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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 May 21 2007
Journal Name
Journal Of Planner And Development
Towards a decentralized planning policy in Iraq
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Iraq is changing from the centralized system of governance to the decentralized system, which assumes devolution of more authorities to the local governments of Iraqi provinces and cities. This puts a responsibility on the academics to produce more research work on the best framework for this change, to ensure the best results. The main objective of this research is to suggest a policy for the decentralized transformation in domain of Urban and Regional Planning in Iraq. A suggested program for the transformation is involved in the paper as well, with analysis for the new relationships between different levels of planning authorities depending on democracy. In addition, a description for planning process flows from bottom to top.

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Publication Date
Thu Feb 15 2018
Journal Name
International Journal Of Architectural Heritage
Active use of panoramic mobile mapping systems for as built surveying and heritage documentation
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Publication Date
Mon Feb 01 2016
Journal Name
Al-academy
Lighting and formal processors for spaces of shops selling mobile phones: عمار نعمة كاظم
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This research is marked by " lighting and processors formalism for spaces of shops selling mobile phones ," aims to " reveal about the relationship between lighting treatments formal designs spaces own internal selling mobile phone in addition to the recognition criteria Altsamama to lighting techniques and processes formality spaces shops competent to sell mobile phone " and lies the importance of this research in the " active role of the lighting in the building processors formalities and processes to prepare designs and show the final form integrated functionally and aesthetically so as to be ready for implementation , taking into consideration the role expressionist in the recipient and to make these spaces more than meet the require

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Publication Date
Mon Sep 01 2014
Journal Name
19th International Conference On Methods And Models In Automation And Robotics (mmar) 2014
A PSO-optimized type-2 fuzzy logic controller for navigation of multiple mobile robots
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Publication Date
Fri Mar 31 2017
Journal Name
Al-khwarizmi Engineering Journal
Design of Nonlinear PID Neural Controller for the Speed Control of a Permanent Magnet DC Motor Model based on Optimization Algorithm
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In this paper, the speed control of the real DC motor is experimentally investigated using nonlinear PID neural network controller. As a simple and fast tuning algorithm, two optimization techniques are used; trial and error method and particle swarm optimization PSO algorithm in order to tune the nonlinear PID neural controller's parameters and to find best speed response of the DC motor. To save time in the real system, a Matlab simulation package is used to carry out these algorithms to tune and find the best values of the nonlinear PID parameters. Then these parameters are used in the designed real time nonlinear PID controller system based on LabVIEW package. Simulation and experimental results are compared with each other and showe

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Publication Date
Sat Jan 23 2016
Journal Name
Computer Science & Information Technology ( Cs & It )
Modelling Dynamic Patterns Using Mobile Data
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Publication Date
Wed Aug 01 2018
Journal Name
2018 International Conference On Computer And Applications (icca)
Evolutionary Perspective of Mobile Communication Technologies
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Publication Date
Tue Apr 24 2018
Journal Name
International Journal Of Engineering Technologies And Management Research
MODELING CITY PULSATION VIA MOBILE DATA
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In this study, the mobile phone traces concern an ephemeral event which represents important densities of people. This research aims to study city pulse and human mobility evolution that would be arise during specific event (Armada festival), by modelling and simulating human mobility of the observed region, depending on CDRs (Call Detail Records) data. The most pivot questions of this research are: Why human mobility studied? What are the human life patterns in the observed region inside Rouen city during Armada festival? How life patterns and individuals' mobility could be extracted for this region from mobile DB (CDRs)? The radius of gyration parameter has been applied to elaborate human life patterns with regards to (work, off) days for

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Publication Date
Tue Sep 19 2017
Journal Name
Al-academy
Aesthetic performance in the mobile sculptures
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Aesthetic performance in the mobile sculptures
Ali Abd Almohsen Ali
Abstract
Chapters of this research are discussed one of the turning points in the In the history of sculpture, which sparked a debate in artistic circles, namely the introduction of the actual movement in sculpture . The researcher highlighted on one of the corners of the controversy on this subject for discussion and looking in and Found results contribute to answer some questions . the Beginning been allocated to the statement of this Research Methodology , research problem, and its importance, and its goal, and borders , the main problem is Lack of clarity of the concept of real motion (physical) in the sculpture , And how the audience understand the aspects

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Publication Date
Mon Mar 08 2021
Journal Name
Iraqi Journal For Electrical And Electronic Engineering
No Mobile Phobia Phenomenon _ A Review
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The No Mobile Phone Phobia or Nomophobia notion is referred to the psychological condition once humans have a fear of being disconnected from mobile phone connectivity. Hence, it is considered as a recent age phobia that emerged nowadays as a consequence of high engagement between people, mobile data, and communication inventions, especially the smart phones. This review is based on earlier observations and current debate such as commonly used techniques that modeling and analyzing this phenomenon like statistical studies. All that in order to possess preferable comprehension concerning human reactions to the speedy technological ubiquitous. Accordingly, humans ought to restrict their utilization of mobile phones instead of prohibit

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