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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 Dec 30 2023
Journal Name
Iraqi Journal Of Science
Leachate Characterization and Evaluation of Ground Water Quality Around Landfill Area Using the Canadian Council Ministers of the Environment Water Quality Index
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     Municipal solid waste generation, management, and dumping are economic and ecological concerns that metropolitan areas, particularly those in developing nations, must address. This study intended to ascertain the impacts of solid waste on the quality of groundwater around trash dumps located inside and surrounding landfill sites in the city of Erbil. Samples of groundwater, as well as two samples of leachate, were collected from eight wells situated near landfills during the dry and rainy seasons of August 2021 and February 2022. Several physico-chemical parameters, including pH, EC, NO2, NO3, alkalinity, HCO3, Na, Ca, Mg, Cl, SAR, total hardness, and heavy metals, were evaluated in the samples.

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Publication Date
Wed Jan 06 2021
Journal Name
Pierm
ULTRA-WIDEBAND FEATURING ENHANCED DELAY AND SUM ALGORITHM AND ORIENTED FOR DETECTING EARLY STAGE BREAST CANCER
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Abstract—In this study, we present the experimental results of ultra-wideband (UWB) imaging oriented for detecting small malignant breast tumors at an early stage. The technique is based on radar sensing, whereby tissues are differentiated based on the dielectric contrast between the disease and its surrounding healthy tissues. The image reconstruction algorithm referred to herein as the enhanced version of delay and sum (EDAS) algorithm is used to identify the malignant tissue in a cluttered environment and noisy data. The methods and procedures are tested using MRI-derived breast phantoms, and the results are compared with images obtained from classical DAS variant. Incorporating a new filtering technique and multiplication procedure, t

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Publication Date
Mon Jan 01 2024
Journal Name
Ieee Access
Dual-Layer Compressive Sensing Scheme Incorporating Adaptive Cross Approximation Algorithm for Solving Monostatic Electromagnetic Scattering Problems
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Publication Date
Mon Dec 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Genetic Algorithm Based PID Controller Design for a Precise Tracking of Two-Axis Piezoelectric Micropositioning Stage
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 In this paper, an intelligent tracking control system of both single- and double-axis Piezoelectric Micropositioner stage is designed using Genetic Algorithms (GAs) method for the optimal Proportional-Integral-Derivative (PID) controller tuning parameters. The (GA)-based PID control design approach is a methodology to tune a (PID) controller in an optimal control sense with respect to specified objective function. By using the (GA)-based PID control approach, the high-performance trajectory tracking responses of the Piezoelectric Micropositioner stage can be obtained. The (GA) code was built and the simulation results were obtained using MATLAB environment. The Piezoelectric Micropositioner simulation model with th

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Publication Date
Wed Oct 28 2020
Journal Name
Iraqi Journal Of Science
Zeta Potential of Ag, Cu, ZnO, CdO and Sn Nanoparticles Prepared by Pulse Laser Ablation in Liquid Environment
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Metal nanoparticles (NPs) of silver (Ag), copper (Cu), zinc oxide (ZnO), cadmium oxide (CdO) and tin (Sn) were synthesized by laser ablation of a solid target in de-ionized water (DI). X-ray diffraction patterns showed the formation of AgO, Ag, Cu, ZnO, CdO, and Sn NPs. Absorbance spectrum of the produced nanoparticles was measured by UV-Vis spectrophotometer which showed that Ag and CdO NPs shifted to the short wavelength (blue shift), indicating the formation of NPs with smaller sizes, whereas CuO showed the formation two peaks. ZnO and Sn NPs shifted to the long wavelength (red shift) which indicates the formation NPs with  larger size. Zeta potential results proved that ZnO nanoparticles were more stable (-26.53mV) than the othe

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Publication Date
Fri Mar 10 2023
Journal Name
Indian Journal Of Physics
Describing the differential inelastic inverse mean free path of PMMA polymer with the Mermin–Belkacem-Sigmund model
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Publication Date
Sun Sep 29 2019
Journal Name
Iraqi Journal Of Science
Intelligent TRIPLE DES with N Round Based on Genetic Algorithm
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     This work presents an approach for the applying Triple DES (TRIPLE DES) based on using genetic algorithm by adding intelligent feature for TRIPLE DES with N round for genetic algorithm. Encapsulated cipher file with special program which send an acknowledgment to a sender to know who decipher or  broken to  crash it , Thus it is considered as the initial step to improve privacy. The outcome for proposed system gives a good indication that it is a promising system compared with other type of cipher system.

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Publication Date
Fri Dec 01 2023
Journal Name
Baghdad Science Journal
A novelty Multi-Step Associated with Laplace Transform Semi Analytic Technique for Solving Generalized Non-linear Differential Equations
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   In this work, a novel technique to obtain an accurate solutions to nonlinear form by multi-step combination with Laplace-variational approach (MSLVIM) is introduced. Compared with the  traditional approach for variational it overcome all difficulties and enable to provide us more an accurate solutions with extended of the convergence region as well as covering to larger intervals which providing us a continuous representation of approximate analytic solution and it give more better information of the solution over the whole time interval. This technique is more easier for obtaining the general Lagrange multiplier with reduces the time and calculations. It converges rapidly to exact formula with simply computable terms wit

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Publication Date
Mon May 01 2017
Journal Name
2017 5th International Conference On Information And Communication Technology (icoic7)
Analysis of the number of ants in ant colony system algorithm
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Publication Date
Wed Jul 29 2020
Journal Name
Iraqi Journal Of Science
Fog-based Spider Web Algorithm to Overcome Latency in Cloud Computing
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The cloud-users are getting impatient by experiencing the delays in loading the content of the web applications over the internet, which is usually caused by the complex latency while accessing the cloud datacenters distant from the cloud-users. It is becoming a catastrophic situation in availing the services and applications over the cloud-centric network. In cloud, workload is distributed across the multiple layers which also increases the latency. Time-sensitive Internet of Things (IoT) applications and services, usually in a cloud platform, are running over various virtual machines (VM’s) and possess high complexities while interacting. They face difficulties in the consolidations of the various applications containing heterog

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