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Smart element aware gate controller for intelligent wheeled robot navigation
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<p>The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the proposed mechanism is very efficient in terms of providing shortest distance to reach the goal with maximum velocity as compared with the MENN. Specifically, the MEEG is better than MENN in minimizing the error rate by 58.33%.</p>

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Publication Date
Mon Apr 01 2013
Journal Name
International Journal Of Electrical, Electronics And Telecommunication Engineering
Performance Analysis of xPON Network for Different Queuing Models
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Passive optical network (PON) is a point to multipoint, bidirectional, high rate optical network for data communication. Different standards of PONs are being implemented, first of all PON was ATM PON (APON) which evolved in Broadband PON (BPON). The two major types are Ethernet PON (EPON) and Gigabit passive optical network (GPON). PON with these different standards is called xPON. To have an efficient performance for the last two standards of PON, some important issues will considered. In our work we will integrate a network with different queuing models such M/M/1 and M/M/m model. After analyzing IPACT as a DBA scheme for this integrated network, we modulate cycle time, traffic load, throughput, utilization and overall delay

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Publication Date
Thu May 17 2012
Journal Name
Eurasip Journal On Wireless Communications And Networking
A cluster-based proxy mobile IPv6 for IP-WSNs
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Publication Date
Fri Jan 01 2021
Journal Name
E3s Web Of Conferences
Selecting Appropriate Delivery System for Implementation of Green Buildings
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Green buildings are considered more efficient than traditional buildings due to the incorporated techniques and the multidisciplinary specializations required to comply with their specifications, in addition to the advanced commissioning, which undergoes before handing over the buildings to the owners to ensure requirements conformance. As a result, the appropriate selection of a project delivery system acts as the essential factor that affects the performance of the project. This research aims at building a system that helps to select the best method to implement green buildings. Through studying the recent research approaches in project delivery systems, the factors that affect the selection of the optimal implementation method fo

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Publication Date
Wed Feb 01 2023
Journal Name
Baghdad Science Journal
Efficient Approach for Solving (2+1) D- Differential Equations
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     In this article, a new efficient approach is presented to solve a type of partial differential equations, such (2+1)-dimensional differential equations non-linear, and nonhomogeneous. The procedure of the new approach is suggested to solve important types of differential equations and get accurate analytic solutions i.e., exact solutions. The effectiveness of the suggested approach based on its properties compared with other approaches has been used to solve this type of differential equations such as the Adomain decomposition method, homotopy perturbation method, homotopy analysis method, and variation iteration method. The advantage of the present method has been illustrated by some examples.

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Publication Date
Tue Jun 10 2025
Journal Name
Indonesian Journal Of Pharmacy
Factors Affecting Preparation of Repaglinide Nanoparticles for Dissolution Improvement
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This study aimed to develop a stable nanosuspension of repaglinide and improve its dissolution, using the Nano-precipitation method, involving a different concentration of a stabilizer, different co-stabilizers and different solvents. Employment of a systemic approach to optimize the formulation parameters, including stabilizer concentration, solvent choice and co-stabilizer election. Soluplus® (SOL) was used as the primary stabilizer for this research, polyvinyl alcohol (PVA), poloxamer 188 (PXM 188), tween 80 (TW80), and polyvinyl pyrrolidine (PVP k30) were investigated as co-stabilizers to prevent particle agglomeration and ensure long-term stability. In addition to ethanol as a primary solvent, acetone and chloroform were used

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Publication Date
Sat Jan 01 2022
Journal Name
Journal Of Engineering
Developing Crisis Management System for Construction Projects in Iraq
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Construction is a complicated process that takes place in an almost uncontrollable environment. Although projects can be carefully planned in advance in principle, there is a chance that unforeseen events and crises can disrupt these plans, affecting project development. Because the initial investment expenditures in construction projects are so large, they may be quickly influenced by crises, resulting in significant financial losses. The 2014 financial crisis was one of the most prominent crises that Iraq faced, which significantly impacted various activities in general and the construction industry in particular. Despite the importance of crisis management systems, the researchers found a great lack of local studies looking at cr

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Publication Date
Fri May 01 2020
Journal Name
Journal Of Physics: Conference Series
New Approach for Solving (1+1)-Dimensional Differential Equation
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Publication Date
Sun Jan 01 2023
Journal Name
Journal Of Interdisciplinary Mathematics
Enforcement for the groups SL(2,125) and SL(2,3125)
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The group for the multiplication of closets is the set G|N of all closets of N in G, if G is a group and N is a normal subgroup of G. The term “G by N factor group” describes this set. In the quotient group G|N, N is the identity element. In this paper, we procure K(SL(2,125)) and K(SL(2,3125)) from the character table of rational representations for each group.

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Publication Date
Mon Oct 01 2018
Journal Name
2018 Ieee/acs 15th International Conference On Computer Systems And Applications (aiccsa)
Utilizing Hopfield Neural Network for Pseudo-Random Number Generator
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Publication Date
Thu May 28 2020
Journal Name
Applied Sciences
THz-TDS for Detecting Glycol Contamination in Engine Oil
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There continues to be a need for an in-situ sensor system to monitor the engine oil of internal combustion engines. Engine oil needs to be monitored for contaminants and depletion of additives. While various sensor systems have been designed and evaluated, there is still a need to develop and evaluate new sensing technologies. This study evaluated Terahertz time-domain spectroscopy (THz-TDS) for the identification and estimation of the glycol contamination of automotive engine oil. Glycol contamination is a result of a gasket or seal leak allowing coolant to enter an engine and mix with the engine oil. An engine oil intended for use in both diesel and gasoline engines was obtained. Fresh engine oil samples were contaminated with fou

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