Hanan Hussain Al-asady; Ekhlas K. Hamza
Volume 18, Issue 1 , April 2018, , Page 29-38
Abstract
Building a precise low cost indoor positioning and navigation wireless system is a challenging task. The accuracy and cost should be taken together into account. Especially, when we need a system to be built in a harsh environment. In recent years, several researches have been implemented to build different ...
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Building a precise low cost indoor positioning and navigation wireless system is a challenging task. The accuracy and cost should be taken together into account. Especially, when we need a system to be built in a harsh environment. In recent years, several researches have been implemented to build different indoor positioning system (IPS) types for human movement using wireless commercial sensors. The aim of this paper is to prove that it is not always the case that having a larger number of anchor nodes will increase the accuracy. Two and three anchor nodes of ultra-wide band with or without the commercial devices (DW 1000) could be implemented in this work to find the Localization of objects in different indoor positioning system, for which the results showed that sometimes three anchor nodes are better than two and vice versa. It depends on how to install the anchor nodes in an appropriate scenario that may allow utilizing a smaller number of anchors while maintaining the required accuracy and cost.
Ahmed sabah Abdul Ameer Al-Araji
Volume 6, Issue 1 , April 2006, , Page 30-42
Abdulmohaimen B. Kassim; Asst. Prof. Dr. Shibly Ahmed Al-Samarraie; Prof. Dr. Waladin K. Sa
Volume 14, Issue 3 , December 2014, , Page 30-41
Abstract
Abstract –In this paper, a mobile manipulator consisting of four degrees of freedom
(4-DOF) robotic manipulator mounted at the top of a mobile platform (front point) of a
mobile robot with four differential drive wheels is presented. A mobile manipulator
combines the dexterous manipulator capability ...
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Abstract –In this paper, a mobile manipulator consisting of four degrees of freedom
(4-DOF) robotic manipulator mounted at the top of a mobile platform (front point) of a
mobile robot with four differential drive wheels is presented. A mobile manipulator
combines the dexterous manipulator capability offered by fixed-based manipulators and
the mobility offered by the mobile robot. The work involves the modeling of mobile
manipulator robot and using the partial feedback linearization approach. The central
idea is to algebraically transform nonlinear systems dynamics into partially linear form,
so that linear control techniques can be applied to control on the wheel mobile
manipulator robot in order to track any trajectory such as an ellipse, circle….etc,
without violating the non holonomic constraints. However, and in order to consider the
uncertainty in system parameters and the effects of the external disturbances a nonlinear
PID controller is proposed in this work. The results demonstrate a good ability of the
designed nonlinear PID controller in regulating the mobile robot to track the desired
path in the presence of the external disturbances and the uncertainty in system
parameters
Nabeel E. Adam
Volume 7, Issue 1 , June 2007, , Page 31-40
Abstract
Abstract:
The input voltage to the direct current series motor is controlled by means of an optimal regulator, for changing the firing angle of the thyristors using pulse width modulation technique. An input output linearization technique is introduced to linearize the non–linear mathematical model ...
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Abstract:
The input voltage to the direct current series motor is controlled by means of an optimal regulator, for changing the firing angle of the thyristors using pulse width modulation technique. An input output linearization technique is introduced to linearize the non–linear mathematical model of the d.c series motor system .The open-loop and closed-loop control systems hve been analyzed theoretically. A computer program written in a MATLAB is used for computing the system dynamics. The closed-loop control system shows a significant modification in the system parameters like armature current,peak overshoot,settling time……..etc,and an optimal firing angle is achieved.
Taghreed M. Mohammad Ridha
Volume 11, Issue 1 , June 2011, , Page 32-45
Abstract
Abstract:
In this research the design of a Model Predictive Controller (MPC) is investigated for regulating Mean Arterial Pressure (MAP) by infusing the Sodium Nitro-Prusside (SNP) drug to the mathematical model of human patients during surgical operations where the blood pressure suffers from sudden ...
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Abstract:
In this research the design of a Model Predictive Controller (MPC) is investigated for regulating Mean Arterial Pressure (MAP) by infusing the Sodium Nitro-Prusside (SNP) drug to the mathematical model of human patients during surgical operations where the blood pressure suffers from sudden rises due to multiple causes. The MPC is designed and compared with digital Proportional-Integral (PI) controller. MPC is chosen due to its known ability of estimating an optimal control action and dealing with input, state constraints and with disturbances. Simulation results for three patients' MAP models controlled by MPC and PI controllers that are designed for a sensitive patient model are analyzed and compared. Both controllers give a satisfactory response but MPC is preferred due to its optimally estimated actions.
