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
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Double Function Random Early Detection (DFRED): A Revised RED-Oriented Algorithm
...Show More Authors

     Dropping packets with a linear function between two configured queue thresholds in Random Early Detection (RED) model is incapable of yielding satisfactory network performance. In this article, a new enhanced and effective active queue management algorithm, termed Double Function RED (DFRED in short) is developed to further curtail network delay. Specifically, DFRED algorithm amends the packet dropping probability approach of RED by dividing it into two sub-segments. The first and second partitions utilizes and implements a quadratic and linear increase respectively in the packet dropping probability computation to distinguish between two traffic loads: low and high. The ns-3 simulation performance evaluations clearly indicate t

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Wed Feb 01 2023
Journal Name
International Journal Of Engineering, Ije Transactions B: Applications
Adaptive Polynomial Coding of Multi-Base Hybrid Compression
...Show More Authors

Scopus (2)
Scopus
Publication Date
Tue May 30 2023
Journal Name
Iraqi Journal Of Science
Fast 128-bit Multi-Pass Stream Ciphering Method
...Show More Authors

      Information is an essential and valuable object in all systems. The more information you have about your issue, the better you can conform to the world around you. Moreover, information recognizes companies and provides influence that helps one company be more effective than another. So, protecting this information using better security controls and providing a high level of access to authorized parties becomes an urgent need. As a result, many algorithms and encryption techniques have been developed to provide a high level of protection for system information. Therefore, this paper presents an enhancement to the Blowfish algorithm as one of the cryptography techniques. Then it proposes an enhancement for increasing efficiency

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Tue Mar 12 2019
Journal Name
Al-khwarizmi Engineering Journal
Die Design of Flexible Multi-Point Forming Process
...Show More Authors

Multi-point forming (MPF) is an advanced flexible manufacture technology, and the technology results from the idea that the whole die is separated into small punches that can be adjusted height. This idea is applied to the traditional rigid blank-holder, so flexible blank-holder (FBH) idea can be obtained. In this work, the performance of a multi-point die is investigated with pins in square matrix and suitable blank holder. Each pin in the punch holder can be a significant moved according to the die high and at different load that applied with spring with respect to spring stiffness. The results shows the reduction in setting time with respect to traditional single point incremental forming process that lead to (90%). and also show duri

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Mon Mar 01 2021
Journal Name
Journal Of Professional Nursing
Incivility among nursing faculty: A multi-country study
...Show More Authors

View Publication
Scopus (23)
Crossref (24)
Scopus Clarivate Crossref
Publication Date
Sat Jun 03 2023
Journal Name
Iraqi Journal Of Science
Fast encoding algorithm based on Weber's law and Triangular Inequality Theorem
...Show More Authors

In the present work, an image compression method have been modified by combining The Absolute Moment Block Truncation Coding algorithm (AMBTC) with a VQ-based image coding. At the beginning, the AMBTC algorithm based on Weber's law condition have been used to distinguish low and high detail blocks in the original image. The coder will transmit only mean of low detailed block (i.e. uniform blocks like background) on the channel instate of transmit the two reconstruction mean values and bit map for this block. While the high detail block is coded by the proposed fast encoding algorithm for vector quantized method based on the Triangular Inequality Theorem (TIE), then the coder will transmit the two reconstruction mean values (i.e. H&L)

... Show More
View Publication Preview PDF
Publication Date
Wed May 31 2017
Journal Name
Journal Of Engineering
Construction Policies on Campus An Analytical Study of the Policy of Construction Planning on Kufa Campus
...Show More Authors

     University Campuses, as any lively physical entity, is subject to continuous variation due to . growth, development and change. This reality covers the existing or futuristic additives or  additions, consecutively these changes may have a strong sensation of disorientation as a result of formatic changes in buildings, or in movement paths. And it epitomized the research problem to "the need for knowledge to clarify the impact of intellectual and executive policy in achieving coherence, functional and space organization of the elements of the university urban environment and in the stages of future growth and change,"  the search targeted "to highlight the study of constraction politics on campus Bmqomad

... Show More
View Publication Preview PDF
Publication Date
Fri Dec 23 2022
Journal Name
Innovative Infrastructure Solutions
Experimental modeling of a single pile in liquefiable soil under the effect of coupled static-dynamic loads
...Show More Authors

In this work, a single pile is physically modeled and embedded in an upper liquefiable loose sand layer overlying a non-liquefiable dense layer. A laminar soil container is adopted to simulate the coupled static-dynamic loading pile response during earthquake motions: Ali Algharbi, Halabjah, El-Centro, and Kobe earthquakes. During seismic events with combined loading, the rotation along the pile, the lateral and vertical displacements at the pile head as well as the pore pressure ratio in loose sandy soil were assessed. According to the experimental findings, combined loading that ranged from 50 to 100% of axial load would alter the pile reaction by reducing the pile head peak ground acceleration, rotation of the pile, and lateral displacem

... Show More
Scopus (2)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Thu Jun 29 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Effect of Black Carbon and Alumina Nanofluid on Thermal and Dynamic Efficiency in Upward Spraying Cooling Tower
...Show More Authors

In cooling water systems, cooling towers play a critical role in removing heat from the water. Cooling water systems are commonly used in industry to dispose the waste heat. An upward spray cooling water systems was especially designed and investigated in this work. The effect of two nanofluids (Al2O3/ water, black carbon /water) on velocity and temperature distributions along reverse spray cooling tower at various concentrations (0.02, 0.08, 0.1, 0.15, and 0.2 wt.%) were investigated, beside the effect of the inlet water temperature (35 ,40, and 45 ͦ C) and water to air flow ratio (L/G) of 0.5, 0.75, and 1.  The best thermal performance was found when the working solution contained 0.1 wt.% for each of Al2

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Jan 01 2024
Journal Name
Scripta Medica
The value of dynamic contrast-enhanced MRI and diffusion-weighted sequence in the evaluation of endometrial lesions
...Show More Authors

Background/Aim: Endometrial abnormalities represent a diagnostic challenge due to overlapping imaging features with normal endometrium. Aim of this study was to assess accuracy of dynamic contrast-enhanced and diffusion-weighted magnetic resonance imaging (MRI) in evaluation of endometrial lesions in comparison with T2 and to assess local staging validity and degree of myometrial invasion in malignancy. Methods: Forty patients with abnormal vaginal bleeding or sonographic thickened endometrial were recruited. MRI examination of pelvis was per-formed using 1.5 T scanner with a pelvic array coil. Conventional T1-and T2, dynamic contrast-enhanced (DCE) sequences and diffusion-weighted image (DWI) were performed. Results: Mean age of pa

... Show More
View Publication
Crossref (1)
Scopus Crossref