Computer
Noor Abdul Khaleq Zghair; Ahmed S. Al-Araji
Abstract
A mobile robot's major purpose is to get to its destination by traveling over an optimum path defined by various parameters such as time, distance, and the robot's safety from any impediments in its path. As a result, the backbone of the autonomous mobile robot is path planning and obstacle avoidance. ...
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A mobile robot's major purpose is to get to its destination by traveling over an optimum path defined by various parameters such as time, distance, and the robot's safety from any impediments in its path. As a result, the backbone of the autonomous mobile robot is path planning and obstacle avoidance. Several algorithms for path planning and obstacle avoidance have been presented by various researchers, each with its own set of benefits and drawbacks. This paper focuses on two parts; the first part finds the short and smooth collision-free path for a mobile robot to navigate in a static environment based on two proposed hybrid algorithms. The first hybrid is between Firefly Algorithm (FA) and Modify Chaotic Particle Swarm Optimization (MCPSO), namely (HFACPSO), while the other hybrid is between Genetic Algorithm (GA) and MCPSO, namely (HGACPSO).The second part suggests an algorithm planner for improving the efficiency of the route-planning algorithm with moving obstacle avoidance by adjusting the velocity or re-planning the path for the mobile robot. To demonstrate the effectiveness of the proposed algorithms in terms of the shortest path length and collision-free, as well as obtaining optimal or near-optimal wheel velocities with the minimum number of iterations. The proposed hybrid (FAMCPSO) algorithm provides enhancement on the path length equal to (0.82%) compared to the firefly algorithm (FA). Moreover, the hybrid (GAMCPSO) algorithm enhancement on the path length equals (0.67%) compared to the genetic algorithm (GA). All methods are simulated in a static and dynamic obstacle environment using MATLAB 2018b.
Methaq Khamees Faraj; Ahmed Al-Saadi; Riyadh Jabbar Albahadili
Volume 20, Issue 3 , July 2020, , Page 65-74
Abstract
The number of devices connected to networks and the internet such as the Internet of Things, machine to machine, social media or speech traffic, etc., are rapidly increased that results in a huge amount of traffic. This leads to congestion that increases packet loss and reduces system performance. Therefore, ...
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The number of devices connected to networks and the internet such as the Internet of Things, machine to machine, social media or speech traffic, etc., are rapidly increased that results in a huge amount of traffic. This leads to congestion that increases packet loss and reduces system performance. Therefore, a single server cannot handle this traffic and need to use some approaches to optimize network performance. The use of a load balancer to distribute network traffic among multiple servers could minimize the load on a single server, provide availability, scalability, and enhance network performance. A load balancer in a traditional network is a dedicated hardware device that is expensive, close vender, and non-programmable. A load balancer contains few algorithms that network engineers cannot change or create a new one. In contrast, Software Defined Network (SDN) that utilizes load balancer is programmable (hardware independent) and more agilely.The objective of this investigation is to implement the Least packet load algorithm, which is used in the traditional load balancer, using an SDN-controller Python Network Operating system (POX) in order to distribute load among servers. Moreover, it discusses some research opportunities that this work introduces to improve load balancing in SDN. This work is validated through extensive simulations and emulations that compare the proposed algorithm with four of the most widely cited schemes. The results indicate that the proposed algorithm improved network performance and achieve up to 21% increase to system throughput compared to other benchmark approaches.
Ibtihal H. Ibrahim; Hazem I. Ali
Abstract
In this work, the design of a quantitative PID controller is proposed for Ball and Beam system. This controller is designed to robustly compensate for the nonlinear and uncertain behavior of the ball and beam system. The PID controller parameters are obtained using the Black Hole Optimization (BHO) method ...
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In this work, the design of a quantitative PID controller is proposed for Ball and Beam system. This controller is designed to robustly compensate for the nonlinear and uncertain behavior of the ball and beam system. The PID controller parameters are obtained using the Black Hole Optimization (BHO) method subject to Quantitative Feedback Theory (QFT) consteaints. The QFT is used to design a simple and robust controller with a more desirable performance. The simulation results show that the proposed quantitative PID controller can effectively compensate the ball and beam system with robust behavior and desirable time response specifications.