Dr. Hazem I. Ali
Volume 12, Issue 1 , June 2012, , Page 32-41
Abstract
This paper presents an application of a robust deadbeat controller for permanent magnet
stepper motor. This approach has been considered in order to assure robust stability and
performance (disturbance rejection, reference tracking) with the presence of system
parameters uncertainty. The Particle ...
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This paper presents an application of a robust deadbeat controller for permanent magnet
stepper motor. This approach has been considered in order to assure robust stability and
performance (disturbance rejection, reference tracking) with the presence of system
parameters uncertainty. The Particle Swarm Optimization (PSO) is used to tune the
controller parameters by minimizing the cost function subject to H-infinity constraints.
It is shown that the designed deadbeat controller presents simple, low order, and robust
position control for a permanent magnet stepper motor. A two-phase motor is
considered in this paper.
Dr. Atheer A. Sabri; Hamsa D. Majeed
Volume 13, Issue 1 , April 2013, , Page 32-40
Abstract
Abstract–The estimation of optical flow is the basic step for many engineering
applications that exploit the image processing field as a part of their models. In this
paper a model called Slantlet Based Optical Flow Estimation (SLT_OFE) is proposed to
estimate the optical flow. Slantlet Transform ...
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Abstract–The estimation of optical flow is the basic step for many engineering
applications that exploit the image processing field as a part of their models. In this
paper a model called Slantlet Based Optical Flow Estimation (SLT_OFE) is proposed to
estimate the optical flow. Slantlet Transform (SLT) used as an effective tool, 2D and
3D- SLT- Level 2 (SLT2) are computed and employed in the proposed model to provide
high accuracy estimation of the optical flow. By its definition, optical flow is a velocity
field, so the velocities in this paper are computed using the widely used Differential
Technique. Two methods from this technique are adopted; Horn-Schunck Method and
Lucas-Kanade Method. The optical flow is estimated for two types of image sequences;
synthetic sequences and real sequences. Unlike the real sequences, the synthetic
sequences have known true velocities which are used for evaluating the proposed model
by calculating mean error (Mean Err.), angular error (Ang. Err.) and Standard Deviation
(STD). For extreme study of its performance, the proposed SLT_OFE is compared with
three other models that are based on level two (Discrete Wavelet Transform (DWT),
Discrete Multi Wavelet Transform (DMWT) and Framelet Transform (FT) ) which are
implemented in this paper and employed in the conventional models, 2D-DWT2_OFE,
2D-DMWT2_OFE and 2D-FT2_OFE. The results show that the proposed model offers
minimum values in errors and STD when 2D-SLT2 is used, and these results are
improved by using 3D-SLT2. This leads to the fact that the proposed model SLT_OFE
through both of 2D and 3D approaches possesses an improvement in the optical flow
estimation process with higher accuracy, than the other models produced in the same
circumstances. MATLAB Version 7.12 (R2011a) is used to implement the proposed
model and the conventional models.
Firas M. Naif; Raghad Z. Tawfiq
Volume 6, Issue 3 , December 2006, , Page 33-46
Ashwaq Talib Hashim; Zaid Mundher Radeef
Volume 17, Issue 1 , December 2017, , Page 33-41
Abstract
Digital cryptography relies greatly on randomness in providing the security requirements imposed by various information systems. Just as different requirements call for specific cryptographic techniques, randomness takes upon a variety of roles in order to ensure the proper strength of these cryptographic ...
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Digital cryptography relies greatly on randomness in providing the security requirements imposed by various information systems. Just as different requirements call for specific cryptographic techniques, randomness takes upon a variety of roles in order to ensure the proper strength of these cryptographic primitives. This paper presents a 64-bit random number generator with a high generation speed and a good random sequences by employing the RC5 encryption algorithm round functions with some changes in the usage
of the key, where two keys have been used with an initial vector to start the sequence generator. This generator can be used as a keys generator for any security system or to generate an intermediate password for signing process, and it can be adapted in many other applications, such as random pattern generation, games, etc. Examining the sequences shows great results in terms of randomness and security by achieving a difference near 0.5, this value is the best result, and a high undependability on the previous generated sequences by also achieving a difference more than 0.5, frequency, serial and run test came out with a near optimality results.
