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Optimal Robot Path Planning using Enhanced Particle Swarm Optimization algorithm
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The aim of robot path planning is to search for a safe path for the mobile robot. Even though there exist various path planning algorithms for mobile robots, yet only a few are optimized. The optimized algorithms include the Particle Swarm Optimization (PSO) that finds the optimal path with respect to avoiding the obstacles while ensuring safety. In PSO, the sub-optimal solution takes place frequently while finding a solution to the optimal path problem. This paper proposes an enhanced PSO algorithm that contains an improved particle velocity. Experimental results show that the proposed Enhanced PSO performs better than the standard PSO in terms of solution’s quality. Hence, a mobile robot implementing the proposed algorithm operates better and is more secure. 

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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Review on Hybrid Swarm Algorithms for Feature Selection
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    Feature selection represents one of the critical processes in machine learning (ML). The fundamental aim of the problem of feature selection is to maintain performance accuracy while reducing the dimension of feature selection. Different approaches were created for classifying the datasets. In a range of optimization problems, swarming techniques produced better outcomes. At the same time, hybrid algorithms have gotten a lot of attention recently when it comes to solving optimization problems. As a result, this study provides a thorough assessment of the literature on feature selection problems using hybrid swarm algorithms that have been developed over time (2018-2021). Lastly, when compared with current feature selection procedu

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Publication Date
Mon Dec 20 2021
Journal Name
Baghdad Science Journal
Unifying The Evaluation Criteria Of Many Objectives Optimization Using Fuzzy Delphi Method
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Many objective optimizations (MaOO) algorithms that intends to solve problems with many objectives (MaOP) (i.e., the problem with more than three objectives) are widely used in various areas such as industrial manufacturing, transportation, sustainability, and even in the medical sector.  Various approaches of MaOO algorithms are available and employed to handle different MaOP cases. In contrast, the performance of the MaOO algorithms assesses based on the balance between the convergence and diversity of the non-dominated solutions measured using different evaluation criteria of the quality performance indicators. Although many evaluation criteria are available, yet most of the evaluation and benchmarking of the MaOO with state-of-art a

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Publication Date
Fri Mar 01 2024
Journal Name
Water, Air, & Soil Pollution
Decontamination of Cobalt-Polluted Soils Using an Enhanced Electro-kinetic Method, Employing Eco-friendly Conditions
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Publication Date
Tue Dec 01 2020
Journal Name
Baghdad Science Journal
Real-Time Cloth Simulation on Virtual Human Character Using Enhanced Position Based Dynamic Framework Technique
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     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

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Publication Date
Sun Jun 01 2014
Journal Name
Baghdad Science Journal
Solving Optimal Control Linear Systems by Using New Third kind Chebyshev Wavelets Operational Matrix of Derivative
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In this paper, a new third kind Chebyshev wavelets operational matrix of derivative is presented, then the operational matrix of derivative is applied for solving optimal control problems using, third kind Chebyshev wavelets expansions. The proposed method consists of reducing the linear system of optimal control problem into a system of algebraic equations, by expanding the state variables, as a series in terms of third kind Chebyshev wavelets with unknown coefficients. Example to illustrate the effectiveness of the method has been presented.

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Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
Modify Symmetric Block Cipher Algorithm Using Generated Digital 3D Fractal Image
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The principal goal guiding any designed encryption algorithm must be security against unauthorized attackers. Within the last decade, there has been a vast increase in the communication of digital computer data in both the private and public sectors. Much of this information has a significant value; therefore it does require the protection by design strength algorithm to cipher it. This algorithm defines the mathematical steps required to transform data into a cryptographic cipher and also to transform the cipher back to the original form. The Performance and security level is the main characteristics that differentiate one encryption algorithm from another. In this paper suggested a new technique to enhance the performance of the Data E

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Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Science
The Dynamics of Biological Models with Optimal Harvesting
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      This paper aims to introduce a concept of an equilibrium point of a dynamical system which will call it almost global asymptotically stable. We also propose and analyze a prey-predator model with a suggested  function growth in prey species. Firstly the existence and local stability of all its equilibria are studied. After that the model is extended to an optimal control problem to obtain an optimal harvesting strategy. The discrete time version of Pontryagin's maximum principle is applied to solve the optimality problem. The characterization of the optimal harvesting variable and the adjoint variables are derived. Finally these theoretical results are demonstrated with numerical simulations.

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Publication Date
Mon Jul 01 2024
Journal Name
Civil Engineering Journal
The Effect of Oil Contaminated on Collapse Pattern in Gypseous Soil Using Particle Image Velocimetry and Simulation
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Gypseous soil covers approximately 30% of Iraqi lands and is widely used in geotechnical and construction engineering as it is. The demand for residential complexes has increased, so one of the significant challenges in studying gypsum soil due to its unique behavior is understanding its interaction with foundations, such as strip and square footing. This is because there is a lack of experiments that provide total displacement diagrams or failure envelopes, which are well-considered for non-problematic soil. The aim is to address a comprehensive understanding of the micromechanical properties of dry, saturated, and treated gypseous sandy soils and to analyze the interaction of strip base with this type of soil using particle image

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Publication Date
Fri Mar 01 2024
Journal Name
Baghdad Science Journal
A Comparison between Ericson's Formulae Results and Experimental Data Using New Formulae of Single Particle Level Density
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The partial level density PLD of pre-equilibrium reactions that are described by Ericson’s formula has been studied using different formulae of single particle level density . The parameter  was used from the equidistant spacing model (ESM) model and the non- equidistant spacing model (non-ESM) and another formula of  are derived from the relation between  and level density parameter . The formulae used to derive  are the Roher formula, Egidy formula, Yukawa formula, and Thomas –Fermi formula. The partial level density results that depend on  from the Thomas-Fermi formula show a good agreement with the experimental data.

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Publication Date
Sat Jan 01 2011
Journal Name
Journal Of The College Of Basic Education
Solving Job-Shop Scheduling Problem Using Genetic Algorithm Approach
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