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Collision Avoidance Using Cat Swarm Algorithm for Multi Mobile Robot Path Planning in Dynamic Environment
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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.

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Publication Date
Sat Jan 20 2024
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Morphological Features of Tongue in Domestic Cat Felis Catus
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The current study aimed to identify the morphological description of the domestic cat tongue; thus for this purpose, five domestic cats of both sexes were collected from the local markets of Baghdad governorate, and then the animals were anesthetized and the tongue was removed from them. Fresh tongue samples were fixed using formalin (10%), and the preserved samples were dyed with methyl blue. The results showed that the tongue is an elongated organ divided into three regions: a somewhat flat rounded apex, this region contains a central depression called the middle groove. The second region is the lingual body region represents the largest region of the tongue, whereas its last region, called the root which has a lingual prominence on it

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Publication Date
Sun Jun 04 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Design and Implement an EC-Application Based on Multi Database Environment
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 The vast majority of EC applications are the web-based deployed in 3-tire Server-Client environment, the data within such application often resides within several heterogeneous data sources. Building a single application that can access each data sources can be a matter of challenging; this paper concerns with developing a software program that runs transparently against heterogeneous environment for an EC-application.
 

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Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
Solving Adaptive Distributed Routing Algorithm Using Crow Search Algorithm
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    Crow Search Algorithm (CSA) can be defined as one of the new swarm intelligence algorithms that has been developed lately, simulating the behavior of a crow in a storage place and the retrieval of the additional food when required. In the theory of the optimization, a crow represents a searcher, the surrounding environment represents the search space, and the random storage of food location represents a feasible solution. Amongst all the food locations, the one where the maximum amount of the food is stored is considered as the global optimum solution, and objective function represents the food amount. Through the simulation of crows’ intelligent behavior, the CSA attempts to find the optimum solutions to a variety of the proble

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Publication Date
Sun Jan 14 2018
Journal Name
Journal Of Engineering
Determination Optimum Inventory Level for Material Using Genetic Algorithm
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The integration of decision-making will lead to the robust of its decisions, and then determination optimum inventory level to the required materials to produce and reduce the total cost by the cooperation of purchasing department with inventory department and also with other company,s departments. Two models are suggested to determine Optimum Inventory Level (OIL), the first model (OIL-model 1) assumed that the inventory level for materials quantities equal to the required materials, while the second model (OIL-model 2) assumed that the inventory level for materials quantities more than the required materials for the next period.             &nb

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Publication Date
Mon Jan 02 2017
Journal Name
European Journal Of Scientific Research
Fast approach for arabic text encryption using genetic algorithm
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As s widely use of exchanging private information in various communication applications, the issue to secure it became top urgent. In this research, a new approach to encrypt text message based on genetic algorithm operators has been proposed. The proposed approach follows a new algorithm of generating 8 bit chromosome to encrypt plain text after selecting randomly crossover point. The resulted child code is flipped by one bit using mutation operation. Two simulations are conducted to evaluate the performance of the proposed approach including execution time of encryption/decryption and throughput computations. Simulations results prove the robustness of the proposed approach to produce better performance for all evaluation metrics with res

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Publication Date
Wed Apr 15 2020
Journal Name
Journal Of The Faculty Of Medicine Baghdad
collision tumor of thyroid gland a case report
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collision tumor is the presence of two histopathologically distinct tumors in the same anatomical site.  It is a rare pathology of the thyroid gland that makes diagnosis and treatment challenging.  This is a case report of a collision tumor of the thyroid gland.

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Publication Date
Mon Jun 17 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Dynamic Channel Assignment Using Neural Networks
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This paper presents a proposed neural network algorithm to solve the shortest path problem (SPP) for communication routing. The solution extends the traditional recurrent Hopfield architecture introducing the optimal routing for any request by choosing single and multi link path node-to-node traffic to minimize the loss. This suggested neural network algorithm implemented by using 20-nodes network example. The result shows that a clear convergence can be achieved by 95% valid convergence (about 361 optimal routes from 380-pairs). Additionally computation performance is also mentioned at the expense of slightly worse results.

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Publication Date
Mon Dec 01 2014
Journal Name
Advances In Engineering Software
System identification and control of robot manipulator based on fuzzy adaptive differential evolution algorithm
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Publication Date
Thu Nov 01 2012
Journal Name
2012 International Conference On Advanced Computer Science Applications And Technologies (acsat)
Data Missing Solution Using Rough Set theory and Swarm Intelligence
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This paper presents a hybrid approach for solving null values problem; it hybridizes rough set theory with intelligent swarm algorithm. The proposed approach is a supervised learning model. A large set of complete data called learning data is used to find the decision rule sets that then have been used in solving the incomplete data problem. The intelligent swarm algorithm is used for feature selection which represents bees algorithm as heuristic search algorithm combined with rough set theory as evaluation function. Also another feature selection algorithm called ID3 is presented, it works as statistical algorithm instead of intelligent algorithm. A comparison between those two approaches is made in their performance for null values estima

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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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