Janan Ateya Mahdi
Volume 9, Issue 1 , December 2009, , Page 34-50
Abstract
Abstract:
In this paper, a 128-bit block cipher B-R encryption algorithm is proposed which is an evolutionary improvement of 64-bits Blowfish designed to meet the requirements of the Advanced Encryption Standard. It is compact, speedy, simple and easy to understand. It is a Feistel network, iterating ...
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Abstract:
In this paper, a 128-bit block cipher B-R encryption algorithm is proposed which is an evolutionary improvement of 64-bits Blowfish designed to meet the requirements of the Advanced Encryption Standard. It is compact, speedy, simple and easy to understand. It is a Feistel network, iterating a simple encryption function 16 times and the key can be any length up to 128 bytes. The B-R reduced the memory requirement by using two S-boxes each of which of size 259 bytes instead of four S-boxes each of size 1024 bytes in Blowfish algorithm ,so that the total size of S-box of B-R is 518 bytes while the size of S-box of Blowfish is 4096 bytes, without compromising security. Using several techniques will increase the security of B-R algorithm. Block size and key length were increased and RC6 as complex function was used after the F-function to avoid a symmetric to the output of S-boxes A desirable property of an encryption algorithm is that a small change in either the plaintext or the key should produce a significant change in the ciphertext. This is so called Avalanche Effect. An average of Avalanche Effect of proposal B-R is about 65.42857 % if only one bit in the key is changed while for Blowfish the average of Avalanche Effect is about 28.714286. On the other hand the average of Avalanche Effect is about 60.7143 in RC6 Algorithm.
Manal Hade
Volume 8, Issue 1 , December 2008, , Page 34-40
Abstract
Abstract:
Speech enhancement is an important proceeding which it can be achieved by estimate the clean speech from noisy speech. The clean speech is corrupted by white Gaussian noise . In this paper, thresholding the wavelet coefficients, that can be done by standard deviation method for each frame ...
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Abstract:
Speech enhancement is an important proceeding which it can be achieved by estimate the clean speech from noisy speech. The clean speech is corrupted by white Gaussian noise . In this paper, thresholding the wavelet coefficients, that can be done by standard deviation method for each frame by level dependent thresholding using semi soft threshold and soft threshold .The results in this work indicate that using wavelet transform in speech enhancement application provides a good quality (measured in object SNR test) as well as provides other advantages which make it more suitable for some application s such as a split of frequencies and enhancement the speech in real time applications .
Mr. Wael Mohammed Hasan Hadi; DR. Wathik Isaa Mahdi AL-Tameemi
Volume 15, Issue 2 , August 2015, , Page 34-46
Abstract
Abstract –This paper presents the modeling and control simulation for Lab-Volt 5250 five degree of freedom robot manipulator based on the standard Denavit- Hartenberg approach. The dynamic model of the robot derived using Euler- Lagrange equation which is the energy balance equation. This dynamic model ...
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Abstract –This paper presents the modeling and control simulation for Lab-Volt 5250 five degree of freedom robot manipulator based on the standard Denavit- Hartenberg approach. The dynamic model of the robot derived using Euler- Lagrange equation which is the energy balance equation. This dynamic model has a very high nonlinearity that is represented by using MATLAB, m-file and simulation to run the dynamic model in open and close loop. In this research, the close loop simulation is done by using two types of control theory that applied to control each joint of the robot manipulator independently, the first one is PD controller and the second one is an intelligent controller which is PD-like fuzzy controller used to control the joint position.
at Talib Hussein; Refa
Volume 7, Issue 2 , December 2007, , Page 35-42
Abstract
Abstract:
This work presents a numerical study for a new design of small size and multi-band fractal dipole antennas which is constructed by combining two fractal geometries to get the main antenna body. In this work a 3D combined fractal dipole antenna will be designed based on Hilbert and Koch ...
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Abstract:
This work presents a numerical study for a new design of small size and multi-band fractal dipole antennas which is constructed by combining two fractal geometries to get the main antenna body. In this work a 3D combined fractal dipole antenna will be designed based on Hilbert and Koch curves to form the antenna geometry by using method of moment technique. Numerical simulations presented here also indicate that antenna size can be further reduced by 3D combined.
