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Path Planning Control for Mobile Robot
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Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process.

This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.

This work has theoretical part and experimental part.

The theoretical part includes building a MATLAB program which is applied to environment image to find the nearly optimal path .MATLAB - C++.NET interface is accomplished then to supply the path information for C++.NET program which is done for programming the pioneer mobile robot to achieve the desired path.

The experimental part includes using wireless camera that takes an image for the environment and send it to the computer which processes this image and sends ( by wireless connection ) the resulted path information to robot  which programmed in C++.NET program to walk according to this path.

So, the overall system can be represented by:

Wireless camera – computer – wireless connection for the mobile robot .

The experimental work including some experiments shows that the developed mobile robot (pioneer p3-dx ) travels successfully  from the start point and reach the goal point across the optimal path (according to time and power) which is obtained as result of the proposed path planning algorithm introduced in this paper.

 

 

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Publication Date
Mon Jun 01 2009
Journal Name
2009 Etp International Conference On Future Computer And Communication
Signal Processing Techniques for Robust Spectrum Sensing
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Cognitive radios have the potential to greatly improve spectral efficiency in wireless networks. Cognitive radios are considered lower priority or secondary users of spectrum allocated to a primary user. Their fundamental requirement is to avoid interference to potential primary users in their vicinity. Spectrum sensing has been identified as a key enabling functionality to ensure that cognitive radios would not interfere with primary users, by reliably detecting primary user signals. In addition, reliable sensing creates spectrum opportunities for capacity increase of cognitive networks. One of the key challenges in spectrum sensing is the robust detection of primary signals in highly negative signal-to-noise regimes (SNR).In this paper ,

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Publication Date
Mon Jun 01 2009
Journal Name
Al-khwarizmi Engineering Journal
Modeling and Filtering for Tracking Maneuvering Targets
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     A new mathematical model describing the motion of manned maneuvering targets is presented. This model is simple to be implemented and closely represents the motion of maneuvering targets. The target maneuver or acceleration is correlated in time. Optimal Kalman filter is used as a tracking filter which results in effective tracker that prevents the loss of track or filter divergency that often occurs with conventional tracking filter when the target performs a moderate or heavy maneuver. Computer simulation studies show that the proposed tracker provides sufficient accuracy.

 

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Publication Date
Wed Nov 08 2023
Journal Name
Technologies And Materials For Renewable Energy, Environment, And Sustainability: Tmrees23fr
Determination microstructure parameters for copper oxide nanoparticles
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In this research, the results of x-ray diffraction method were used to determine the uniform stress deformation and microstructure parameters of CuO nanoparticles to determine the lattice strain obtained and crystallite size and then to compare the results obtained by two model Halder Wagner and Size Strain Plot with the results of these methods of the same powder using equations during which the calculation of the size of the crystallite size and lattice strain, It was found that the results obtained the values of the crystallite size (19.81nm) and the lattice strain (0.004065) of the Halder-wagner model respectively and for the ssp method were the results of the crystallite size (17.20nm) and lattice strain (0.000305) respectively. The sa

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Publication Date
Fri Nov 01 2019
Journal Name
Journal Of Craniofacial Surgery
Risk Factors for Fistula Development Following Palatoplasty
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Purpose:

The aim of this study is to assess the influence of some risks factors on the fistula development after palatoplasty to improve the outcome of the patients

Patients and Methods:

A total of 48 patients (the males were 22, The females were 26) were included in this study. All the patients were examined weekly for the first month postoperatively to assess any breakdown in the wound by inspection and by asking the parents for any nasal regurgitation during fluids feeding.

Results:
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Publication Date
Wed Apr 01 2020
Journal Name
Journal Of Construction Engineering And Management
Development of Assessment Tool for Workforce Sustainability
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Publication Date
Thu Mar 05 2020
Journal Name
International Journal Of Psychosocial Rehabilitation
The history of rhythmic gymnastics for women
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Publication Date
Sun Jan 01 2023
Journal Name
2nd International Conference On Mathematical Techniques And Applications: Icmta2021
Review of clustering for gene expression data
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Publication Date
Wed Jan 01 2025
Journal Name
Journal Of Intelligent Systems And Internet Of Things
Enhancing Convolutional Neural Network for Image Retrieval
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With the continuous progress of image retrieval technology, the speed of searching for the required image from a large amount of image data has become an important issue. Convolutional neural networks (CNNs) have been used in image retrieval. However, many image retrieval systems based on CNNs have poor ability to express image features. Content-based Image Retrieval (CBIR) is a method of finding desired images from image databases. However, CBIR suffers from lower accuracy in retrieving images from large-scale image databases. In this paper, the proposed system is an improvement of the convolutional neural network for greater accuracy and a machine learning tool that can be used for automatic image retrieval. It includes two phases

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Publication Date
Wed May 01 2019
Journal Name
Iop Conference Series: Materials Science And Engineering
Applications of GIS for Bridges Maintenance Service
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Abstract<p>AThe Bridge Maintenance Management System (BMMS) is an application system that uses existing data from a Bridge Management System database for monitoring and analysis of current bridges performance, as well as for estimating the current and future maintenance and rehabilitation needs of the bridges. In a transportation context, the maintenance management is described as a cost-effective process to operate, construct, and maintain physical money. This needs analytical tools to support the allocation of resources, materials, equipment, including personnel, and supplies. Therefore, Geographic Information System (GIS) can be considered as one tool to develop the road and bridge maintenanc</p> ... Show More
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Publication Date
Sun May 11 2025
Journal Name
Iraqi Statisticians Journal
Nonparametric Estimation for Nonstationary Time Series Models
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