Preferred Language
Articles
/
ijs-6487
Collision Avoidance Using Cat Swarm Algorithm for Multi Mobile Robot Path Planning in Dynamic Environment
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Nov 01 2020
Journal Name
International Journal Of Engineering
Pavement Maintenance Management Using Multi-objective Optimization: (Case Study: Wasit Governorate-Iraq)
...Show More Authors

View Publication
Scopus (4)
Scopus Clarivate Crossref
Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Science
A Proposed Algorithm for Encrypted Data Hiding in Video Stream Based on Frame Random Distribution
...Show More Authors

     The science of information security has become a concern of many researchers, whose efforts are trying to come up with solutions and technologies that ensure the transfer of information in a more secure manner through the network, especially the Internet, without any penetration of that information, given the risk of digital data being sent between the two parties through an insecure channel. This paper includes two data protection techniques. The first technique is cryptography by using Menezes Vanstone elliptic curve ciphering system, which depends on public key technologies. Then, the encoded data is randomly included in the frame, depending on the seed used. The experimental results, using a PSNR within avera

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Sat Mar 01 2008
Journal Name
Iraqi Journal Of Physics
Enforcing Wiener Filter in the Iterative Blind Restoration Algorithm
...Show More Authors

A new blind restoration algorithm is presented and shows high quality restoration. This
is done by enforcing Wiener filtering approach in the Fourier domains of the image and the
psf environments

View Publication Preview PDF
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
...Show More Authors

     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

... Show More
View Publication Preview PDF
Scopus (23)
Crossref (20)
Scopus Clarivate Crossref
Publication Date
Tue Jul 30 2024
Journal Name
Iraqi Journal Of Science
Frame-Based Change Detection Using Histogram and Threshold to Separate Moving Objects from Dynamic Background
...Show More Authors

      Detecting and subtracting the Motion objects from backgrounds is one of the most important areas. The development of cameras and their widespread use in most areas of security, surveillance, and others made face this problem. The difficulty of this area is unstable in the classification of the pixels (foreground or background). This paper proposed a suggested background subtraction algorithm based on the histogram. The classification threshold is adaptively calculated according to many tests. The performance of the proposed algorithms was compared with state-of-the-art methods in complex dynamic scenes.

View Publication Preview PDF
Scopus Crossref
Publication Date
Sun Jan 08 2023
Journal Name
Journal Of Planner And Development
Statistical Evaluation of the Planning Process and Scheduling Management for Irrigation and Drainage Projects in the Republic of Iraq
...Show More Authors

The Research aims to investigate into reality in terms of planning and scheduling management process for sake the implementation and maintenance of irrigation and drainage projects in the Republic of Iraq, with an indication of the most important obstacles that impede the planning and scheduling management process for these projects and ways of addressing them and minimizing their effects.                                                  For the purpose of achieving the goal of the research, a sci

... Show More
View Publication Preview PDF
Publication Date
Tue Nov 09 2021
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Strategic Planning and its Importance in Building Institutional Work in the National Insurance
...Show More Authors

The aim of the research is to identify the reality of strategic planning in the National Insurance Company and its importance in building institutional work and to identify the requirements that enable this company to successfully implement strategic planning and the obstacles that limit its application and then achieve the marketing objectives of this company. This study started from the fact that there is a problem represented by the main question that was stated.                                            &nbsp

... Show More
View Publication Preview PDF
Publication Date
Fri Aug 01 2008
Journal Name
2008 First International Conference On The Applications Of Digital Information And Web Technologies (icadiwt)
Hybrid canonical genetic algorithm and steepest descent algorithm for optimizing likelihood estimators of ARMA (1, 1) model
...Show More Authors

This paper presents a hybrid genetic algorithm (hGA) for optimizing the maximum likelihood function ln(L(phi(1),theta(1)))of the mixed model ARMA(1,1). The presented hybrid genetic algorithm (hGA) couples two processes: the canonical genetic algorithm (cGA) composed of three main steps: selection, local recombination and mutation, with the local search algorithm represent by steepest descent algorithm (sDA) which is defined by three basic parameters: frequency, probability, and number of local search iterations. The experimental design is based on simulating the cGA, hGA, and sDA algorithms with different values of model parameters, and sample size(n). The study contains comparison among these algorithms depending on MSE value. One can conc

... Show More
View Publication
Scopus (1)
Scopus Crossref
Publication Date
Mon Jun 19 2023
Journal Name
Journal Of Engineering
Design and Implementation ofICT-Based Recycle-Rewarding System for Green Environment
...Show More Authors

This paper proposes a collaborative system called Recycle Rewarding System (RRS), and focuses on the aspect of using information communication technology (ICT) as a tool to promote greening. The idea behind RRS is to encourage recycling collectors by paying them for earning points. In doing so, both the industries and individuals reap the economical benefits of such system. Finally, and more importantly, the system intends to achieve a green environment for the Earth. This paper discusses the design and implementation of the RRS, involves: the architectural design, selection of components, and implementation issues. Five modules are used to construct the system, namely: database, data entry, points collecting and recording, points reward

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Wed Jul 01 2020
Journal Name
Journal Of Engineering
Bat Algorithm Based an Adaptive PID Controller Design for Buck Converter Model
...Show More Authors

The aim of this paper is to design a PID controller based on an on-line tuning bat optimization algorithm for the step-down DC/DC buck converter system which is used in the battery operation of the mobile applications. In this paper, the bat optimization algorithm has been utilized to obtain the optimal parameters of the PID controller as a simple and fast on-line tuning technique to get the best control action for the system. The simulation results using (Matlab Package) show the robustness and the effectiveness of the proposed control system in terms of obtaining a suitable voltage control action as a smooth and unsaturated state of the buck converter input voltage of ( ) volt that will stabilize the buck converter sys

... Show More
View Publication Preview PDF
Crossref (1)
Crossref