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.
The work in this paper involves the planning, design and implementation of a mobile learning system called Nahrain Mobile Learning System (NMLS). This system provides complete teaching resources, which can be accessed by the students, instructors and administrators through the mobile phones. It presents a viable alternative to Electronic learning. It focuses on the mobility and flexibility of the learning practice, and emphasizes the interaction between the learner and learning content. System users are categorized into three categories: administrators, instructors and students. Different learning activities can be carried out throughout the system, offering necessary communication tools to allow the users to communicate with each other
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يهدف البحث إلى وضع إطار معرفي ومفاهيمي شامل لموضوع البحث, واغناء القارئ والمستفيد بالمعلومات الوافية عنه وتقليص الفجوات المعرفية للمهتمين به وقياس مدى ما هو متوفر وغير متوفر من المتطلبات الأساسية والضرورية لإنشاء صناديق التحوط في البيئة العراقية, وتمثلت صناديق التحوط بالمتغير الرئيس للبحث اما المتغيرات الفرعية فشملت (المتطلبات المالية, المتطلبات البشرية, البيئة التشريعية, الب
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This research aims to reform the Iraqi public budget through going into the challenges the budget faces in applying item-line budget in its preparation, implementation and control; which encourage extravagance and waste instead of rationalizing expenditures. This is shown in the data analysis of Federal public budget laws in Iraq for the years from 2005 till 2013; there was a continuous increase in the aggregate public expenditures in the public budget for the years previously mentioned, as the public expenditures growth has reached into the percent 284.71% in 2013. In addition the public budget for these years (2005-2013) is being prepared with planned deficit without confirming that
... Show MoreVisible Light Communication (VLC) has emerged as a powerful technique for wireless communication systems. Providing high data rate and increasing capacity are the major problems in VLC. Recent evidence suggests that Multiple Input Multiple Output (MIMO) technique can offers improved data rates and increased link range. This paper describes the design and implementation of visible light communication system in indoor environment exploring the benefits of MIMO. The specific objective of this research was to implement a 4× 4 Multiple Input (LEDs) Multiple Output (photodetectors)-VLC communication system, where a 16 white power LEDs in four arrays are setting up at transmitter and four RX modules are setting up at receiver side without the nee
... Show MoreIn the present work a dynamic analysis technique have been developed to investigate and characterize the quantity of elastic module degradation of cracked cantilever plates due to presence of a defect such as surface of internal crack under free vibration. A new generalized technique represents the first step in developing a health monitoring system, the effects of such defects on the modal frequencies has been the main key quantifying the elasticity modulii due to presence any type of un-visible defect. In this paper the finite element method has been used to determine the free vibration characteristics for cracked cantilever plate (internal flaws), this present work achieved by different position of crack. Stiffness re
... Show MoreInternet of Things (IoT) contributes to improve the quality of life as it supports many applications, especially healthcare systems. Data generated from IoT devices is sent to the Cloud Computing (CC) for processing and storage, despite the latency caused by the distance. Because of the revolution in IoT devices, data sent to CC has been increasing. As a result, another problem added to the latency was increasing congestion on the cloud network. Fog Computing (FC) was used to solve these problems because of its proximity to IoT devices, while filtering data is sent to the CC. FC is a middle layer located between IoT devices and the CC layer. Due to the massive data generated by IoT devices on FC, Dynamic Weighted Round Robin (DWRR)
... Show MoreTo ensure that a software/hardware product is of sufficient quality and functionality, it is essential to conduct thorough testing and evaluations of the numerous individual software components that make up the application. Many different approaches exist for testing software, including combinatorial testing and covering arrays. Because of the difficulty of dealing with difficulties like a two-way combinatorial explosion, this brings up yet another problem: time. Using client-server architectures, this research introduces a parallel implementation of the TWGH algorithm. Many studies have been conducted to demonstrate the efficiency of this technique. The findings of this experiment were used to determine the increase in speed and co
... Show MoreDue to the high mobility and dynamic topology of the FANET network, maintaining communication links between UAVs is a challenging task. The topology of these networks is more dynamic than traditional mobile networks, which raises challenges for the routing protocol. The existing routing protocols for these networks partly fail to detect network topology changes. Few methods have recently been proposed to overcome this problem due to the rapid changes of network topology. We try to solve this problem by designing a new dynamic routing method for a group of UAVs using Hybrid SDN technology (SDN and a distributed routing protocol) with a highly dynamic topology. Comparison of the proposed method performance and two other algorithms is simula
... Show MoreBefore users store data in the cloud, many security issues must be addressed, as they will have no direct control over the data that has been outsourced to the cloud, particularly personal and sensitive data (health, finance, military, etc.). This article proposes a system based on chaotic maps for private key generation. A hybrid encryption for fast and secure cryptography. In addition to a multi-cloud storage with Pseudonymized file names to preserve user data privacy on the cloud while minimizing data loss. As well as a hash approach to check data integrity. AES in combination with RSA and fragmenting the file is used for the encryption. Integrity is cheeked using SHA-3. The experiments demonstrated that the key generation stra
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