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 need to constantly and consistently improve the quality and quantity of the educational system is essential. E-learning has emerged from the rapid cycle of change and the expansion of new technologies. Advances in information technology have increased network bandwidth, data access speed, and reduced data storage costs. In recent years, the implementation of cloud computing in educational settings has garnered the interest of major companies, leading to substantial investments in this area. Cloud computing improves engineering education by providing an environment that can be accessed from anywhere and allowing access to educational resources on demand. Cloud computing is a term used to describe the provision of hosting services
... Show MoreIt is well known that the spread of cancer or tumor growth increases in polluted environments. In this paper, the dynamic behavior of the cancer model in the polluted environment is studied taking into consideration the delay in clearance of the environment from their contamination. The set of differential equations that simulates this epidemic model is formulated. The existence, uniqueness, and the bound of the solution are discussed. The local and global stability conditions of disease-free and endemic equilibrium points are investigated. The occurrence of the Hopf bifurcation around the endemic equilibrium point is proved. The stability and direction of the periodic dynamics are studied. Finally, the paper is ended with a numerical simul
... Show MoreIn this paper, the aquatic food chain model, consisting of Phytoplankton, Zooplankton, and Fish, in the contaminated environment is proposed and studied. Modified Leslie–Gower model with Holling type IV functional response are used to describe the growth of Fish and the food transition throughout the food chain, respectively. The toxic substance affects directly the Phytoplankton and indirectly the other species. The local stability analysis of all possible equilibrium points is done. The persistence conditions of the model are established. The basin of attraction for each point is specified using the Lyapunov function. Bifurcation analysis near the coexistence equilibrium point is investigated. Detecting the existence of chao
... Show MoreThis research sheds light on the physical environment role in creating the place attachment, by discussing one of the important factors in the attachment creation, it is the concept place dependence, consisting of two important dimensions: the place quality and the place expectation; they contain a number of the supporter physical environment sub-indicators for place attachment. Eight physical indicators were reached; they were found to have a close relationship to the place attachment, including: the open and green spaces existence, land use diversity, diversity of housing types, dwelling / population density, accessibility, transport network development degree, transport multiple mo
In this article, the types of renewable energies and the environmental effects of consuming these energies are studied. Energy is one of the things necessary for economic and social development and improving the quality of life, and the presence of continuous and sustainable economic energy is essential for any economic development and growth. Humankind has been aware of renewable energies such as biomass and geothermal energy for a long time and has used these energies as heat sources for shelter. With the beginning of the extraction of fossil fuels such as oil and coal and unlimited access to these products, the use of renewable energy sources, except in remote places and forest areas, has become limited and forgotten. Currently in Iraq,
... Show MoreMulti-agent systems are subfield of Artificial Intelligence that has experienced rapid growth because of its flexibility and intelligence in order to solve distributed problems. Multi-agent systems (MAS) have got interest from various researchers in different disciplines for solving sophisticated problems by dividing them into smaller tasks. These tasks can be assigned to agents as autonomous entities with their private database, which act on their environment, perceive, process, retain and recall by using multiple inputs. MAS can be defined as a network of individual agents that share knowledge and communicate with each other in order to solve a problem that is beyond the scope of a single agent. It is imperative to understand the chara
... Show MoreThis paper discusses the limitation of both Sequence Covering Array (SCA) and Covering Array (CA) for testing reactive system when the order of parameter-values is sensitive. In doing so, this paper proposes a new model to take the sequence values into consideration. Accordingly, by superimposing the CA onto SCA yields another type of combinatorial test suite termed Multi-Valued Sequence Covering Array (MVSCA) in a more generalized form. This superimposing is a challenging process due to NP-Hardness for both SCA and CA. Motivated by such a challenge, this paper presents the MVSCA with a working illustrative example to show the similarities and differences among combinatorial testing methods. Consequently, the MVSCA is a
... Show MoreFabrication of solar cell prepared by thermal spray and vacuum thermal evaporation method on silicon wafer(n-type) and studying its efficiency. The film have been deposited on three layers(ZnO then CdS and CdTe) on Si and glass respectively.Direct energy gap was calculated and equal to (4.3,3.4,3)eV and indirect energy gap equal to (3.5,2.5,1.5)eV respectively . Efficiency was calculated for the cell of area 2cm2 it was equal to 0.14%.
In project management process, the objective is to define and develop a model for planning, scheduling, controlling, and monitoring different activities of a particular project. Time scheduling plays an important role in successful implementation of various activities and general outcome of project. In practice, various factors cause projects to suffer from time delay in accomplishing the activities. One important reason is imprecise knowledge about time duration of activities. This study addresses the problem of project scheduling in uncertain resource environments, which are defined by uncertain activity durations. The study presents a solution of the levelling and allocation problems for projects that have some uncertain ac
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