This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated refere

     Analysis of image content is important in the classification of images, identification, retrieval, and recognition processes. The medical image datasets for content-based medical image retrieval (  are large datasets that are limited by high computational costs and poor performance. The aim of the proposed method is to enhance this image retrieval and classification by using a genetic algorithm (GA) to choose the reduced features and dimensionality. This process was created in three stages. In the first stage, two algorithms are applied to extract the important features; the first algorithm is the Contrast Enhancement method and the second is a Discrete Cosine Transform algorithm. In the next stage, we used datasets of the medi

Abstract

This research presents a on-line cognitive tuning control algorithm for the nonlinear controller of path-tracking for dynamic wheeled mobile robot to stabilize and follow a continuous reference path with minimum tracking pose error. The goal of the proposed structure of a hybrid (Bees-PSO) algorithm is to find and tune the values of the control gains of the nonlinear (neural and back-stepping method) controllers as a simple on-line with fast tuning techniques in order to obtain the best torques actions of the wheels for the cart mobile robot from the proposed two controllers. Simulation results (Matlab Package 2012a) show that the nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is m

Densely deployment of sensors is generally employed in wireless sensor networks (WSNs) to ensure energy-efficient covering of a target area. Many sensors scheduling techniques have been recently proposed for designing such energy-efficient WSNs. Sensors scheduling has been modeled, in the literature, as a generalization of minimum set covering problem (MSCP) problem. MSCP is a well-known NP-hard optimization problem used to model a large range of problems arising from scheduling, manufacturing, service planning, information retrieval, etc. In this paper, the MSCP is modeled to design an energy-efficient wireless sensor networks (WSNs) that can reliably cover a target area. Unlike other attempts in the literature, which consider only a si

The strong cryptography employed by PGP (Pretty Good Privacy) is one of the best available today. The PGP protocol is a hybrid cryptosystem that combines some of the best features of both conventional and public-key cryptography. This paper aim to improve PGP protocol by combined between the Random Genetic algorithm, NTRU (N-th degree Truncated polynomial Ring Unit) algorithm with PGP protocol stages in order to increase PGP protocol speed, security, and make it more difficult in front of the counterfeiter. This can be achieved by use the Genetic algorithm that only generates the keys according to the Random Genetic equations. The final keys that obtained from Genetic algorithm were observed to be purely random (according to the randomne

Scheduling Timetables for courses in the big departments in the universities is a very hard problem and is often be solved by many previous works although results are partially optimal. This work implements the principle of an evolutionary algorithm by using genetic theories to solve the timetabling problem to get a random and full optimal timetable with the ability to generate a multi-solution timetable for each stage in the collage. The major idea is to generate course timetables automatically while discovering the area of constraints to get an optimal and flexible schedule with no redundancy through the change of a viable course timetable. The main contribution in this work is indicated by increasing the flexibility of generating opti

            Nowadays, it is convenient for us to use a search engine to get our needed information. But sometimes it will misunderstand the information because of the different media reports. The Recommender System (RS) is popular to use for every business since it can provide information for users that will attract more revenues for companies. But also, sometimes the system will recommend unneeded information for users. Because of this, this paper provided an architecture of a recommender system that could base on user-oriented preference. This system is called UOP-RS. To make the UOP-RS significantly, this paper focused on movie theatre information and collect the movie database from the IMDb website that provides informatio

In this paper, the problem of resource allocation at Al-Raji Company for soft drinks and juices was studied. The company produces several types of tasks to produce juices and soft drinks, which need machines to accomplish these tasks, as it has 6 machines that want to allocate to 4 different tasks to accomplish these tasks. The machines assigned to each task are subject to failure, as these machines are repaired to participate again in the production process. From past records of the company, the probability of failure machines at each task was calculated depending on company data information. Also, the time required for each machine to complete each task was recorded. The aim of this paper is to determine the minimum expected ti

The need for information web-searching is needed by many users nowadays. They use the search engines to input their query or question and wait for the answer or best search results. As results to user query the search engines many times may be return irrelevant pages or not related to information need. This paper presents   a proposed model to provide the user with efficient and effective result through search engine, based on modified chicken swarm algorithm  and cosine similarity    to eliminate and delete irrelevant pages(outliers) from the ranked list results, and to improve the results of the user's query   . The proposed model is applied to Arabic dataset and use the ZAD corpus dataset for 27

            In this paper, new method have been investigated using evolving algorithms (EA's) to cryptanalysis one of the nonlinear stream cipher cryptosystems which depends on the Linear Feedback Shift Register (LFSR) unit by using cipher text-only attack. Genetic Algorithm (GA) and Ant Colony Optimization (ACO) which are used for attacking one of the nonlinear cryptosystems called "shrinking generator" using different lengths of cipher text and different lengths of combined LFSRs. GA and ACO proved their good performance in finding the initial values of the combined LFSRs. This work can be considered as a warning for a stream cipher designer to avoid the weak points, which may be f