In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.  The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform

The Sliding Mode Control (SMC) has been among powerful control techniques increasingly. Much attention is paid to both theoretical and practical aspects of disciplines due to their distinctive characteristics such as insensitivity to bounded matched uncertainties, reduction of the order of sliding equations of motion, decoupling mechanical systems design. In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction. The key idea is abstracted as follows: switching gains are depressed to the low allowable values, resulting in decreased chattering motion and control's efforts of the two-link robo

The Adaptive Optics technique has been developed to obtain the correction of atmospheric seeing. The purpose of this study is to use the MATLAB program to investigate the performance of an AO system with the most recent AO simulation tools, Objected-Oriented Matlab Adaptive Optics (OOMAO). This was achieved by studying the variables that impact image quality correction, such as observation wavelength bands, atmospheric parameters, telescope parameters, deformable mirror parameters, wavefront sensor parameters, and noise parameters. The results presented a detailed analysis of the factors that influence the image correction process as well as the impact of the AO components on that process

Image compression is very important in reducing the costs of data storage transmission in relatively slow channels. Wavelet transform has received significant attention because their multiresolution decomposition that allows efficient image analysis. This paper attempts to give an understanding of the wavelet transform using two more popular examples for wavelet transform, Haar and Daubechies techniques, and make compression between their effects on the image compression.

It is well known that sonography is not the first choice in detecting early breast tumors. Improving the resolution of breast sonographic image is the goal of many workers to make sonography a first choice examination as it is safe and easy procedure as well as cost effective. In this study, infrared light exposure of breast prior to ultrasound examination was implemented to see its effect on resolution of sonographic image. Results showed that significant improvement was obtained in 60% of cases.

The present paper focuses on the study of some characteristics of
comets ions by photometry method which represent by CCD camera
which it provide seeing these images in a graded light. From 0-255
when Zero (low a light intensity) and 255 (highlight intensity). These
differences of photonic intensity can be giving us a curve which
appear from any line of this image.
From these equations the focus is concentrating on determine the
temperature distribution, velocity distribution, and intensity number
distribution which is give number of particles per unit volume.
The results explained the interaction near the cometary nucleus
which is mainly affected by the new ions added to the density of the
solar wind, th

    The problem statement discussed in this paper is a new technique for the presentation of painterly rendering that uses a K-mean segmentation to divide the input image into a set of regions (depending on the grayscale of the regions). Segmenting the input image helps users use different brush strokes and easily change the strokes' shape, size, or orientation for different regions. Every region is painted using different brush kinds. The properties of the brush strokes are chosen depending on the region's details. The brush stroke properties, such as size, color, shape, location, and orientation, are extracted from the source image using statistical tools. The number of regions is set up manually and depends on the input image. This

Reflections are ubiquitous effects in photos taken through transparent glass mediums, and represent a big problem in photography that impacts severely the performance of computer vision algorithms. Reflection removal is widely needed in daily lives with the prevalence of camera-equipped smart phones, and it is important, but it is a hard problem. This paper addresses the problem of reflection separation from two images taken from different viewpoints in front of a transparent glass medium, and proposes algorithm that exploits the natural image prior (gradient sparsity prior), and robust regression method to remove reflections. The proposed algorithm is tested on real world images, and the quantitative and visual quality comparisons were

     The widespread use of images, especially color images and rapid advancement of computer science, have led to an emphasis on securing these images and defending them against intruders. One of the most popular ways to protect images is to use encryption algorithms that convert data in a way that is not recognized by someone other than the intended user. The Advanced Encryption Standard algorithm (AES) is one of the most protected encryption algorithms. However, due to various types of theoretical and practical assaults, like a statistical attack, differential analysis, and brute force attack, its security is under attack.

In this paper, a modified AES coined as (M-AES) is proposed to improve the efficiency

The data compression is a very important process in order to reduce the size of a large data to be stored or transported, parametric curves such that Bezier curve is a suitable method to return gradual change and mutability of this data. Ridghelet transform solve the problems in the wavelet transform and it can compress the image well but when it uses with Bezier curve, the equality of compressed image become very well. In this paper, a new compression method is proposed by using Bezier curve with Ridgelet transform on RGB images. The results showed that the proposed method present good performance in both subjective and objective experiments. When the PSNR values equal to (34.2365, 33.4323 and 33.0987), they were increased in the propos