Yaakob Karomy HANNA; M. Sc; Eng; Dr. Ayad Ghazi Nasir Al-Shamary; Dr. Eng. Saad A-R. MAKKI
Volume 12, Issue 2 , December 2012, , Page 35-46
Abstract
Abstract: The Relay is widely used in civil, industrial and military equipment. The Relay is considered to be one of the indispensable actuators for electric power and control flying objects and systems. Relays reliability strongly influences the system reliability.
The mathematical model of the servo ...
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Abstract: The Relay is widely used in civil, industrial and military equipment. The Relay is considered to be one of the indispensable actuators for electric power and control flying objects and systems. Relays reliability strongly influences the system reliability.
The mathematical model of the servo is introduced including the electrical, magnetic and dynamic parts.
Simulations, using Matlab and Simulink, were performed. An improvement to the mathematical model has been carried through simulation which reflected on the results gained. Results of the effect and influence of magnetic materials and some important mechanical parameters like stiffness, viscosity, and copper insulator thickness, on the dynamic performance of the servo were presented. The results can lead to improving the servo performance and get the right design of parameters and right choice of materials.
Abass Muhseen Jassem; Abed AL; Mohammed Abed Shabeeb; Thamer M. Jamel
Volume 14, Issue 1 , April 2014, , Page 35-43
Abstract
Abstract: Blind equalization is a technique for adaptive equalization of a communication channel without the aid of the usual training sequence. The Modified Constant Modulus Algorithm (MCMA) is one of adaptive blind equalization algorithms. The step size in (MCMA) must be selected to get balancing between ...
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Abstract: Blind equalization is a technique for adaptive equalization of a communication channel without the aid of the usual training sequence. The Modified Constant Modulus Algorithm (MCMA) is one of adaptive blind equalization algorithms. The step size in (MCMA) must be selected to get balancing between convergence rate and final accuracy (maladjustment). This paper proposes an enhanced technique based on an absolute difference error and iteration number to adjust a step size which is used in modified constant modulus algorithm (MCMA). The new proposed algorithm is called Combined Iteration and Absolute Error MCMA (CIAE-MCMA). It is observed from the simulation results that the proposed algorithm can speed up convergence rate and decreases steady state mean square error and performs significantly better than the conventional fixed-step size MCMA and other variable step size algorithms (VSS-MCMA).
AbdulMomen Kadhim Khlaif; Muayad Sadik Croock; Shaimaa Hameed Shaker
Volume 15, Issue 1 , April 2015, , Page 35-45
Abstract
Abstract –Wireless sensor networks undergo tremendous applications to be utilized for. In this paper, we propose a wireless ad hoc sensor network architecture that does not depend on a centralized unit to urban city’s vehicular control, by applying different sensors distribution for main and side ...
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Abstract –Wireless sensor networks undergo tremendous applications to be utilized for. In this paper, we propose a wireless ad hoc sensor network architecture that does not depend on a centralized unit to urban city’s vehicular control, by applying different sensors distribution for main and side streets. On this architecture, we define and evaluate through simulation the effectiveness of our work against the traditional fixed-time traffic light model. Traffic lights coordination is addressed in master and local controllers by executing green-wave algorithm at our architecture. Simulation results show that this architecture achieves great reduction in total waiting time on the city been projected
Dr. Muna H. Saleh; Dr. Mazin Z. Othman; Dr. Arif A. Al-Qassar
Volume 11, Issue 2 , December 2011, , Page 36-43
Abstract
Abstract:
Mobile robot is a mechanical device capable of moving in an environment with a certain degree of autonomy. The main goal of this work is to design, and simulate an intelligent controller for autonomous mobile robot named Fuzzy like PD Controller, as the test bed for future development of an ...
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Abstract:
Mobile robot is a mechanical device capable of moving in an environment with a certain degree of autonomy. The main goal of this work is to design, and simulate an intelligent controller for autonomous mobile robot named Fuzzy like PD Controller, as the test bed for future development of an intelligent vehicle. The fuzzy algorithm was implemented using a combination of three different units of fuzzy logic systems that controls two identical DC servo motors to implement the requirements of the safety navigation of the mobile robot. The paper implies computer simulations in MATLAB platform using a step input to demonstrate the ability of each controller to accommodate the sudden changes along the motion of the mobile robot.
