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.
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// (∑∑∑
... Show MorePattern matching algorithms are usually used as detecting process in intrusion detection system. The efficiency of these algorithms is affected by the performance of the intrusion detection system which reflects the requirement of a new investigation in this field. Four matching algorithms and a combined of two algorithms, for intrusion detection system based on new DNA encoding, are applied for evaluation of their achievements. These algorithms are Brute-force algorithm, Boyer-Moore algorithm, Horspool algorithm, Knuth-Morris-Pratt algorithm, and the combined of Boyer-Moore algorithm and Knuth–Morris– Pratt algorithm. The performance of the proposed approach is calculated based on the executed time, where these algorithms are applied o
... Show MoreIn this research, analytical study for simulating a Fabry-Perot bistable etalon (F-P cavity) filled with a dispersive optimized nonlinear optical material (Kerr type) such as semiconductors Indium Antimonide (InSb). An optimization procedure using reflective (~85%) InSb etalon (~50µm) thick is described. For this etalon with a (50 µm) spot diameter beam, the minimum switching power is (~0.078 mW) and switching time is (~150 ns), leading to a switching energy of (~11.77 pJ) for this device. Also, the main role played by the temperature to change the etalon characteristic from nonlinear to linear dynamics.
The activity of peroxidase (POD) in cabbage was evaluated using
spectrophotometric method. The enzyme was extracted from the cabbage leaves
with 0.1 M phosphate buffer solution pH 7. 0 . POD activity was determined using
(O-dianisidine) as a substrate. The effects of the amounts of enzyme extract,
substrate concentration, pH and temperature were investigated. The highest activity
of POD was recored at 2 mg/ml. The highest activity of POD was optimized with
16 mM O-dianisidine, The optimum pH was 7.0 for POD , The optimum
temperature was 30°C for POD. These optimum conditions were used to
determined the enzyme activities in cabbage sample. Acetone fractionated
peroxidase from crude extract of Brassica oleracea
Internet of Things (IoT) technology could be an effective solution to accomplish real-time retrieval of historical electronic health records (EHRs) to present better service of healthcare. In a pilgrimage environment such as the Hajj, IoT can be applied by identifying the non-local patients as electronic tags, and the tag data can be read by wireless sensors. The data that is collected using Radio-Frequency Identification (RFID) can be acquired from a Wireless Sensor Network (WSN) in order to accomplish many decisions, such as sending an ambulance to a patient’s location, sending an emergency alert to his immediate family circle, and retrieving his EHR from a database. The main contribution of this research is to propose a conceptual IoT
... Show MoreIraq is facing water shortage problems due to various factors, globally ( Global warming) and regionally ( GAP project) and locally ( improper water resources management projects). In this search the global warming influence on the annual mean value of temperature and yet on the annual mean value of the evapotranspiration for more than three decades has been studied. The climate of Iraq is influenced by its location between the subtropical aridity of the Arabian desert areas and the subtropical humidity of the Arabian Gulf. The relative ascension of temperature degrees in the recent decades was the main factor in relative humidity decrement which increase the evapotranspiration values, since that utilizing a temperature-based method as i
... Show MoreIt is common that extraterrestrial solar radiation Ra value lessen due to the interaction with atmosphere components to result a net solar radiation Rn value about one third of Ra for most measurements on earth. Net solar radiation had major impact on air temperature (To) value statement. So, its estimation is crucial for analyzing the interaction of (atmosphere-vegetation-soil).
Many methodologies available for this aim directly (with radiometer) or indirectly (with air temperature-based formula or soil plus air temperatures-based formula). The peak influences of global warming phenomenon were in eighties decade of the last century, yielding Iraq Rn rates to get cl
... Show MoreIn this study a combination of two basics known methods used to daily prediction of solar insolation in Baghdad city, Iraq, for the first time, the harmonic and the classical linear regression analyses, thus it is called HARLIN model. The resulted prediction data compared with basics data for Baghdad city for two years (2010-2011), where the model showed a great success application in the accurate results, compared with the linear famous and well known model which is used the classical linear Angstrom equations with various formulations in many previous studies.
The solar energy is the major source of power for the future and an important source of renewable energy in Iraq and the world. Suitable climate conditions for solar energy are available in Iraq, especially the high temperature in the summer season which extends for more than six months in the year. Hence, the global solar radiation is abundant with high intensity, which is very essential in applicable models for researchers and solar applications. Therefore, nine first-order regression empirical equations of Angstrom-type correlations were used to estimate the more appropriate global solar radiation model for Baghdad city. Two equations were developed empirically in this work, using the most available and easy to get meteorological data
... Show MoreIn this paper an improved weighted 0-1 knapsack method (WKM) is proposed to optimize the resource allocation process when the sum of items' weight exceeds the knapsack total capacity .The improved method depends on a modified weight for each item to ensure the allocation of the required resources for all the involved items. The results of the improved WKM are compared to the traditional 0-1 Knapsack Problem (KP). The proposed method dominates on the other one in term of the total optimal solution value of the knapsack .