Computer
Sama Salam Samaan; Hassan Awheed Jeiad
Abstract
Traditional network abilities have a drastic shortage in the current networking world. Software-Defined Networking (SDN) is a revival development in the networking domain that provides separation of control and data planes, enlarges the data plane granularity, and simplifies the network devices. All ...
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Traditional network abilities have a drastic shortage in the current networking world. Software-Defined Networking (SDN) is a revival development in the networking domain that provides separation of control and data planes, enlarges the data plane granularity, and simplifies the network devices. All these factors accelerate and automate the evolution of new services. However, when the SDN network topology becomes large, it poses new challenges in security, traffic management, and scalability due to the vast amounts of traffic data generated and the need for additional controllers to manage the significant number of networking devices. On the other hand, big data has become an attractive trend that can enhance network performance in general, specifically SDN. Both SDN and big data have gained great attraction from industry and academia. Traditionally, these two subjects have been studied separately in most of the preceding works. However, big data can impact the design and implementation of SDN thoroughly. This paper presents how big data can support SDN in various aspects, including intrusion detection, traffic monitoring, and controller scalability and resiliency. We suggest several approaches toward deeper cooperation between big data and SDN.
Control
Nasir Ahmed Alawad; Amjad J Humaidi; Ahmed Sabah Alarejee
Abstract
Exoskeleton robots help users with mechanical forces by recognizing their intentions, and they require a lot of energy efficiency, a lot of load capacity, and a good fit. A basic one degree of freedom (DOF) construction was devised in this work, which was mostly used in the knees of exoskeleton robots. ...
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Exoskeleton robots help users with mechanical forces by recognizing their intentions, and they require a lot of energy efficiency, a lot of load capacity, and a good fit. A basic one degree of freedom (DOF) construction was devised in this work, which was mostly used in the knees of exoskeleton robots. The exoskeleton is a small robotic device used for knee injury training. It is a nonlinear mathematical model with many mechanical factors that might vary and produce uncertainty, as well as external disturbances that can be utilized to monitor control. The transitioning process is frequently organized using tracking differentiator TD to resolve the conflict between system speed and overshoot. An active disturbance rejection control (ADRC) with a modified tracking differentiator is described to tackle these challenges, enhance control accuracy, and reduce settling time for exoskeleton modified trajectory differentiator (MTD).Simulation tests showed that (MTD) reduced the tracking error by 36%, when compared with the improved TD1 and 37.5% for Hans TD2 at uncertainty case . Despite the presence of several model uncertainties, the suggested training knee exoskeleton robot system using the MTD-ADRC was able to achieve the necessary target value. Control design and analysis can be done with Matlab and Simulink
Taha Adel Al-Gadery; Shibly Ahmed Al-Samarraie
Volume 21, Issue 2 , June 2021, , Page 70-84
Abstract
In this paper, we study the Sliding Mode Extremum Seeking (SMES)optimization method for a Heat Exchangers Network. The studied network is constructedfrom plate Heat Exchangers, in which several thermal sources are used to heat a commoncold stream that is distributed between the several branches of the ...
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In this paper, we study the Sliding Mode Extremum Seeking (SMES)optimization method for a Heat Exchangers Network. The studied network is constructedfrom plate Heat Exchangers, in which several thermal sources are used to heat a commoncold stream that is distributed between the several branches of the network. Theconsidered optimization problem is the optimization of the thermal power gained fromdifferent hot sources. The control variables are the split ratios of the cold stream to thedifferent heat exchangers. The dynamical model for general Heat Exchanger Networkwith (n) Heat Exchangers was driven and the special case of two Heat Exchangers inparallel was considered as a case study. The SMES algorithm was modified with anintegral anti-windup scheme to constrain the search within the admissible region. Thesimulation results obtained by using Matlab program confirmed the effectiveness of theapproach.