Thamir M. Jamel Al-Anbaky
Volume 4, Issue 1 , December 2004, , Page 37-46
Dr. Muayad Sadik Croock
Volume 14, Issue 2 , August 2014, , Page 37-45
Abstract
Abstract –Recently, the on-line health monitoring have been considered in the research to obtain pragmatic e-health systems with low cost and high efficiency. In this paper, a mobile e-health system is proposed based on an algorithm over long terms evolution (LTE) technology that can be called as fourth ...
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Abstract –Recently, the on-line health monitoring have been considered in the research to obtain pragmatic e-health systems with low cost and high efficiency. In this paper, a mobile e-health system is proposed based on an algorithm over long terms evolution (LTE) technology that can be called as fourth generation (4G). This system controls the receiving of the transmitted health data from the patients under supervision and replies the responses of the considered algorithm. The responded signals include the required actions that should be performed by the patient and the hospital. The proposed system utilizes the LTE based mobile networks for the signal transmission to save the consumed cost spent on installing a specific wireless network. In other words, the patients involved in the proposed system are connected to the available mobile networks that cover the area. Additionally, the sensor readings are transmitted either from the patient's mobile device or from other consoles, which have ability to connect and synchronize with the considered mobile network. The simulation results show an efficient performance of the proposed system in terms of data transmission, control signals and decision.
.
Keywords – E-health systems, LTE, Wireless communication systems.
Dr. Hassan Jaleel Hassan
Volume 15, Issue 3 , December 2015, , Page 38-46
Abstract
Abstract – Image identification plays a great role in industrial, remote sensing, and
military applications. It is concerned with the generation of a signature to the image.
The human iris recently has attracted of biometric-based identification and verification
research and development community. ...
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Abstract – Image identification plays a great role in industrial, remote sensing, and
military applications. It is concerned with the generation of a signature to the image.
The human iris recently has attracted of biometric-based identification and verification
research and development community. This iris is so unique that no two irises are alike,
even among identical twins in the entire human population.
In this work we propose a security system based on Iris biometric feature extraction.
The focus was on the eye image, which is devoid of the eyelid and eyelashes that is
done by using a camera which has the ability to show the iris with white background
(eye sclera) only, using a proper position of eye on camera. The system automatically
acquires the biometric data in numerical format (Iris images) by using a properly
located sensor. We are considering camera as a high quality sensor. Iris images are
typically color images that are analyzed to three bands monochrome images (Red,
Green, and Blue). Each band of monochrome image represents a grey scale image. Then
the feature extraction algorithm is used to detect Iris Effected Region (IER) for each
monochrome image, and then extract features from IER that are numerical
characterization of the underlying biometrics. Later we identify the authorized person
by comparing the features obtained from the feature extraction algorithm with the
previously stored features by producing a similarity score. This score indicates the
degree of similarity between a pair of biometrics data under consideration. Depending
on degree of similarity, authorized person can be identified.
A successful identification rate of 100% was achieved for ten person iris images.
Mohammed Ehsan Safi
Volume 16, Issue 1 , December 2016, , Page 38-45
Abstract
Abstract – The increase of population produces an increase of the number of automobiles on the road, which generates heavy traffic in the streets and that causes many problems for the Citizens and traffic policemen an additional two emergency cases therefore it’s important with development technology ...
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Abstract – The increase of population produces an increase of the number of automobiles on the road, which generates heavy traffic in the streets and that causes many problems for the Citizens and traffic policemen an additional two emergency cases therefore it’s important with development technology of embedded systems to solve this problem. In this paper new traffic light controller was built to optimization using the Arduino UNO microcontroller board. The system tries to reduce traffic jams, caused by traffic lights, as possible. The system is based on microcontroller, which represent the brain of the system. The system contains ultrasonic sensors on the side of the roads. Also the system contains switches to control the traffic light manually. The ultrasonic sensor system gets activated when vehicles go along the road against it. Microcontroller controls the traffic light by driver circuit using the sensor network to determine the level of jam in the road. Different ranges of traffic light delay time intervals according to jam level are configured by microcontroller and updated regularly. In this paper the effects of temperature and humidity on the system were studied. The jam level displayer tool is another feature added to a system controlled by the microcontroller which is a traffic sign informs the drivers about the level of jam before reaching the road.
Abdul Muhsin M. Al Timimi
Volume 18, Issue 1 , April 2018, , Page 39-48
Abstract
This paper presents the design of a full state feedback controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart ...
