies on the Bazirgan field have attempted to do so, but their estimates have been vague, and the methods they give are obsolete and do not make any concessions to the real or rigid in order to solve the permeability computation. To

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Publication Date
Sun Mar 02 2008
Journal Name
Baghdad Science Journal
Comparative sensitivity of two freshwater snail Melanopsis nodosa and Bulinus truncatus to 2, 4-D pesticide
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The molluscicidal effects of herbicide 2, 4-D were studied against tow species of freshwater snail Bulinus truncatus and Melanopsis nodosa by short term experiments. Calculated values of lethal concentrations (LC50 and LC100) were maid to two spices for different period of time 24hr, 48hr, 72hr and 96hr. The study had showed that the herbicide 2, 4-D was toxic against the tow species. The toxicity of the herbicide was low or unknown in low concentrations in the first period of exposure 24and 48hr to two spices but it increase gradually with increase period of exposure. The spice of B.truncatus was more tolerant than the M.nodosa. All the individual of M nodosa was death while in B.truncatus the complete death was not appear until finish the

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Publication Date
Sun Dec 09 2018
Journal Name
Baghdad Science Journal
A Comparative Efficiency Study of Two Adsorbent Materials to Remove Eosin Y Dye from Aqueous Solutions
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This study was done to find a cheap, available and ecofriendly materials that can remove eosin y dye from aqueous solutions by adsorption in this study, two adsorbent materials were used, the shells of fresh water clam (Cabicula fluminea) and walnut shells. To make a comparison between the two adsorbents, five experiments were conducted. First, the effects of the contact time, here the nut shell removed the dye quickly, while the C. flumina need more contact time to remove the dye. Second, the effects of adsorbent weight were examined. The nut shell was very promising and for all used adsorbent weight, the R% ranged from 94.87 to 99.29. However C. fluminea was less effective in removing the dye with R% ranged from 47.59 to 55.39. The thi

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Publication Date
Mon Jul 20 2026
Journal Name
Sciences Journal Of Physical Education
The effect of skill exercises according to the Keller model on attentional control and learning the shooting skills from stability and movement of basketball for female students
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Publication Date
Thu Jan 31 2019
Journal Name
Journal Of The College Of Education For Women
Comparison Study in Sarcasm For University of Baghdad Staff
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Sarcasm is conceders one patterns of undesirable communication, which causes social problems in humans relationships because of the contradictory verbal and nonverbal expressions is known sarcasm may defined , statements with intent to belittle others in different situations, dealing with the individual deliberately, to diminish the will or overwhelmed by the recipe stupid, which generate a reaction when a person listener, raising the intentions of ridicule and undermine it, and this may happen is different from the irony interest increased in sarcasm since the development of scientists "Watzlawick '" and Bevin "Jackson's" in 1967 theory interactive and considered the sarcasm one interaction patterns in the social relationship, which use

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Publication Date
Mon Sep 30 2024
Journal Name
Iraqi Journal Of Computers, Communications, Control And Systems Engineering
Comparative Analysis of Two Robust Strategies for an Angular Velocity Control System
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In this paper, a novel flow control strategy which is the inlet throttled pump was used to design an angular velocity control system for rotary actuator. Inlet throttled systems have good performance in addition to their high efficiency compared to traditional valve controlled systems. The flow in the proposed system is adjusted by a valve that is positioned at the pump inlet with the purpose of reducing the energy loses across the valve. This regulated flow is used then to control the actuator angular velocity. The system was modeled and the open loop stability and performance were studied. In order to improve the system performance, Robust-Proportional-Integral-Derivative (RPID) and structured singular value (M@#@) controllers have been d

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Publication Date
Wed Nov 12 2025
Journal Name
2025 7th International Conference On Control Systems, Mathematical Modeling, Automation And Energy Efficiency (summa)
Comparative Analysis of Robust Strategies for an Electro-hydraulic Servo Valve System
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PID (proportional-integral-derivative) and Mu controllers are widely used in electro-hydraulic servo systems due to their effectiveness and ease of implementation. This paper explores using particle swarm optimization (PSO) for tuning traditional and robust PID controllers, along with D-K iteration for Mu controller tuning. Three controller types: conventional PID (CPID), robust PID (RPID), and structured singular value controllers are developed, while analyzing multiplicative uncertainty with six uncertain coefficients. Their findings indicated that both PID (CPID and RPID) and Mu controllers maintained system stability. Notably, the Mu controller can handle coefficient uncertainty without a pure integral term, while the RPID controller de

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