Farazdaq R. Yaseen; Walaa H. Nasser
Volume 19, Issue 1 , January 2019, , Page 52-62
Abstract
A Sliding Mode Control (SMC) with integral surface is employed to controlthe speed of Three-Phase Induction Motor in this paper. The strategy used is a modifiedfield oriented control to control the IM drive system. The SMC is used to calculate thefrequency required for generating three phase voltage ...
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A Sliding Mode Control (SMC) with integral surface is employed to controlthe speed of Three-Phase Induction Motor in this paper. The strategy used is a modifiedfield oriented control to control the IM drive system. The SMC is used to calculate thefrequency required for generating three phase voltage of Space vVector Pulse WidthModulation (SVPWM) invertor. When the SMC is used with current controller, thequadratic component of stator current is estimated by the controller. Instead of usingcurrent controller, this paper proposed estimating the frequency of stator voltagewhereas the slip speed is representing a function of the quadratic current. The simulationresults of using the SMC showed that a good dynamic response can be obtained underload disturbances as compared with the classical PI controller; the completemathematical model of the system is described and simulated in MATLAB/SIMULINK.
Ahmed Mohsen Mohammad; Shibly Ahmed AL-Samarraie
Volume 20, Issue 2 , April 2020, , Page 58-73
Abstract
The objective of this paper is to design a robust controller for a system modeled as a two-mass system, with a flexible coupling. Here, the flexible Joint between two-mass systems is characterized by a spring. In fact, a two-mass system represents most of an industrial drive, like rolling mill drives, ...
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The objective of this paper is to design a robust controller for a system modeled as a two-mass system, with a flexible coupling. Here, the flexible Joint between two-mass systems is characterized by a spring. In fact, a two-mass system represents most of an industrial drive, like rolling mill drives, automated arms, conveyor belts, and so on, that has a flexible joint, for which oscillation suppression and robust control against model uncertainties and external disturbances are very important. The proposed controller is based on sliding mode control with a back-stepping approach. Two subsystems (upper and lower) strategies are proposed for two- mass systems. On this basis, the classical sliding mode controller for each subsystem based on Lyapunov stability theory and sliding mode control theory is addressed to eliminate the influences of the parametric uncertainties, nonlinearities, and external disturbance load with the aid of sliding mode perturbation observer. Finally, comprehensive simulations are conducted to demonstrate the excellent performance of the proposed method.
Fatma H. Faris; Abdulrahim Thiab Humod2; Mohammad Najm Abdullah
Volume 19, Issue 2 , April 2019, , Page 58-68
Abstract
In this paper, Field Oriented Control (FOC) of 3-phase induction motor iscontrolled by using (PI) and (I-P). These controllers are established with the help ofMATLAB/SIMULINK. The gains value obtained by the trial and error method of PIcontrollerand Particle Swarm Optimization (PSO) technique is used ...
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In this paper, Field Oriented Control (FOC) of 3-phase induction motor iscontrolled by using (PI) and (I-P). These controllers are established with the help ofMATLAB/SIMULINK. The gains value obtained by the trial and error method of PIcontrollerand Particle Swarm Optimization (PSO) technique is used in this paper fordesigning I-P controllers that give better performance. PSO technique was proposed totune the optimal gains of I-P controller and state feedback gains. A comparison betweentwo controllers is presented. From simulation results, the advantages and disadvantagesof both controllers are investigated to explain the characteristic of the two methods. Theoperation perforamcnes of the two proposed controller systems have been examined interms of the motor torque, current ripples and momentary responses to load toquevariants.
Ali n. Kareem; Sinan M. Abdul Satar; Mohammed A. Husein
Volume 18, Issue 3 , December 2018, , Page 60-69
Abstract
orthogonal frequency division multiplexing (OFDM) is emerging asthe leading technology for high data rates. The OFDM based on multicarriertransmission that transforms a wideband channel into a group of thin-bandchannels. The high peak to average power ratio (PAPR) considers the maindrawback factor in ...
