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Generative Adversarial Network for Imitation Learning from Single Demonstration

Imitation learning is an effective method for training an autonomous agent to accomplish a task by imitating expert behaviors in their demonstrations. However, traditional imitation learning methods require a large number of expert demonstrations in order to learn a complex behavior. Such a disadvantage has limited the potential of imitation learning in complex tasks where the expert demonstrations are not sufficient. In order to address the problem, we propose a Generative Adversarial Network-based model which is designed to learn optimal policies using only a single demonstration. The proposed model is evaluated on two simulated tasks in comparison with other methods. The results show that our proposed model is capable of completing considered tasks despite the limitation in the number of expert demonstrations, which clearly indicate the potential of our model.

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Publication Date
Mon Apr 01 2013
Journal Name
International Journal Of Electrical, Electronics And Telecommunication Engineering
Performance Analysis of xPON Network for Different Queuing Models

Passive optical network (PON) is a point to multipoint, bidirectional, high rate optical network for data communication. Different standards of PONs are being implemented, first of all PON was ATM PON (APON) which evolved in Broadband PON (BPON). The two major types are Ethernet PON (EPON) and Gigabit passive optical network (GPON). PON with these different standards is called xPON. To have an efficient performance for the last two standards of PON, some important issues will considered. In our work we will integrate a network with different queuing models such M/M/1 and M/M/m model. After analyzing IPACT as a DBA scheme for this integrated network, we modulate cycle time, traffic load, throughput, utilization and overall delay

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Publication Date
Sat Apr 01 2023
Journal Name
Heliyon
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Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Engineering
Design of L1 -Adaptive Controller for Single Axis Positioning Table

L1 adaptive controller has proven to provide fast adaptation with guaranteed transients in a large variety of systems. It is commonly used for controlling systems with uncertain time-varying unknown parameters. The effectiveness of  L1 adaptive controller for position control of single axis has been examined and compared with Model Reference Adaptive Controller (MRAC). The Linear servo motor is one of the main constituting elements of the x-y table which is mostly used in automation application. It is characterized by time-varying friction and disturbance.

    The tracking and steady state performances of both controllers have been assessed fo

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Statistical Model for Polarization Mode Dispersion in Single Mode Fibers

As the bit rate of fiber optic transmission systems is increased to more than , the system will suffer from an important random phenomena, which is called polarization mode dispersion. This phenomenon contributes effectively to: increasing pulse width, power decreasing, time jittering, and shape distortion. The time jittering means that the pulse center will shift to left or right. So that, time jittering leads to interference between neighboring pulses. On the other hand, increasing bit period will prevent the possibility of sending high rates. In this paper, an accurate mathematical analysis to increase the rates of transmission, which contain all physical random variables that contribute to determine the transmission rates, is presen

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Publication Date
Wed Apr 25 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Local Search Algorithms for Multi-criteria Single Machine Scheduling Problem

   Real life scheduling problems require the decision maker to consider a number of criteria before arriving at any decision. In this paper, we consider the multi-criteria scheduling problem of n jobs on single machine to minimize a function of five criteria denoted by total completion times (∑), total tardiness (∑), total earliness (∑), maximum tardiness () and maximum earliness (). The single machine total tardiness problem and total earliness problem are already NP-hard, so the considered problem is strongly NP-hard.

We apply two local search algorithms (LSAs) descent method (DM) and simulated annealing method (SM) for the 1// (∑∑∑

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Facial Expression Recognition Based on Deep Learning: An Overview

      Recognizing facial expressions and emotions is a basic skill that is learned at an early age and it is important for human social interaction. Facial expressions are one of the most powerful natural and immediate means that humans use to express their feelings and intentions. Therefore, automatic emotion recognition based on facial expressions become an interesting area in research, which had been introduced and applied in many areas such as security, safety health, and human machine interface (HMI). Facial expression recognition transition from controlled environmental conditions and their improvement and succession of recent deep learning approaches from different areas made facial expression representation mostly based on u

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Publication Date
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Use Dynamic Bayesian network to estimate the reliability of Adamia Water Network

Abstract\

In this research, estimated the reliability of water system network in Baghdad was done. to assess its performance during a specific period. a fault tree through static and dynamic gates was belt and these gates represent logical relationships between the main events in the network and analyzed using dynamic Bayesian networks . As it has been applied Dynamic Bayesian networks estimate reliability by translating dynamic fault tree to Dynamic Bayesian networks and reliability of the system appreciated. As was the potential for the expense of each phase of the network for each gate . Because there are two parts to the Dynamic Bayesian networks and two part of gate (AND), which includes the three basic units of the

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Publication Date
Mon Jan 27 2020
Journal Name
Iraqi Journal Of Science
Deep Belief Network for Predicting the Predisposition to Lung Cancer in TP53 Gene

Lung cancer, similar to other cancer types, results from genetic changes. However, it is considered as more threatening due to the spread of the smoking habit, a major risk factor of the disease. Scientists have been collecting and analyzing the biological data for a long time, in attempts to find methods to predict cancer before it occurs. Analysis of these data requires the use of artificial intelligence algorithms and neural network approaches. In this paper, one of the deep neural networks was used, that is the enhancer Deep Belief Network (DBN), which is constructed from two Restricted Boltzmann Machines (RBM). The visible nodes for the first RBM are 13 nodes and 8 nodes in each hidden layer for the two RBMs. The enhancer DBN was tr

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Publication Date
Sun Feb 27 2022
Journal Name
Iraqi Journal Of Science
Plants Leaf Diseases Detection Using Deep Learning

     Agriculture improvement is a national economic issue that extremely depends on productivity. The explanation of disease detection in plants plays a significant role in the agriculture field. Accurate prediction of the plant disease can help treat the leaf as early as possible, which controls the economic loss. This paper aims to use the Image processing techniques with Convolutional Neural Network (CNN). It is one of the deep learning techniques to classify and detect plant leaf diseases. A publicly available Plant village dataset was used, which consists of 15 classes, including 12 diseases classes and 3 healthy classes.  The data augmentation techniques have been used. In addition to dropout and weight reg

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Publication Date
Wed Jan 13 2021
Journal Name
Iraqi Journal Of Science
Modern Probabilistic Model: Filtering Massive Data in E-learning

So muchinformation keeps on being digitized and stored in several forms, web pages, scientific articles, books, etc. so the mission of discovering information has become more and more challenging. The requirement for new IT devices to retrieve and arrange these vastamounts of informationaregrowing step by step. Furthermore, platforms of e-learning are developing to meet the intended needsof students.
The aim of this article is to utilize machine learning to determine the appropriate actions that support the learning procedure and the Latent Dirichlet Allocation (LDA) so as to find the topics contained in the connections proposed in a learning session. Ourpurpose is also to introduce a course which moves toward the student's attempts a

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