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This paper presents the design of a full state feedback controller to an inverted pendulum system. The nonlinear and linearized models of the system are obtained. The main goal of the proposed controller is to maintain the pendulum in the upright position and achieve a desirable tracking for the cart position. To achieve desirable tracking properties an integral term is added. The robustness of the proposed controller is examined when a 20% variation in the parameters of system is considered.
Lubna Zaglul Bashir
Volume 13, Issue 2 , August 2013, , Page 40-54
Abstract
Abstract –Adaptive systems include a vast range of living natural and artificial
systems. Reinforcement learning systems are one form of adaptive systems. The current
work will focus on a particular kind of reinforcement learning system: the classifier
system. A classifier system has the ability ...
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Abstract –Adaptive systems include a vast range of living natural and artificial
systems. Reinforcement learning systems are one form of adaptive systems. The current
work will focus on a particular kind of reinforcement learning system: the classifier
system. A classifier system has the ability to categorize its environment and create rules
dynamically, thus making it able to adapt to differing circumstances. This work
investigates the effect of crowding factor on the classifier system to solve six-bit and
eleven-bit multiplexer problems. The six bit multiplexer problem is defined as six signal
lines that come into the multiplexer. The signals on the first two lines (the address or Alines)
are decoded as an assigned binary number. This address value is then used to
indicate which of the four remaining signals (on the data or D-lines) is to be passed
through the multiplexer output. The eleven bit multiplexer problem is defined as eleven
signal lines that come into the multiplexer. The signals on the first three lines (the
address or A-lines) are decoded as an assigned binary number. This address value is
then used to indicate which of the eight remaining signals (on the data or D-lines) is to
be passed through the multiplexer output. This work Investigates the classifier system
rule learning with no crowding and normal crowding settings by comparing and
contrasting the effectiveness of the rule sets learned and their composition in two cases.
Experiment results show that the run using classifiers without crowding replacement is
unable to perform as well as the run with crowding replacement. The time needed to
match the signal is shorter when using classifiers with crowding replacement and we are
more likely to achieve good results quickly.
Dr. Salam A. Ismaeel
Volume 7, Issue 1 , June 2007, , Page 41-49
Abstract
Abstract:
Most of the positioning technologies for modern inertial navigation systems have been
available for the last 25 years that has focused on development of the Strap-down Inertial
Navigation Systems (SINS) because of its low cost.
This paper presents an intelligent navigator to overcome the ...
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Abstract:
Most of the positioning technologies for modern inertial navigation systems have been
available for the last 25 years that has focused on development of the Strap-down Inertial
Navigation Systems (SINS) because of its low cost.
This paper presents an intelligent navigator to overcome the limitations of existing SINS
algorithms. This algorithm is based on Artificial Neural Network (ANN).
Using window based weight updating strategy; the intelligent navigator was evaluated using
several SINS hypothetical field tests data and the results demonstrated superior performance to
traditional navigator in the position domain.
Ahmed Mudher Hassan
Volume 8, Issue 1 , December 2008, , Page 41-57
Abstract
Abstract:
The last two decades have shown in increasing trend in the use of nanigation technologies such as Strapdown Inertial Systems (SDINS) in several applications including land vehicles and automated car navigation. On the other hand it can cause large position errors over short time, due to the ...
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Abstract:
The last two decades have shown in increasing trend in the use of nanigation technologies such as Strapdown Inertial Systems (SDINS) in several applications including land vehicles and automated car navigation. On the other hand it can cause large position errors over short time, due to the low quality of the Inertial Measurement Unit (IMU). These errors determine the performance and the navigation accuracy of the INSs. Although the huge efforts to improve SDINSin terms of its mechanization equations,it could not cover the remaining drawbacks of SDINS; such as the impact of INS short term errors ,model dependency ,prior knowledge dependency , sensor dependency , and computational errors. This paper proposed an intelligent navigator to overcome the limitation of existing INS algorithms. The intelligent navigator is based on Adaptive Neuro-Fuzzy Inference System (ANFIS). The proposed conceptual intelligent navigator consisted of SDINS architecture that was developed using adaptive fuzzy system networks to acquire the navigation knowledge. In addition, a navigation information Database ,and a window-based learned parameters updating method were implemented to store and accumulate navigation knowledge.