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orthogonal frequency division multiplexing (OFDM) is emerging asthe leading technology for high data rates. The OFDM based on multicarriertransmission that transforms a wideband channel into a group of thin-bandchannels. The high peak to average power ratio (PAPR) considers the maindrawback factor in this system, so the companding technique modifies theamplitude of OFDM signal to reduce this factor. The proposed A-lawcompanding technique has been implemented in intensity modulation/directdetection optical orthogonal frequency division multiplexing (IM/DDOOFDM).The proposed companding scheme guarantees the improvedperformance in terms of bit error rate (BER) and quality factor (QF) whilereducing PAPR effectively and efficiently by modifying the amplitude of thetransmitted signals. Our results confirm that the suggested scheme exhibits agood ability to reduce PAPR and a good BER performance based on the use theA factor. At the complementary cumulative distribution function (CCDF) of 10-3, the PAPR value of our proposed scheme is about 4.4 dB lower than those ofun-companded signal at best control factor used of A at 87.6, accordingly theQF is 2.5 dB and the BER is 6.2×10-3 at a distance 900km without anyequalization technique or training sequence or any channel estimation.
Communication
Nada Hussain; Matheel Abdulmunim; Akbas Ezaldeen Ali
Abstract
Auto-Correction is the process of correcting a misspelled word typed by the user as an application of automated translation process. lip-reading is the process of recognizing the words through processing and observing the visual lip movement of a speaker’s talking without any audio input. Although ...
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Auto-Correction is the process of correcting a misspelled word typed by the user as an application of automated translation process. lip-reading is the process of recognizing the words through processing and observing the visual lip movement of a speaker’s talking without any audio input. Although visual information itself cannot be considered as enough resource to provide normal speech as intelligibility, it may succeed with several cases especially when the words to be recognized are limited. Auto-correction is a trail to diminish the number of errors that can be generated by lip reading systems and to improve their accuracy, many error-correction techniques were visualized. In this paper an auto- correction model is proposed to correct the misspelled words recognized by a lip reading system, the output of a lip reading system is subjected to auto-correction model to enhance the accuracy of the system. The auto-correction model is based on levenshtien distance and dictionary lookup with a proposed dataset. The proposed model achieved accuracy of more than 67% enhancing the lip reading system by almost 30%.
Shuruq Abboud Hashim; Muna Mohammed Jawad; Bassam M.S Wheedd
Volume 20, Issue 1 , January 2020, , Page 68-75
Abstract
Wireless Visual Sensor Networks (WVSNs) are a branch of Wireless Sensor Networks (WSNs), WVSN nodes vary from standard WSN nodes in the ability of sensing the environment in two dimensions rather than in one. Therefore, it follows the three main fundamentals of WSNs: wireless networking, distributed ...
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Wireless Visual Sensor Networks (WVSNs) are a branch of Wireless Sensor Networks (WSNs), WVSN nodes vary from standard WSN nodes in the ability of sensing the environment in two dimensions rather than in one. Therefore, it follows the three main fundamentals of WSNs: wireless networking, distributed sensing and low power hardware. This paper discusses different challenges that face the design of WVSNs like deployment of nodes, field of view overlapping, image analysis, area coverage and energy consumption. Efforts have been done mainly to survey the problem of energy consumption that can affect the lifetime of visual sensor network and overview the different techniques that have been used by many researchers to handle this crucial issue.
Luma Z Mohammed; Sarah M. Taleb; Makram A. Fakhri
Volume 20, Issue 4 , October 2020, , Page 71-77
Abstract
We propose and analyse a silicon based hybrid modulator on the nano thin film of the lithium niobate or commonly known as silicon-on-insulator technology. The Mach–Zehnder stripe optical waveguide of electro-optical modulator operats at GHz frequencies with large bandwidth and low losses between ...
