ISSN: 1811-9212

Issue 2,

Issue 2


Comparative Study between Joint Space and Cartesian Space Path Planning for Two-Link Robot Manipulator using Fuzzy Logic

Ivan I. Gorial; Dr. Firas A. Raheem

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 1-10

Abstract –This paper focuses on the comparison of two proposed fuzzy logic-based
path planning systems for a 2-DOF robot manipulator. The first system is joint space
path planning and the second system is Cartesian space path planning. The proposed
planning systems were composed of several separate fuzzy units which individually
control each manipulator joint. For the 1st system, the main inputs of the two fuzzy
blocks were the current joint position and the difference in joint angle between the goal
and the current positions. For the 2ndsystem the main inputs were the new x-axis error
and the current x-axis value of the robot end-effector for the first fuzzy bock, and the
new y-axis error and the current y-axis value of the robot end-effector for the second
fuzzy block.The objectives were to move the arm from the start configuration to the
goal configuration. The comparison of the simulation results shows clearly that the
results of the second system is better and the robot reached the goal configuration in the
two cases successfully with relatively small error in the order of (0.00041775 m in xaxis;
and

Proposed Method for Partial Audio Cryptography Using Haar Wavelet Transform

Lecturer Maisaa Abid Ali Khodher; Prof. Dr. Abdul Moneem S. Rahma

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 11-18

Abstract - The rapid developments in communication networks and the Internet
have led to propose an encryption algorithm based on a new transfer audio data across
networks more quickly. A reduction of data audio files transferred across the network
without loss of data led to merging algorithms to compress data at third-level with
encryption algorithm, which maintains the confidentiality of information transmitted
across the network. This merging is aimed at the transfer of data encryption honestly
with rapid retrieving.
The results are obtained by the adoption of the proposed encryption algorithm to
generate a random key for possible restoration of the original data files, audio files
recorded after the receipt of data without any loss of information.

Hand Writing Numbers detection using Artificial Neural Networks

Yasmin Abdul Ghani Abdul Kareem; Dr. Ahmed Khalaf Hamoudi; Ahmad Saeed Mohammad

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 19-25

Abstract –A fast, simple and effective method to recognize different hand writing
numbers is presented. Hand writing recognition took high attention in the recent years
by researcher of the intelligent systems, since it can be used in many applications such
as car plate recognition and bank account checking. The purpose of this paper is to
develop a method for hand writing numbers detection by using artificial neural network.
The suggested work is divided mainly into four stages and is proposed to resolve the
digits number (i.e., hand writing numbers). Image sample of hand writing numbers is
acquired by a digital camera or scanner, and then it is converted by using the suggested
work which is consisted of four stages to resolve digits. Artificial neural network
(ANN) was applied to recognize the hand writing numbers. Learning method of the
ANN is back propagation and all process handled by MATLAB language.

Performance Enhancement of Star-Ring LAN for University Campus Using Optical Fiber

Bushra Fadhel; Dr. Salih Al-Qaraawi; Dr. Sawsan A. Majid

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 26-39

Abstract –The use of LANs such as campus networks has become the features of the world
that we live-in. In this paper, a detailed studying is presented for designing and analyzing computer
networks for University of Technology campus into 19 buildings.
A Star-Ring topology was proposed and implemented using an Optiysystem software simulation.
This software was used because it can simulate the design system with a much more realistic modeling to
reduce cost and time of practical work and achieve high accuracy of the designed system before
implementation. All the data used to build this optical LAN are in accordance with real existing data.
The results appear with the range, the qualification depends on the result of design simulation for
good quality result and which are targeted to all design.

Crowding Factor Effect to Solve Multiplexer Problems

Lubna Zaglul Bashir

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 40-54

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.

Electronic Signal Processing for Cancelation of Optical Systems Impairments

Zainab Faydh Mohammed; Asst. Prof. Dr. Ali Y. Fattah

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 55-70

Abstract –In this paper 40 Gb/s DP-QPSK system with coherent reception and DSP
unit for optical fiber impairments compensation is proposed . The DSP unit processes
the detected coherent DP-QPSK signal. The Chromatic Dispersion (CD) is compensated
using a simple transversal digital filter and Polarization Mode Dispersion (PMD) is
compensated using adaptive butterfly equalizer which is realized by applying the
constant-modulus algorithm (CMA). A nonlinear compensator (NLC) is used for
compensating the nonlinear effects based on the technique of multi-span backpropagation.
A modified Viterbi-and-Viterbi phase estimation algorithm (working
jointly on both polarizations) is then used to compensate for phase and frequency
mismatch between the transmitter and local oscillator (LO). After the digital signal
processing is complete, the signal is sent to the detector and decoder, and then to the
BER test set for direct-error-counting. The presented system is designed and simulated
using OptiSystem (2011) software interfaced with MATLAB software R2011a for
implementing the DSP unit algorithms. The performance of each part of the system is
analyzed by showing the optical spectrum, RF spectrum, electrical constellation
diagrams, eye diagram and BER performance for different sampling rates and different
bit rates.

A Technique for Image Steganography Based on Optimal Resilient Boolean Functions and DCT

Azhar Malik

IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING, 2013, Volume 13, Issue 2, Pages 71-80

Abstract:One of the methods introduced for accomplishing hidden communication
is the steganography technique. Steganography is an important area of research in recent
years involving a number of applications. It is the science of embedding information
into the cover image, text and video without causing statistically significant
modification to the cover image. This paper proposes an image steganography system; it
hides the gray level image on another gray level image by using optimal resilient
Boolean functions. First, it starts by encrypting secret image by using optimal resilient
function then embedding encrypted image inside a cover image by using DCT. The new
proposal system of image encryption has been investigated by encrypting the powerful
frequency coefficients in DCT using a saturated best resilient Boolean function (SRB)
that constructed by Zhang's construction. The simulation results of the proposal system
have calculated the peak signal to noise ratio (PSNR) and the correlation test in order to
compare between the cover image and the stego image and the results have also
calculated the correlation test between the secrete image and the extraction image as a
parameter of robustness. The experimental results have showed that the images can be
embedded by steganography and optimal resilient Boolean function with smaller
correlation compared to the original secret image and the extraction image. Finally, it is
observed that for all images, PSNR is greater than 55.