The field of autonomous robotic systems has advanced tremendously in the last few years, allowing them to perform complicated tasks in various contexts. One of the most important and useful applications of guide robots is the support of the blind. The successful implementation of this study requires a more accurate and powerful self-localization system for guide robots in indoor environments. This paper proposes a self-localization system for guide robots. To successfully implement this study, images were collected from the perspective of a robot inside a room, and a deep learning system such as a convolutional neural network (CNN) was used. An image-based self-localization guide robot image-classification system delivers a more accurate solution for indoor robot navigation. The more accurate solution of the guide robotic system opens a new window of the self-localization system and solves the more complex problem of indoor robot navigation. It makes a reliable interface between humans and robots. This study successfully demonstrated how a robot finds its initial position inside a room. A deep learning system, such as a convolutional neural network, trains the self-localization system as an image classification problem. The robot was placed inside the room to collect images using a panoramic camera. Two datasets were created from the room images based on the height above and below the chest. The above-mentioned method achieved a localization accuracy of 98.98%.
In order to activate theatrical discourse aware of the changes imposed by the nature of the contemporary child in terms of stimulating the social skills that achieve a technical and aesthetic convergence between him and theatrical presentation by investing the fact of the existence of the child and its potential in the weaving of stories, and folk in the imagination, and simulation of what corresponds with the characters and icons interact with them through technologies In the light of this research came the following address: (ways to stimulate the skills of the child through a contemporary theatrical speech) where the researcher seeks to delineate the importance involved in the discourse of theater through ways to reach the pillars con
... Show MoreDoubts arise about the originality of a document when noticing a change in its writing style. This evidence to plagiarism has made the intrinsic approach for detecting plagiarism uncover the plagiarized passages through the analysis of the writing style for the suspicious document where a reference corpus to compare with is absent. The proposed work aims at discovering the deviations in document writing style through applying several steps: Firstly, the entire document is segmented into disjointed segments wherein each corresponds to a paragraph in the original document. For the entire document and for each segment, center vectors comprising average weight of their word are constructed. Second, the degree of cl
... Show MoreWith the proliferation of both Internet access and data traffic, recent breaches have brought into sharp focus the need for Network Intrusion Detection Systems (NIDS) to protect networks from more complex cyberattacks. To differentiate between normal network processes and possible attacks, Intrusion Detection Systems (IDS) often employ pattern recognition and data mining techniques. Network and host system intrusions, assaults, and policy violations can be automatically detected and classified by an Intrusion Detection System (IDS). Using Python Scikit-Learn the results of this study show that Machine Learning (ML) techniques like Decision Tree (DT), Naïve Bayes (NB), and K-Nearest Neighbor (KNN) can enhance the effectiveness of an Intrusi
... Show MoreGreatest travelers Muslims and Ousahm fame, called sheikh Rahalin to frequent roam in outlook, he spent twenty-eight years of his life in travel-related trips and successive, is Ibn Battuta, who wander in, as it was of adventurers who pushed curiosity to ride a lot of difficulties.
By looking at the definition of buildings and their sections, the research noted that there is a clear confusion of specialists and researchers because of the leniency in the development of the term appropriate for how the fundamentalist or jurist adopts the Shariah rulings, which they know and divide as evidence and sometimes as rules, foundations, or assets; Hence we had to first study these terms and indicate what is meant by language and terminology; to determine the applicability and proportionality, and to determine the correct term and come up with clear and clear results.
This paper proposed a new method for network self-fault management (NSFM) based on two technologies: intelligent agent to automate fault management tasks, and Windows Management Instrumentations (WMI) to identify the fault faster when resources are independent (different type of devices). The proposed network self-fault management reduced the load of network traffic by reducing the request and response between the server and client, which achieves less downtime for each node in state of fault occurring in the client. The performance of the proposed system is measured by three measures: efficiency, availability, and reliability. A high efficiency average is obtained depending on the faults occurred in the system which reaches to
... Show MoreWhen employing shorter (sub picosecond) laser pulses, in ablation kinetics the features appear which can no longer be described in the context of the conventional thermal model. Meanwhile, the ablation of materials with the aid of ultra-short (sub picosecond) laser pulses is applied for micromechanical processing. Physical mechanisms and theoretical models of laser ablation are discussed. Typical associated phenomena are qualitatively regarded and methods for studying them quantitatively are considered. Calculated results relevant to ablation kinetics for a number of substances are presented and compared with experimental data. Ultra-short laser ablation with two-temperature model was quantitatively investigated. A two-temperature model
... Show MoreThe present work aimed to study the efficiency of thermal osmosis process for recovery of water from organic wastewater solution and study the factors affecting the performance of the osmosis cell. The driving force in the thermo osmosis cell is provided by a difference in temperature across the membrane sides between the draw and feed solution. In this research used a cellulose triacetate (CTA), as flat sheet membranes for treatment of organic wastewater under orientation membrane of active layer facing feed solution (FS) and draw solution (DS) is placed against the support layer. The organic materials were phenol, toluene, xylene and BTX (benzene, toluene, and xylene) used as feed solution. The osmotic agent in draw solution was
... Show MoreThis study focused on a fundamental issue which was represented by ability of Iraqi central bank in facing the difficulty of determining the optimal ratio of liquidity in the Iraqi banks in terms of the balancing between its obligations to the depositors and borrowers, and liquidate their funds on one hand and the risks on the other hand.the search aimed for achieving the goals which represented by identifying the possibility of Iraqi banks to apply the regulations rules and instructions issued by central bank of Iraq in determining ratio of liquidity and its appropriate with Iraqi banks action to implement a reasonable profit to&
... Show MoreInformation security is a crucial factor when communicating sensitive information between two parties. Steganography is one of the most techniques used for this purpose. This paper aims to enhance the capacity and robustness of hiding information by compressing image data to a small size while maintaining high quality so that the secret information remains invisible and only the sender and recipient can recognize the transmission. Three techniques are employed to conceal color and gray images, the Wavelet Color Process Technique (WCPT), Wavelet Gray Process Technique (WGPT), and Hybrid Gray Process Technique (HGPT). A comparison between the first and second techniques according to quality metrics, Root-Mean-Square Error (RMSE), Compression-
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