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We propose and analyse a silicon based hybrid modulator on the nano thin film of the lithium niobate or commonly known as silicon-on-insulator technology. The Mach–Zehnder stripe optical waveguide of electro-optical modulator operats at GHz frequencies with large bandwidth and low losses between electrical and optical frequencies.The design and simulation of Mach-Zehnder modulator is based on a hybrid integration platform of silicon and lithium niobate that satisfies a single mode condition. The Silicon stripe waveguide is of 0.6 μm thickness in a silicon on insulator (SOI) of width 15 um and 0.05 um thickness x-cut LiNbO3 thin film, all sets use the pulse laser deposition (PLD) method. The Optical electric field distributions and effective mode area in the optical-waveguides were studied and discussed in this designated waveguide.The relationship between the width of waveguides regions with effective mode index and effective mode area was investigated. At 0.6 um width of waveguide and 0.2 um thickness, the effective mode index 1.9802 was recorded while the effective mode area 0.144 um2 was monitored. This shows the decrement in both: the width and thickness of the waveguide with the effective mode index and effective mode area.
Communication
Abdulqader Falhi Jabbar; Rana Fareed Ghani; Asia Ali Salman
Abstract
Road traffic accidents are one of the leading causes of mortality globally. Reducing the number of traffic-related incidents has become a serious socio-economic and public health problem, given the ever-increasing number of cars on the road. As a result, this paper proposes an intelligent vehicle prediction ...
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Road traffic accidents are one of the leading causes of mortality globally. Reducing the number of traffic-related incidents has become a serious socio-economic and public health problem, given the ever-increasing number of cars on the road. As a result, this paper proposes an intelligent vehicle prediction communication mechanism that alerts drivers to any autos that may be overtaking or bypassing the targeted vehicle. The primary goal of this paper is to leverage modern Internet of Things (IoT) and wireless sensor technologies to predict any potential accident that may occur as a result of car accidents. This paper proposes the Collision Prediction of a Moving Vehicle (CPMV) system. The information acquired by CPMV will alert the driver to divert the vehicle in a reasonable amount of time before any harm occurs. It redirects the inbound object that emitted the Ultrasound signal which was received by the vehicle, to a safe location. The proposed system predicts collision between vehicles through Wi-Fi and Bluetooth, using a set of sensors with a precision of 360 degrees and a distance of collision prediction of one meter and at a speed of 200-300 revolutions per minute. The python programming language was utilized to code the programs that control the vehicle during the implementation of this project. The Raspberry Pi 4 is utilized as the controller to examine the vehicle’s spatial data. The test results showed that using this application to deal with an approaching object can be a successful strategy in the three proposed scenarios at different angles and directions.
Khawla Jalil Taher1; Hamsa D. Majeed2
Volume 21, Issue 1 , March 2021, , Page 73-83
Computer
doaa nteesha mhawi; Soukaena H. hashem
Abstract
Due to sophisticated cyber-attacks, and to produce false alarms on suspicious or unusual behavior to monitor computer resources, Intrusion Detection Systems (IDSs) are required. Hence, Many Machine Learning (ML) and data mining techniques have been proposed to increase the effectiveness of IDSs, whereas ...
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Due to sophisticated cyber-attacks, and to produce false alarms on suspicious or unusual behavior to monitor computer resources, Intrusion Detection Systems (IDSs) are required. Hence, Many Machine Learning (ML) and data mining techniques have been proposed to increase the effectiveness of IDSs, whereas current IDS algorithms are still struggling to perform effectively while many IDSs depend on a single classifier to detect intrusions. Single- classifier IDSs cannot achieve high accuracy and low false alarm rates because of zero-day attacks. In this paper, a hybrid ensemble method using AdaBoosting and Bagging for IDS is proposed. This study aims to identify unknown (zero-day attacks) and known (well-known) attacks. So, the proposed model comprises three stages. The first stage is preprocessing. The second stage involves the application of AdaBoosting and Bagging methods by four different classifiers modifying (i.e., Naïve Bayesian (NB), Support Vector Machine (SVM), random forest (RF), and K_Nearest Neighbor (KNN)). Such a modification is performed for the AdaBoosting methods. The AdaBoosting classifier is then combined to work in the Bagging method. For attack recognition, uses the voting technique as the third stage. Experimental results reveal that using the UNSW BN15 dataset yields testing with 85.49% accuracy, 99.96% detection rate, and 0.006 false alarm rate. Therefore, the proposed Hybrid AdaBoosting and Bagging Method (HABBM) can outperform other comparable and state-of-the-art techniques across a variety of parameters.
