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An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning
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This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO) for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In order to evaluate the proposed algorithm in term of finding the best solution, six benchmark test functions are used to make a comparison between AMOPSO and the standard MOPSO. The results show that the AMOPSO has a better ability to get away from local optimums with a quickest convergence than the MOPSO. The simulation results using Matlab 2014a, indicate that this methodology is extremely valuable for every robot in multi-robot framework to discover its own particular proper pa‌th from the start to the destination position with minimum distance and time.

 

 

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Publication Date
Sun Mar 04 2018
Journal Name
Iraqi Journal Of Science
Efficient Method to Segment Objects from Images Based on Enhanced Connected Component Labeling algorithm
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This paper include the problem of segmenting an image into regions represent (objects), segment this object by define boundary between two regions using a connected component labeling. Then develop an efficient segmentation algorithm based on this method, to apply the algorithm to image segmentation using different kinds of images, this algorithm consist four steps at the first step convert the image gray level the are applied on the image, these images then in the second step convert to binary image, edge detection using Canny edge detection in third Are applie the final step is images. Best segmentation rates are (90%) obtained when using the developed algorithm compared with (77%) which are obtained using (ccl) before enhancement.

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Publication Date
Tue Sep 01 2020
Journal Name
Al-khwarizmi Engineering Journal
Pre-Processing and Surface Reconstruction of Points Cloud Based on Chord Angle Algorithm Technique
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Abstract

Although the rapid development in reverse engineering techniques, 3D laser scanners can be considered the modern technology used to digitize the 3D objects, but some troubles may be associate this process due to the environmental noises and limitation of the used scanners. So, in the present paper a data pre-processing algorithm has been proposed to obtain the necessary geometric features and mathematical representation of scanned object from its point cloud which obtained using 3D laser scanner (Matter and Form) through isolating the noised points. The proposed algorithm based on continuous calculations of chord angle between each adjacent pair of points in point cloud. A MATLAB program has been built t

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Publication Date
Wed Nov 30 2022
Journal Name
Iraqi Journal Of Science
Prediction of DNA Binding Sites Bound to Specific Transcription Factors by the SVM Algorithm
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In gene regulation, transcription factors (TFs) play a key function. It transmits genetic information from DNA to messenger RNA during the process of DNA transcription. During this step, the transcription factor binds to a segment of the DNA sequence known as Transcription Factor Binding Sites (TFBS). The goal of this study is to build a model that predicts whether or not a DNA binding site attaches to a certain transcription factor (TF). TFs are regulatory molecules that bind to particular sequence motifs in the gene to induce or restrict targeted gene transcription. Two classification methods will be used, which are support vector machine (SVM) and kernel logistic regression (KLR). Moreover, the KLR algorithm depends on another regress

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Publication Date
Wed Nov 16 2016
Journal Name
Eurasip Journal On Wireless Communications And Networking
Evaluation of efficient vehicular ad hoc networks based on a maximum distance routing algorithm
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Traffic management at road intersections is a complex requirement that has been an important topic of research and discussion. Solutions have been primarily focused on using vehicular ad hoc networks (VANETs). Key issues in VANETs are high mobility, restriction of road setup, frequent topology variations, failed network links, and timely communication of data, which make the routing of packets to a particular destination problematic. To address these issues, a new dependable routing algorithm is proposed, which utilizes a wireless communication system between vehicles in urban vehicular networks. This routing is position-based, known as the maximum distance on-demand routing algorithm (MDORA). It aims to find an optimal route on a hop-by-ho

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Publication Date
Fri Jul 07 2017
Journal Name
International Journal Of Science And Research (ijsr)
Automatic brain tumor segmentation from MRI Images using superpixels based split and Merge algorithm
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RA Ali, LK Abood, Int J Sci Res, 2017 - Cited by 2

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Publication Date
Wed Oct 28 2020
Journal Name
Iraqi Journal Of Science
Optimization of Lovastatin Production from A Local Isolate of Aspergillus terreus A50 in Solid State Fermentation by Classical and Statistical Methods
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Lovastatin is one of the most important compounds that is produced from some filamentous fungi, being employed in the reduction of hypocholesterolemia. The results of screening, after the collection of seventy-three local fungal isolates from different areas, demonstrated that the local isolate Aspergillus terreus A50 was the best isolate for lovastatin production, with a concentration of 12.66 µg/ml, through the submerged fermentation. Lovastatin produced from A. terreus A50 showed antimicrobial activities against a Candida albicans isolate. Solid state fermentation (SSF) was the best system to produce the highest yield of lovastatin by A. terreus A50 as compared to the submerged fermentation (SmF)

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Publication Date
Sun May 30 2021
Journal Name
Iraqi Journal Of Science
Isolation,Characterization and Optimization of Wild Type Sinorhizobium meliloti to Produce High Concentrations of Indole Acetic Acid
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Rhizobium bacteria was isolated from the root nodules of Medicago sativa plants and, based on morphological and some biochemical properties, it was characterized as Sinorhizobium meliloti. We studied the ability of this isolate, as well as that of Agrobacterium rhizogenes R1601, to produce the auxin  indole acetic acid (IAA). For purposes of control, both isolates, in the absence of tryptophan-L, were similarly tested. The identification of IAA was achieved by checking the colour reactions with Salkowski’s reagent. Low amounts (23, 69 and 26,77 µɡ/ml) of IAA were produced by S.meliloti and A.rhizogenes after 24 and 72 hours of incubation, respectively. S.meliloti was

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Publication Date
Wed May 01 2019
Journal Name
Journal Of Engineering
Optimization of Friction Stir Welding Process Parameters to joint 7075-T6 Aluminium Alloy by Utilizing Taguchi Technique
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In this study, a 3 mm thickness 7075-T6 aluminium alloy sheet was used in the friction stir welding process. Using the design of experiment to reduce the number of experiments and to obtain the optimum friction stir welding parameters by utilizing Taguchi technique based on the ultimate tensile test results. Orthogonal array of L9 (33) was used based on three numbers of the parameters and three levels for each parameter, where shoulder-workpiece interference depth (0.20, 0.25, and 0.3) mm, pin geometry (cylindrical thread flat end, cylindrical thread with 3 flat round end, cylindrical thread round end), and thread pitch (0.8, 1, and 1.2) mm) this technique executed by Minitab 17 software. The results showed th

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Publication Date
Tue Jan 01 2019
Journal Name
International Journal Of Electrochemical Science
Effect of Electrolysis Parameters on the Specific Surface Area of Nickel Powder: Optimization using Box-Behnken Design
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Publication Date
Mon Nov 11 2019
Journal Name
Day 3 Wed, November 13, 2019
Drill Bit Selection Optimization Based on Rate of Penetration: Application of Artificial Neural Networks and Genetic Algorithms
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Abstract<p>The drill bit is the most essential tool in drilling operation and optimum bit selection is one of the main challenges in planning and designing new wells. Conventional bit selections are mostly based on the historical performance of similar bits from offset wells. In addition, it is done by different techniques based on offset well logs. However, these methods are time consuming and they are not dependent on actual drilling parameters. The main objective of this study is to optimize bit selection in order to achieve maximum rate of penetration (ROP). In this work, a model that predicts the ROP was developed using artificial neural networks (ANNs) based on 19 input parameters. For the</p> ... Show More
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