In this paper, we proposed a hybrid control methodology using improved artificial potential field with modify cat swarm algorithm to path planning of decoupled multi-mobile robot in dynamic environment. The proposed method consists of two phase: in the first phase, Artificial Potential Field method (APF) is used to generate path for each one of robots and avoided static obstacles in environment, and improved this method to solve the local minimum problem by using A* algorithm with B-Spline curve while in the second phase, modify Cat Swarm Algorithm (CSA) is used to control collision that occurs among robots or between robot with movable obstacles by using two behaviour modes: seek mode and track mode. Experimental results show that the p

    The digital world has been witnessing a fast progress in technology, which led to an enormous increase in using digital devices, such as cell phones, laptops, and digital cameras. Thus, photographs and videos function as the primary sources of legal proof in courtrooms concerning any incident or crime. It has become important to prove the trustworthiness of digital multimedia. Inter-frame video forgery one of common types of video manipulation performed in temporal domain. It deals with inter-frame video forgery detection that involves frame deletion, insertion, duplication, and shuffling. Deep Learning (DL) techniques have been proven effective in analysis and processing of visual media. Dealing with video data needs to handle th

Diode lasers are becoming popular in periodontal surgery due to their highly absorption by pigments such as melanin and hemoglobin their weak absorption by water and hydroxyapatite makes them safe to be used around dental hard tissues. Objective: The aim of the present study was to evaluate the efficiency of diode laser in performing gingivectomy in comparison to conventional scalpel technique in patients with chronic inflammatory enlargement. Materials and methods: Thirty patients were selected for this study. All of them required surgical treatment of gingival enlargements and were randomly divided into two groups: Control group (treated by scalpel and include sixteen patients) and study group (treated with diode laser 940nm and includ

The purpose of this research is to investigate the impact of corrosive environment (corrosive ferric chloride of 1, 2, 5, 6% wt. at room temperature), immersion period of (48, 72, 96, 120, 144 hours), and surface roughness on pitting corrosion characteristics and use the data to build an artificial neural network and test its ability to predict the depth and intensity of pitting corrosion in a variety of conditions. Pit density and depth were calculated using a pitting corrosion test on carbon steel (C-4130). Pitting corrosion experimental tests were used to develop artificial neural network (ANN) models for predicting pitting corrosion characteristics. It was found that artificial neural network models were shown to be

     Cloth simulation and animation has been the topic of research since the mid-80's in the field of computer graphics. Enforcing incompressible is very important in real time simulation. Although, there are great achievements in this regard, it still suffers from unnecessary time consumption in certain steps that is common in real time applications.   This research develops a real-time cloth simulator for a virtual human character (VHC) with wearable clothing. This research achieves success in cloth simulation on the VHC through enhancing the position-based dynamics (PBD) framework by computing a series of positional constraints which implement constant densities. Also, the self-collision and collision wit

     The worldwide pandemic Coronavirus (Covid-19) is a new viral disease that spreads mostly through nasal discharge and saliva from the lips while coughing or sneezing. This highly infectious disease spreads quickly and can overwhelm healthcare systems if not controlled. However, the employment of machine learning algorithms to monitor analytical data has a substantial influence on the speed of decision-making in some government entities.        ML algorithms trained on labeled patients’ symptoms cannot discriminate between diverse types of diseases such as COVID-19. Cough, fever, headache, sore throat, and shortness of breath were common symptoms of many bacterial and viral diseases.

This research focused on the nu

This research has come out with that strategies made by Porter as generally strategies applicable to any size and type of economic units cannot be applied to many of the economic units in the world in generally and in Iraq especially not a lot of economic units have the resources and competencies that enable them to provide a unique product of its kind in the minds of customers and then adopt a differentiation strategy  and not a lot of economic units have the resources and competencies that make them the cost leader. Differentiators and cost leaders are minority in the world while not differentiators and not cost leaders are majority in the world.

The economic units are not differentiators and not c

      Storing, transferring, and processing high-dimensional electroencephalogram (EGG) signals is a critical challenge. The goal of EEG compression is to remove redundant data in EEG signals. Medical signals like EEG must be of high quality for medical diagnosis. This paper uses a compression system with near-zero Mean Squared Error (MSE) based on Discrete Cosine Transform (DCT) and double shift coding for fast and efficient EEG data compression. This paper investigates and compares the use or non-use of delta modulation, which is applied to the transformed and quantized input signal. Double shift coding is applied after mapping the output to positive as a final step. The system performance is tested using EEG data files from the C

The research aims to identify banking stress tests, which is one of the modern and important tools in managing banking risks by applying the equations of that tool to the sample. The banking sector considered one of the most vulnerable to sudden and rapid changes in an unstable economic environment, making it more vulnerable. Therefore, it is necessary to establish a special risk management section to reduce the banking risks of the banking business that negatively affect its performance.

The research concluded that there is a direct relationship between stress tests and risk management, as stress tests are an essential tool in risk management. They also considered a unified approach in managing bank risks that helps the bank to

ArcHydro is a model developed for building hydrologic information systems to synthesize geospatial and temporal water resources data that support hydrologic modeling and analysis. Raster-based digital elevation models (DEMs) play an important role in distributed hydrologic modeling supported by geographic information systems (GIS). Digital Elevation Model (DEM) data have been used to derive hydrological features, which serve as inputs to various models. Currently, elevation data are available from several major sources and at different spatial resolutions. Detailed delineation of drainage networks is the first step for many natural resource management studies. Compared with interpretation from aerial photographs or topographic maps, auto