Shaymaa M. Naser; Yossra Hussain Ali
Abstract
In recent two years, information systems have been adopted in most fields oflife due to the health state around the world. At the same time, the risk factor ofsecurity attacks is increased sharply as well. These attacks consider different actionstoward damaging the data of systems or even making down ...
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In recent two years, information systems have been adopted in most fields oflife due to the health state around the world. At the same time, the risk factor ofsecurity attacks is increased sharply as well. These attacks consider different actionstoward damaging the data of systems or even making down their work. In this paper, astudy of cyber-threats (attacks) on Wireless Sensor Network (WSN) is presented. Thisstudy illustrates the effects of the cyber-threats on the WSN according to the networklayers, as well as their privacy concerns. The outcome of this study is the classificationof these attacks that can lead to produce cyber-security systems which can preventthem from damaging the involved information systems.
Narges A-hussein; Ayman D. Salman
Volume 20, Issue 3 , July 2020, , Page 75-83
Abstract
In the past years, the scene has witnessed huge technological progress which made our lives simpler and flixper. After Wi-Fi and cellular communications networks’ improvements, with the parallel optimization of numerous embedded devices, momentum has risen globally and today gave us a concept that ...
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In the past years, the scene has witnessed huge technological progress which made our lives simpler and flixper. After Wi-Fi and cellular communications networks’ improvements, with the parallel optimization of numerous embedded devices, momentum has risen globally and today gave us a concept that is the IoT or the Internet of Things. Where several contemporary technologies have been utilized and the developers have been advancing structures to collect data from sensor systems that may be sent to any part of the world over the Internet. The Internet of Things can be used for many purposes like controlling, tracking and managing systems. In this study, we presented the work of the MQTT internet routing protocol to exchange sensor information between two different devices. The IoT platform is about monitoring temperature and humidity in a smart home based on an MQTT protocol which makes this connection possible. However, the MQTT protocol works in publishing/ subscribing mode. The proposed work used an Esp8266NodeMCU as a publisher and Raspberry pi3 model (B) as a subscriber. Also, it used a dht11 sensor to measure the temperatures and humidity. The measurements were collected from sensors and alternated between the two devices through the MQTT broker (server). Node-Red and ThingSpeak designed as a website to share the data.
Iman Mohammed Hasan; Rana Fareed Ghani
Abstract
Today's insurance industry plays a significant role in a variety of fields, particularly in health insurance. As IoT technology advances, health insurers in IoT networks can obtain real-time medical data for individuals and issue individual insurance policies based on a person's lifestyle. However, sharing ...
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Today's insurance industry plays a significant role in a variety of fields, particularly in health insurance. As IoT technology advances, health insurers in IoT networks can obtain real-time medical data for individuals and issue individual insurance policies based on a person's lifestyle. However, sharing personal data requires a guarantee of privacy and security. This paper suggests a Blockchain technology to solve this problem. The work presents a novel framework that integrates health insurers, IoT-based networks, and Blockchain technology to implement access control protocol using a smart contract for sharing the financial premium of insureds with the stakeholders as non-participants/authorized parties. The evaluation of the proposal results in authorized access within less time compared to traditional data-sharing systems, and the security analysis shows that proposal can protect data from potential threats.
