Preferred Language
Articles
/
alkej-775
Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
...Show More Authors

planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the performance of the proposed algorithm. Simulations results showed that the proposed path planning algorithm effective performance by finding the shortest and free-collision path in different collide environments. Furthermore, the superiority of the proposed algorithm was proved through comparisons with other famous path planning algorithms with different static environments.

 

Scopus Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Mon Dec 05 2022
Journal Name
Baghdad Science Journal
Short Text Semantic Similarity Measurement Approach Based on Semantic Network
...Show More Authors

Estimating the semantic similarity between short texts plays an increasingly prominent role in many fields related to text mining and natural language processing applications, especially with the large increase in the volume of textual data that is produced daily. Traditional approaches for calculating the degree of similarity between two texts, based on the words they share, do not perform well with short texts because two similar texts may be written in different terms by employing synonyms. As a result, short texts should be semantically compared. In this paper, a semantic similarity measurement method between texts is presented which combines knowledge-based and corpus-based semantic information to build a semantic network that repre

... Show More
View Publication Preview PDF
Scopus (3)
Scopus Crossref
Publication Date
Tue Oct 07 2025
Journal Name
Lark Journal For Philosophy , Linguistics And Social Sciences
The Effective Ideology of Benjamin Tammuz’s Works
...Show More Authors

View Publication
Publication Date
Sun Jan 01 2017
Journal Name
Journal Of Political Issues
Legal Regulation of the Irremovable Civil Agency
...Show More Authors

The agency contract is one of the personal account of decades, as the character is both the agent and the principal place of consideration, and characterized Agency important practical and legal as a means and a tool makes it easier for people things of their lives by enabling them to hold the actions they can not sometimes hold them on their own for their absence from the place of the contract or to inexperience or to the large number of their concerns. However, the development of economic, legal and social life dictated finding agency where the principal can be dismissed and his agent to suspend agent right or the other this agency only with the consent of his right to the agency this agency is known acting non-isolated, though the basis

... Show More
View Publication
Publication Date
Fri Jul 12 2024
Journal Name
International Journal Of Advances In Scientific Research And Engineering (ijasre), Issn:2454-8006, Doi: 10.31695/ijasre
A Proposed Blockchain-Based Digital-Identity Management using ERC 725/735
...Show More Authors

In modern technology, the ownership of electronic data is the key to securing their privacy and identity from any trace or interference. Therefore, a new identity management system called Digital Identity Management, implemented throughout recent years, acts as a holder of the identity data to maintain the holder’s privacy and prevent identity theft. Therefore, an overwhelming number of users have two major problems, users who own data and third-party applications will handle it, and users who have no ownership of their data. Maintaining these identities will be a challenge these days. This paper proposes a system that solves the problem using blockchain technology for Digital Identity Management systems. Blockchain is a powerful techniqu

... Show More
View Publication Preview PDF
Publication Date
Tue Dec 05 2023
Journal Name
Baghdad Science Journal
AlexNet-Based Feature Extraction for Cassava Classification: A Machine Learning Approach
...Show More Authors

Cassava, a significant crop in Africa, Asia, and South America, is a staple food for millions. However, classifying cassava species using conventional color, texture, and shape features is inefficient, as cassava leaves exhibit similarities across different types, including toxic and non-toxic varieties. This research aims to overcome the limitations of traditional classification methods by employing deep learning techniques with pre-trained AlexNet as the feature extractor to accurately classify four types of cassava: Gajah, Manggu, Kapok, and Beracun. The dataset was collected from local farms in Lamongan Indonesia. To collect images with agricultural research experts, the dataset consists of 1,400 images, and each type of cassava has

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (4)
Scopus Crossref
Publication Date
Fri Sep 03 2021
Journal Name
Entropy
Reliable Recurrence Algorithm for High-Order Krawtchouk Polynomials
...Show More Authors

Krawtchouk polynomials (KPs) and their moments are promising techniques for applications of information theory, coding theory, and signal processing. This is due to the special capabilities of KPs in feature extraction and classification processes. The main challenge in existing KPs recurrence algorithms is that of numerical errors, which occur during the computation of the coefficients in large polynomial sizes, particularly when the KP parameter (p) values deviate away from 0.5 to 0 and 1. To this end, this paper proposes a new recurrence relation in order to compute the coefficients of KPs in high orders. In particular, this paper discusses the development of a new algorithm and presents a new mathematical model for computing the

... Show More
View Publication
Scopus (34)
Crossref (31)
Scopus Clarivate Crossref
Publication Date
Sun Dec 01 2002
Journal Name
Iraqi Journal Of Physics
An edge detection algorithm matching visual contour perception
...Show More Authors

For several applications, it is very important to have an edge detection technique matching human visual contour perception and less sensitive to noise. The edge detection algorithm describes in this paper based on the results obtained by Maximum a posteriori (MAP) and Maximum Entropy (ME) deblurring algorithms. The technique makes a trade-off between sharpening and smoothing the noisy image. One of the advantages of the described algorithm is less sensitive to noise than that given by Marr and Geuen techniques that considered to be the best edge detection algorithms in terms of matching human visual contour perception.

View Publication Preview PDF
Publication Date
Tue May 16 2023
Journal Name
Journal Of Engineering
System Identification Algorithm for Systems with Interval Coefficients
...Show More Authors

In this research a new system identification algorithm is presented for obtaining an optimal set of mathematical models for system with perturbed coefficients, then this algorithm is applied practically by an “On Line System Identification Circuit”, based on real time speed response data of a permanent magnet DC motor. Such set of mathematical models represents the physical plant against all variation which may exist in its parameters, and forms a strong mathematical foundation for stability and performance analysis in control theory problems.

View Publication Preview PDF
Crossref
Publication Date
Mon Oct 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Nurse Scheduling Problem Using Hybrid Simulated Annealing Algorithm
...Show More Authors

Nurse scheduling problem is one of combinatorial optimization problems and it is one of NP-Hard problems which is difficult to be solved as optimal solution. In this paper, we had created an proposed algorithm which it is hybrid simulated annealing algorithm to solve nurse scheduling problem, developed the simulated annealing algorithm and Genetic algorithm. We can note that the proposed algorithm (Hybrid simulated Annealing Algorithm(GS-h)) is the best method among other methods which it is used in this paper because it satisfied minimum average of the total cost and maximum number of Solved , Best and Optimal problems. So we can note that the ratios of the optimal solution are 77% for the proposed algorithm(GS-h), 28.75% for Si

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Apr 20 2012
Journal Name
International Journal Of Computer And Information Engineering
An Optimal Algorithm for HTML Page Building Process
...Show More Authors

An Optimal Algorithm for HTML Page Building Process

View Publication Preview PDF