Abstract

Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization al

In this work Laser wireless video communication system using intensity modualtion direct
detection IM/DD over a 1 km range between transmitter and receiver is experimentally investigated and
demonstrated. Beam expander and beam collimeter were implemented to collimete laser beam at the
transmitter and focus this beam at the receiver respectively. The results show that IM/DD communication
sysatem using laser diode is quite attractive for transmitting video signal. In this work signal to noise
ratio (S/N) higher than 20 dB is achieved in this work.

Based on the diazotization-coupling reaction, a new, simple, and sensitive spectrophotometric method for determining of a trace amount of (BPF) is presented in this paper. Diazotized metoclopramide reagent react with bisphenol F produces an orange azo-compound with a maximum absorbance at 461 nm in alkaline solution. The experimental parameters were optimized such as type of alkaline medium, concentration of NaOH, diazotized metoclopramide amount, order additions, reaction time, temperature, and effect of organic solvents to achieve the optimal performance for the proposed method. The absorbance increased linearly with increasing bisphenol F concentration in the range of 0.5-10 μg mL^-1 under ideal conditions, with a correlati

Extracorporeal Shock Wave Lithotripsy (ESWL) is the most commonplace remedy for kidney stone. Shock waves from outside the body frame are centered at a kidney stone inflicting the stone to fragment. The success of the (ESWL) treatment is based on some variables such as age, sex, stone quantity stone period and so on. Thus, the prediction the success of remedy by this method is so important for professionals to make a decision to continue using (ESWL) or tousing another remedy technique. In this study, a prediction system for (ESWL) treatment by used three techniques of mixing classifiers, which is Product Rule (PR), Neural Network (NN) and the proposed classifier called Nested Combined Classi

 Pan sharpening (fusion image) is the procedure of merging suitable information from two or more images into a single image. The image fusion techniques allow the combination of different information sources to improve the quality of image and increase its utility for a particular application. In this research, six pan-sharpening method have been implemented between the panchromatic and multispectral images, these methods include Ehlers, color normalize, Gram-Schmidt, local mean and variance matching, Daubechies of rank two and Symlets of rank four  wavelet transform. Two images captured by two different sensors such as landsat-8 and world view-2 have been adopted to achieve the fusion purpose. Different fidelity metric like MS

The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The develop

The   study   of  torsion  {torsion   free)  fuzzy  modules   over   fuzzy

integtal  domain  as a generalization oftorsion (torsion free) modules.

      In this paper we shall prepare an  sacrificial solution for fuzzy differential algebraic equations of fractional order (FFDAEs) based on the Adomian decomposition method (ADM) which is proposed to solve (FFDAEs) . The blurriness will appear in the boundary conditions, to be fuzzy numbers. The solution of the proposed pattern of  equations is studied in the form of a convergent series with readily computable components. Several examples are resolved as  clarifications, the numerical outcomes are obvious that the followed approach is simple to perform and precise when utilized to (FFDAEs).

      In this paper we shall prepare an  sacrificial solution for fuzzy differential algebraic equations of fractional order (FFDAEs) based on the Adomian decomposition method (ADM) which is proposed to solve (FFDAEs) . The blurriness will appear in the boundary conditions, to be fuzzy numbers. The solution of the proposed pattern of  equations is studied in the form of a convergent series with readily computable components. Several examples are resolved as  clarifications, the numerical outcomes are obvious that the followed approach is simple to perform and precise when utilized to (FFDAEs).

DeepFake is a concern for celebrities and everyone because it is simple to create. DeepFake images, especially high-quality ones, are difficult to detect using people, local descriptors, and current approaches. On the other hand, video manipulation detection is more accessible than an image, which many state-of-the-art systems offer. Moreover, the detection of video manipulation depends entirely on its detection through images. Many worked on DeepFake detection in images, but they had complex mathematical calculations in preprocessing steps, and many limitations, including that the face must be in front, the eyes have to be open, and the mouth should be open with the appearance of teeth, etc. Also, the accuracy of their counterfeit detectio