Saad Mutashar
Volume 18, Issue 2 , September 2018, , Page 77-85
Abstract
This paper introduces a new hybrid E/F power amplifier forsubcutaneous applications. The proposed design is based on Amplitude ShiftKeying (ASK) modulation technique with Industrial Scientific Medical (ISM)band operating at 135 kHz to avoid the tissue damage. The Hybrid E/F poweramplifier combines the ...
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This paper introduces a new hybrid E/F power amplifier forsubcutaneous applications. The proposed design is based on Amplitude ShiftKeying (ASK) modulation technique with Industrial Scientific Medical (ISM)band operating at 135 kHz to avoid the tissue damage. The Hybrid E/F poweramplifier combines the tuning network circuits and uses a control unit tocontrol a selectable switch to choose the desired amplifier. The Amplitude ShiftKeying modulator is proposed to supply the proposed hybrid amplifier withapproximately constant DC voltage. The proposed power amplifier aims toprovide an appropriate power to power the implantable devices and reduce thehardware of the subcutaneous devices depending on the specific applications.
Control
Hadeel I. Abdulameer; Mohamed J. Mohamed
Abstract
Four Fractional/Integer Order Fuzzy Proportional Integral Derivative controller structures are designed in this study to successfully control a nonlinear, coupled, multi-input, multi-output, three-link rigid robotic manipulator system. The performance of Fractional Order Fuzzy Proportional Integral Derivative ...
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Four Fractional/Integer Order Fuzzy Proportional Integral Derivative controller structures are designed in this study to successfully control a nonlinear, coupled, multi-input, multi-output, three-link rigid robotic manipulator system. The performance of Fractional Order Fuzzy Proportional Integral Derivative and Integer Order Fuzzy Proportional Integral Derivative controllers is evaluated for reference trajectory tracking, changing beginning circumstances, disturbance rejection, and model uncertainty. These controllers' parameters are tuned using a meta-heuristic optimization approach called the most valuable player algorithm for the objective function, which is defined as the integral of the time-squared error. Simulation results show that the suggested Fractional Order Fuzzy Proportional Integral Derivative controllers outperform Integer Order Fuzzy Proportional Integral Derivative controllers for tracking performance, stability, and robustness for all structures. Fractional Order Fuzzy Proportional Derivative Fractional Order Proportional Integral Derivative controller is the best one for trajectory tracking, disturbances rejection, and parameter variation with the least integral of time square error equal to 2.7420×10-6, 3.4×10-3 and 2.0108×10-4 respectively and the response of the angular position for all links for trajectory tracking has minimum settling time which is equal to 0.0290 s for the first link, 0.0160 s for the second link and 0.0050 s for the third link. When the initial condition is changed, the One Block Fractional Order Fuzzy Proportional Integral Derivative controller is the best one, since the integral of time square error is minimum and equal to 1.6253×10-4.
Computer
Suha Dh. Athab; Kesra Nermend; Abdulamir Abdullah Karim
Abstract
Microsoft Common Objects in Context (COCO) is a huge image dataset that has over 300 k images belonging to more than ninety-one classes. COCO has valuable information in the field of detection, segmentation, classification, and tagging; but the COCO dataset suffers from being unorganized, and classes ...
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Microsoft Common Objects in Context (COCO) is a huge image dataset that has over 300 k images belonging to more than ninety-one classes. COCO has valuable information in the field of detection, segmentation, classification, and tagging; but the COCO dataset suffers from being unorganized, and classes in COCO interfere with each other. Dealing with it gives very low and unsatisfying results whether when calculating accuracy or intersection over the union in classification and segmentation algorithms. A simple method is proposed to create a customized subset from the COCO dataset by determining the class or class numbers. The suggested method is very useful as preprocessing step for any detection or segmentation algorithms such as YOLO, SSPNET, RCNN, etc. The proposed method was validated using the link net architecture for semantic segmentation. The results after applying the preprocessing were presented and compared to the state of art methods. The comparison demonstrates the exceptional effectiveness of transfer learning with our preprocessing model.
