Preferred Language
Articles
/
joe-974
A Comparative Study of Various Intelligent Optimization Algorithms Based on Path Planning and Neural Controller for Mobile Robot
...Show More Authors

In this paper, a cognitive system based on a nonlinear neural controller and intelligent algorithm that will guide an autonomous mobile robot during continuous path-tracking and navigate over solid obstacles with avoidance was proposed. The goal of the proposed structure is to plan and track the reference path equation for the autonomous mobile robot in the mining environment to avoid the obstacles and reach to the target position by using intelligent optimization algorithms. Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) Algorithms are used to finding the solutions of the mobile robot navigation problems in the mine by searching the optimal paths and finding the reference path equation of the optimal path. As well as, PSO algorithm is used to find and tune on-line the neural control gains values of the nonlinear neural controller to obtain the best torques actions of the wheels for the mining autonomous mobile robot. Simulation results by matlab showed that the proposed cognitive system is more accurate in terms of planning reference path to avoid obstacles and online finding and tuning parameters of the controller which generated smoothness control action without saturation state for tracking the reference path equation as well as minimize the mobile robot tracking pose error to zero value.

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Iraqi stock market structure analysis based on minimum spanning tree
...Show More Authors

tock markets changed up and down during time. Some companies’ affect others due to dependency on each other . In this work, the network model of the stock market is discribed as a complete weighted graph. This paper aims to investigate the Iraqi stock markets using graph theory tools. The vertices of this graph correspond to the Iraqi markets companies, and the weights of the edges are set ulrametric distance of minimum spanning tree.

View Publication
Scopus Crossref
Publication Date
Mon Mar 01 2021
Journal Name
Iop Conference Series: Materials Science And Engineering
An efficient multistage CBIR based on Squared Krawtchouk-Tchebichef polynomials
...Show More Authors
Abstract<p>Image databases are increasing exponentially because of rapid developments in social networking and digital technologies. To search these databases, an efficient search technique is required. CBIR is considered one of these techniques. This paper presents a multistage CBIR to address the computational cost issues while reasonably preserving accuracy. In the presented work, the first stage acts as a filter that passes images to the next stage based on SKTP, which is the first time used in the CBIR domain. While in the second stage, LBP and Canny edge detectors are employed for extracting texture and shape features from the query image and images in the newly constructed database. The p</p> ... Show More
View Publication
Crossref (4)
Crossref
Publication Date
Wed Apr 20 2022
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
Text image secret sharing with hiding based on color feature
...Show More Authors

View Publication
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Tue Feb 01 2022
Journal Name
Svu-international Journal Of Engineering Sciences And Applications
Water Quality Detection using cost-effective sensors based on IoT
...Show More Authors

Crossref (4)
Crossref
Publication Date
Sun Jan 01 2017
Journal Name
Ieee Access
Low-Distortion MMSE Speech Enhancement Estimator Based on Laplacian Prior
...Show More Authors

View Publication
Scopus (42)
Crossref (39)
Scopus Clarivate Crossref
Publication Date
Thu Jan 01 2015
Journal Name
International Journal Of Application Or Innovation In Engineering & Management
Far Infrared Photoconductive Detector Based on Multi-Wall Carbon Nanotubes
...Show More Authors

Far infrared photoconductive detectors based on multi-wall carbon nanotubes (MWCNTs) were fabricated and their characteristics were tested. MWCNTs films deposited on porous silicon (PSi) nanosurface by dip and drop coating techniques. Two types of deposited methods were used; dip coating sand drop –by-drop methods. As well as two types of detector were fabricated one with aluminum mask and the other without, and their figures of merits were studied. The detectors were illuminated by 2.2 and 2.5 Watt from CO2 of 10.6 􀀀m and tested. The surface morphology for the films is studied using AFM and SEM micrographs. The films show homogeneous distributed for CNTs on the PSi layer. The root mean square (r.m.s.) of the films surface roughness in

... Show More
Publication Date
Sun Nov 01 2020
Journal Name
Iop Conference Series
Modified PRESENT Encryption algorithm based on new 5D Chaotic system
...Show More Authors

Cryptography is a major concern in communication systems. IoE technology is a new trend of smart systems based on various constrained devices. Lightweight cryptographic algorithms are mainly solved the most security concern of constrained devices and IoE systems. On the other hand, most lightweight algorithms are suffering from the trade-off between complexity and performance. Moreover, the strength of the cryptosystems, including the speed of the algorithm and the complexity of the system against the cryptanalysis. A chaotic system is based on nonlinear dynamic equations that are sensitive to initial conditions and produce high randomness which is a good choice for cryptosystems. In this work, we proposed a new five-dimensional of a chaoti

... Show More
Scopus (9)
Crossref (7)
Scopus Crossref
Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
Online Sumarians Cuneiform Detection Based on Symbol Structural Vector Algorithm
...Show More Authors

The cuneiform images need many processes in order to know their contents
and by using image enhancement to clarify the objects (symbols) founded in the
image. The Vector used for classifying the symbol called symbol structural vector
(SSV) it which is build from the information wedges in the symbol.
The experimental tests show insome numbersand various relevancy including
various drawings in online method. The results are high accuracy in this research,
and methods and algorithms programmed using a visual basic 6.0. In this research
more than one method was applied to extract information from the digital images
of cuneiform tablets, in order to identify most of signs of Sumerian cuneiform.

View Publication Preview PDF
Publication Date
Fri Jul 01 2011
Journal Name
Engineering And Technology Journal
Off-Line Arabic Signature Recognition Based on Invariant Moments Properties
...Show More Authors

View Publication
Crossref (1)
Crossref
Publication Date
Sun Apr 01 2018
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Information Hiding using LSB Technique based on Developed PSO Algorithm
...Show More Authors

<p>Generally, The sending process of secret information via the transmission channel or any carrier medium is not secured. For this reason, the techniques of information hiding are needed. Therefore, steganography must take place before transmission. To embed a secret message at optimal positions of the cover image under spatial domain, using the developed particle swarm optimization algorithm (Dev.-PSO) to do that purpose in this paper based on Least Significant Bits (LSB) using LSB substitution. The main aim of (Dev. -PSO) algorithm is determining an optimal paths to reach a required goals in the specified search space based on disposal of them, using (Dev.-PSO) algorithm produces the paths of a required goals with most effi

... Show More
View Publication
Scopus (19)
Crossref (5)
Scopus Crossref