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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
Tue Jan 01 2019
Journal Name
Plant Archives,
Phenotypic, genotypic correlation and path coefficient for severaltraits of maize under watered and water stress (agronomic traits)
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Scopus (2)
Scopus
Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Face Identification Using Back-Propagation Adaptive Multiwavenet
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Face Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
FACE IDENTIFICATION USING BACK-PROPAGATION ADAPTIVE MULTIWAVENET
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Face Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a

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Publication Date
Sun Jan 01 2017
Journal Name
Pertanika Journal Of Science & Technology
Modified Kohonen network algorithm for selection of the initial centres of Gustafson-Kessel algorithm in credit scoring
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Credit risk assessment has become an important topic in financial risk administration. Fuzzy clustering analysis has been applied in credit scoring. Gustafson-Kessel (GK) algorithm has been utilised to cluster creditworthy customers as against non-creditworthy ones. A good clustering analysis implemented by good Initial Centres of clusters should be selected. To overcome this problem of Gustafson-Kessel (GK) algorithm, we proposed a modified version of Kohonen Network (KN) algorithm to select the initial centres. Utilising similar degree between points to get similarity density, and then by means of maximum density points selecting; the modified Kohonen Network method generate clustering initial centres to get more reasonable clustering res

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Scopus (9)
Scopus
Publication Date
Fri Dec 01 2023
Journal Name
Bulletin Of Electrical Engineering And Informatics
A comparative study of Gaussian mixture algorithm and K-means algorithm for efficient energy clustering in MWSN
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Wireless sensor networks (WSNs) represent one of the key technologies in internet of things (IoTs) networks. Since WSNs have finite energy sources, there is ongoing research work to develop new strategies for minimizing power consumption or enhancing traditional techniques. In this paper, a novel Gaussian mixture models (GMMs) algorithm is proposed for mobile wireless sensor networks (MWSNs) for energy saving. Performance evaluation of the clustering process with the GMM algorithm shows a remarkable energy saving in the network of up to 92%. In addition, a comparison with another clustering strategy that uses the K-means algorithm has been made, and the developed method has outperformed K-means with superior performance, saving ener

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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
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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

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Publication Date
Wed May 10 2023
Journal Name
Journal Of Engineering
ADAPTIVE CYCLIC PREFIX LENGTH FOR CONVOLUITIONAL CODE OFDM SYSTEM IN FREQUENCY SELECTIVE CHANNEL
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Orthogonal Frequency Division Multiplexing (OFDM) is one of recent years multicarrier modulation used in order to combat the Inter Symbol Interference (ISI) introduced by frequency selective mobile radio channel. The circular extension of the data symbol, commonly referred to as cyclic prefix is one of the key elements in an OFDM transmission scheme. This paper study The influence of the cyclic prefix duration on the BER performance of an OFDM-VCPL (Orthogonal frequency division multiplexing - Variable Cyclic Prefix Length) system and the conventional OFDM system with frame 64-QAM modulation is evaluated by means of computer simulation in a multipath fading channel. The adaptation of CP is done with respect to the delay spread estimation

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Publication Date
Tue Aug 06 2013
Journal Name
Robotica
Function approximation technique-based adaptive virtual decomposition control for a serial-chain manipulator
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SUMMARY<p>The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The contr</p> ... Show More
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Publication Date
Tue Dec 03 2013
Journal Name
Ibn Al-haitham Journal For Pure And Applied Science
New adaptive satellite image classification technique for al Habbinya region west of Iraq
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Publication Date
Wed Jun 30 2010
Journal Name
Al-kindy College Medical Journal
Towards More Objective Teaching Curriculum Design and Development
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have been notable developments in the field of
r.ldical education in the country and in the region.
The most significant of which is a general awarness
that has been created about the need for and
relevance of changes.There is however a basic
question that posses itself and becomes clearly
relevant
in the context of effort .Today, to recognize health
care services in the developing countries in the light
of realigned priorities This ensure to bring about
learning outcomes as a tocurriculum changes to meet
this demand.

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