Communication
Bushra T. Hashim; Hadi T. Ziboon; Sinan M. Abdulsatar
Abstract
A new technique called cognitive radio seeks to utilize the available spectrum.. Spectrum sensing is the fundamental cognitive radio component. There are many types of sensing spectrums, one of which is The Two Thresholds Based on Covariance Absolute Values (TTCAV) method. This method's confused region, ...
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A new technique called cognitive radio seeks to utilize the available spectrum.. Spectrum sensing is the fundamental cognitive radio component. There are many types of sensing spectrums, one of which is The Two Thresholds Based on Covariance Absolute Values (TTCAV) method. This method's confused region, which is unsure whether it is a signal or noise, is one of its drawbacks. To solve this problem proposed two techniques, a 2-bit quantization technique and a 3-bit quantization technique. Both techniques use an adaptive threshold. The experimental results conducted using python version 3.7 and Jetson Nano kit show an improvement in the detection probability values after using the techniques. where the value of 𝑷𝒅= 80.2% for a 2-bit technique, 𝑷𝒅=90.3% for a 3-bit quantization technique,at SNR=-20 under smoothing factor L=3. The Monte Carlo was used to determine the effectiveness of the proposed techniques, and Binary Phase Shift Keying modulation BPSK. According to the experiment, the results after using the proposed techniques are better than before.
Communication
Khasraw A. Abdulrahman; Jalal J Hamad Ameen
Abstract
The fifth generation (5G) of mobile technology is emerging as a advance communication network, delivering elevated speeds, coverage and reliability, this technology like other technologies not clear from drawbacks and limitations, 5G mobile system like other mobile systems 4G, 3G and 2G affected by interference ...
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The fifth generation (5G) of mobile technology is emerging as a advance communication network, delivering elevated speeds, coverage and reliability, this technology like other technologies not clear from drawbacks and limitations, 5G mobile system like other mobile systems 4G, 3G and 2G affected by interference and signal quality is going to be decreased because of higher number of C-Node-Bs which is because higher frequency and smaller coverage, in this paper, interference effect has been studied with both types cochannel and adjacent channel, best case and worst cases has been presented simulated and calculated the signal to interference ratio vs cluster size for different pathloss exponents , models and techniques of minimizing this effect has been studied starting with 5G cell planning, then a proposed network using optical fiber between C- Node-Bs, the proposed network model will minimize the interference effect to about negligible level, results shown in this paper about total length of fiber optic cables and cluster size, also, an example with best cluster size has been presented.
Mohammed I. Berbek; Ahmed A. Oglah
Volume 21, Issue 2 , June 2021, , Page 85-101
Abstract
today The topic of contention is the quality of computer networkservice. Efficient data handling is important. Each router offers a buffer spacewhere packets can be held before being sent until they are processed. Thetheory of packet congestion control is TCP (Transmission Control Protocol).(AQM) is ...
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today The topic of contention is the quality of computer networkservice. Efficient data handling is important. Each router offers a buffer spacewhere packets can be held before being sent until they are processed. Thetheory of packet congestion control is TCP (Transmission Control Protocol).(AQM) is a mechanism proposed for gateways to improve congestionmanagement. AQM (active queue management) is a crucial to minimize packetloss in TCP/IP networks and improving network efficiency. This paper offers ahybrid intelligent (PID) with type1 fuzzy logic controller which is designed todecrease network congestion. As a router (AQM), social spider optimization(SSO) is used to tune the control parameters used to reduce queue size error.The designed controller based on SSO algorithm provides a good trackingperformance for AQM desired value.The observational findings indicated ahigh-performance increase in the proposed process. In MATLAB(R2020a), asimulation of a linearized TCP/AQM model is presented. NS2 is used to performverification for the fuzzy logic controllers for the nonlinear TCP/AQM modelunder a more practical simulation and to analyze and examine networkbehavior in different scenarios.
