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 proposed method success to find a complete, optimal, and collision free path for all robot.
Finding communities of connected individuals in complex networks is challenging, yet crucial for understanding different real-world societies and their interactions. Recently attention has turned to discover the dynamics of such communities. However, detecting accurate community structures that evolve over time adds additional challenges. Almost all the state-of-the-art algorithms are designed based on seemingly the same principle while treating the problem as a coupled optimization model to simultaneously identify community structures and their evolution over time. Unlike all these studies, the current work aims to individually consider this three measures, i.e. intra-community score, inter-community score, and evolution of community over
... Show MoreSteganography is a technique to hide a secret message within a different multimedia carrier so that the secret message cannot be identified. The goals of steganography techniques include improvements in imperceptibility, information hiding, capacity, security, and robustness. In spite of numerous secure methodologies that have been introduced, there are ongoing attempts to develop these techniques to make them more secure and robust. This paper introduces a color image steganographic method based on a secret map, namely 3-D cat. The proposed method aims to embed data using a secure structure of chaotic steganography, ensuring better security. Rather than using the complete image for data hiding, the selection of
... Show MoreFuture generations of wireless networks are expected to heavily rely on unmanned aerial vehicles (UAVs). UAV networks have extraordinary features like high mobility, frequent topology change, tolerance to link failure, and extending the coverage area by adding external UAVs. UAV network provides several advantages for civilian, commercial, search and rescue applications. A realistic mobility model must be used to assess the dependability and effectiveness of UAV protocols and algorithms. In this research paper, the performance of the Gauss Markov (GM) and Random Waypoint (RWP) mobility models in multi-UAV networks for a search and rescue scenario is analyzed and evaluated. Additionally, the two mobility models GM and RWP are descr
... Show MoreNowadays, after the technological development in societies, cloud computing has become one of the most important technologies. It provides users with software, hardware, and platform as remote services over the Internet. The increasing number of cloud users has caused a critical problem in how the clients receive cloud services when the cloud is in a state of instability, as it cannot provide required services and, thus, a delay occurs. Therefore, an algorithm was proposed to provide high efficiency and stability to work, because all existing tasks must operate without delay. The proposed system is an enhancement shortest job first algorithm (ESJF) using a time slice, which works by taking a task in the shortest time first and then the l
... Show MoreIn contemporary cities, the expansion of the use of vehicles has led to the deterioration of the urban environment. To counter this, many concepts and strategies emerged that attempted to regulate mobility in cities and limit its effects. The concept of a "complete street" is one of the modern trends concerned with diversifying means of transportation and reducing the disadvantages of mechanical transportation methods This paper discusses the role that complete streets can play in developing the urban environment in the Alyarmok District of Baghdad, which suffers from traffic congestion and its associated problems.In this study, 104 people were surveyed in the Alyarmok region, and the linear regression method was used to analyze their op
... Show MoreAs of late, humankind has experienced radiation issues either computerized tomography (CT) or X-rays. In this investigation, we endeavor to limit the effect of examination hardware. To do this the medical image is cropping (cut and zoom) then represented the vascular network as a graph such that each contraction as the vertices and the vessel represented as an edges, the area of the coagulation was processed already, in the current search the shortest distance to reach to the place of the blood vessel clot is computed