Preferred Language
Articles
/
joe-889
A Comparative Study of Various Intelligent Algorithms based Path Planning for Mobile Robots
...Show More Authors

In general, path-planning problem is one of most important task in the field of robotics. This paper describes the path-planning problem of mobile robot based on various metaheuristic algorithms. The suitable collision free path of a robot must satisfies certain optimization criteria such as feasibility, minimum path length, safety and smoothness and so on. In this research, various three approaches namely, PSO, Firefly and proposed hybrid FFCPSO are applied in static, known environment to solve the global path-planning problem in three cases. The first case used single mobile robot, the second case used three independent mobile robots and the third case applied three follow up mobile robot.  Simulation results, which carried out using MATLAB 2014 environment, show the validity of the kinematic model for Nonholonomic mobile robot and demonstration that the proposed algorithm perform better than original PSO and FF algorithms under the same environmental constraints by providing the smoothness velocity and shortest path for each mobile robot.                                                                              

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Jan 01 2017
Journal Name
Aro-the Scientific Journal Of Koya University
A Comparative Study for String Metrics and the Feasibility of Joining them as Combined Text Similarity Measures
...Show More Authors

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

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

... Show More
View Publication
Scopus (5)
Crossref (4)
Scopus Crossref
Publication Date
Thu Dec 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Usage of non-linear programming in building a mathematical model for production planning according to discount constraints put on bought amount
...Show More Authors

Abstract

 This research deals will the declared production planning operation in the general company of planting oils, which have  great role in production operations management who had built mathematical model for correct non-linear programming according to discounting operation during raw materials or half-made materials purchasing operation which concentration of six main products by company but discount included just three products of raw materials, and there were six months taken from the 1st half of 2014 as a planning period has been chosen . Simulated annealing algorithm  application on non-linear model which been more difficulty than possible solution when imposed restric

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Dec 11 2017
Journal Name
Al-khwarizmi Engineering Journal
Proposed Hybrid Sparse Adaptive Algorithms for System Identification
...Show More Authors

Abstract 

For sparse system identification,recent suggested algorithms are  -norm Least Mean Square (  -LMS), Zero-Attracting LMS (ZA-LMS), Reweighted Zero-Attracting LMS (RZA-LMS), and p-norm LMS (p-LMS) algorithms, that have modified the cost function of the conventional LMS algorithm by adding a constraint of coefficients sparsity. And so, the proposed algorithms are named  -ZA-LMS, 

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Jun 16 2022
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
Optimization algorithms for transportation problems with stochastic demand
...Show More Authors

The purpose of this paper is to solve the stochastic demand for the unbalanced transport problem using heuristic algorithms to obtain the optimum solution, by minimizing the costs of transporting the gasoline product for the Oil Products Distribution Company of the Iraqi Ministry of Oil. The most important conclusions that were reached are the results prove the possibility of solving the random transportation problem when the demand is uncertain by the stochastic programming model. The most obvious finding to emerge from this work is that the genetic algorithm was able to address the problems of unbalanced transport, And the possibility of applying the model approved by the oil products distribution company in the Iraqi Ministry of Oil to m

... Show More
View Publication
Scopus (14)
Crossref (7)
Scopus Crossref
Publication Date
Fri Jan 01 2021
Journal Name
Indonesian Journal Of Electrical Engineering And Computer Science
Lightweight route adjustment strategy for mobile sink wireless sensor networks
...Show More Authors

<span>As a result of numerous applications and low installation costs, wireless sensor networks (WSNs) have expanded excessively. The main concern in the WSN environment is to lower energy consumption amidst nodes while preserving an acceptable level of service quality. Using multi-mobile sinks to reduce the nodes' energy consumption have been considered as an efficient strategy. In such networks, the dynamic network topology created by the sinks mobility makes it a challenging task to deliver the data to the sinks. Thus, in order to provide efficient data dissemination, the sensor nodes will have to readjust the routes to the current position of the mobile sinks. The route re-adjustment process could result in a significant m

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (2)
Scopus Crossref
Publication Date
Tue Feb 21 2023
Journal Name
International Journal Of Operational Research
Aggregate production planning of Abu Ghraib Dairy factories based on forecasting and goal programming
...Show More Authors

View Publication
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Thu Jan 30 2020
Journal Name
Telecommunication Systems
Nature-inspired optimization algorithms for community detection in complex networks: a review and future trends
...Show More Authors

View Publication
Scopus (30)
Crossref (25)
Scopus Clarivate Crossref
Publication Date
Sun Sep 07 2014
Journal Name
Baghdad Science Journal
A comparative taxonomic study of nutlets of Stachys L. in Iraq
...Show More Authors

Nutlets of 22 taxa of Stachys (13 species and seven subspecies and two varieties), representing seven of the currently recognized sections distributed in northern Iraq were examined by light microscope. The basic shape of nutlets in most taxa studied is Obovoid, but Oblong also found in S.megalodanta Hausskn.& Bornm. ex P.H.Davis, S.setirefa C.A.Mey. subsp daenensis (Gandog.) Rech.f.and S. kurdica Boiss.& Hohen. var.kurdica, while the Subgloboid shape found in S. iberica M.Bieb. and S. inflata Benth., more over the Broad triangular shape was found in S. nephrophylla Rech.f. and S.lanigera (Bornm.) Rech.f.., the biggest size of nutlets was found in S.inflata L. and the smallest was in S.melampyroides Hand.-Mzt. Regarding sculpturing pa

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Oct 01 2018
Journal Name
Plant Archives
A comparative anatomical study of three types of gymnospermplantscycasrevoluta,thujaoreintalisand cupressussemperviens
...Show More Authors

Scopus