Basma Jumaa Saleh

Al-Mustansiriya University

This paper is devoted to the design of a trajectory-following control for a differentiation nonholonomic wheeled mobile robot. It suggests a kinematic nonlinear controller steer a National Instrument mobile robot. The suggested trajectory-following control structure includes two parts; the first part is a nonlinear feedback acceleration control equ...

This paper proposed a system and presents it's result obtained in a study on environmental noise pollution in the city of Baghdad, Iraq. The sensing system is built on Atmega128 and CC2420 platform. We designed and implemented a sensor function for wireless sensor network application using special network named (WSN) for measuring environmental aco...

A novel median filter based on crow optimization algorithms (OMF) is suggested to reduce the random salt and pepper noise and improve the quality of the RGB-colored and gray images. The fundamental idea of the approach is that first, the crow optimization algorithm detects noise pixels, and that replacing them with an optimum median value depending...

In recent years, the amount of data has been increased dramatically, driven by many real-world fields such as marketing, learning, social media, multimedia, medicine…etc. Because of that, data mining algorithms have extensively used on these data to serve as one of the newest data modeling and analytical tools, by which, a knowledge-rich environmen...

Data mining is defined as a search through large amounts of data for valuable information. The association rules, grouping, clustering, prediction, sequence modeling is some essential and most general strategies for data extraction. The processing of data plays a major role in the healthcare industry's disease detection. A variety of disease evalua...

Nowadays, visual information is increasingly sent in the form of digital images, making the identification of noisy data a common challenge in many research and application domains. Many noise reduction techniques have been developed in the contemporary era to remove noise while preserving image information. The task of eliminating noise from an or...

The control of higher order linear system is one of the main fields of research area that has been studied for decades because of the difficulty in designing a controller for such systems. One of the best approaches to solve this problem is by reducing the order of the system into a second orders, based on this reduction many approaches can be prop...

Data mining is characterized as searching for useful information through very large data sets. Some of the key and most common techniques for data mining are association rules, classification, clustering, prediction, and sequential models. For a wide range of applications, data mining techniques are used. Data mining plays a significant role in dis...

This paper proposed a system and presents it’s result obtained in a study on environmental noise pollution in the city of Baghdad, Iraq. The sensing system is built on Atmega128 and CC2420 platform. We designed and implemented a sensor function for wireless sensor network application using special network named (WSN) for measuring environmental aco...

Traditional education systems have developed very slowly although they have been used for centuries and cannot handle different learning styles and preparation levels. Many students who interact with one teacher who cannot answer each student's needs are identified by this system. As a result, some students may be frustrated and unable to achieve t...

Traditional education systems have developed very slowly although they have been used for centuries and cannot handle different learning styles and preparation levels. Many students who interact with one teacher who cannot answer each student's needs are identified by this system. As a result, some students may be frustrated and unable to achieve t...

Geographic Information System (GIS) technology is used extensively in identifying incident data and analyzing hot spots in different roads and cities. [1] This approach is being used by several traffic agencies to analyze the location and utilization of accidents in order to minimize the negative factors that lead to the concentration of accidents...

Networking-Tutor is an intelligent tutoring system that is used to teach senior students an introduction to a computer network. These systems which we mean the ITS systems have not been used widly in Iraq. In this paper, the design of this ITS has been illustrated and its evaluation has been done on senior students of Computer Network course in the...

The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the requ...

The fundamental essence of the motivation for this work are: - To generate an optimal velocity control action for mobile robot. - To track the desired trajectory with minimum tracking error and to get minimum travelling time. Because The basic prediction problems in mapping, path planning and trajectory tracking for mobile robot are still there wa...

Article Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm Authors: Nizar.H. Abbas--- Basma J. Saleh Journal: Al-Khwarizmi Engineering Journal مجلة الخوارزمي الهندسية ISSN: ISSN(printed)18181171 ISSN(online)23120789 Year: 2016 Volume: 12 Issue: 1 Pages: 45-60 Publisher: Baghdad...

This paper is devoted to the design of a trajectory-following control for a differentiation nonholonomic wheeled mobile robot. It suggests a kinematic nonlinear controller steer a National Instrument mobile robot. The suggested trajectory-following control structure includes two parts; the first part is a nonlinear feedback acceleration control equ...

This paper is devoted to the design of a trajectory-following control for a differentiation nonholonomic wheeled mobile robot. It suggests a kinematic nonlinear controller steer a National Instrument mobile robot. The suggested trajectory-following control structure includes two parts; the first part is a nonlinear feedback acceleration control equ...

This paper is devoted to the design of a trajectory-following control for a differentiation nonholonomic wheeled mobile robot. It suggests a kinematic nonlinear controller steer a National Instrument mobile robot. The suggested trajectory-following control structure includes two parts; the first part is a nonlinear feedback acceleration control equ...

he book, Trajectory Tracking Controllers for Mobile Robots: Modeling, Design and Optimization, provides a comprehensive treatment of the problems of mobile robot control. The most significant thing is to prevent the mobile robot drifting from the desired path by finding the kinematic control law, which is responsible for establishing a smooth contr...

The book, Trajectory Tracking Controllers for Mobile Robots: Modeling, Design and Optimization, provides a comprehensive treatment of the problems of mobile robot control. The most significant thing is to prevent the mobile robot drifting from the desired path by finding the kinematic control law, which is responsible for establishing a smooth cont...

Article Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm Authors: Nizar.H. Abbas--- Basma J. Saleh Journal: Al-Khwarizmi Engineering Journal مجلة الخوارزمي الهندسية ISSN: ISSN(printed)18181171 ISSN(online)23120789 Year: 2016 Volume: 12 Issue: 1 Pages: 45-60 Publisher: Baghdad...

The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the requ...

The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the requ...

Article Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm Authors: Nizar.H. Abbas--- Basma J. Saleh Journal: Al-Khwarizmi Engineering Journal مجلة الخوارزمي الهندسية ISSN: ISSN(printed)18181171 ISSN(online)23120789 Year: 2016 Volume: 12 Issue: 1 Pages: 45-60 Publisher: Baghdad...

Traditionally, the problems of mobile robot control have been addressed by stabilizing point or by redefining problems such as a tracking control. Tracking control problems for the mobile robot are rolling no slipping constraints and minimum travel time. The most significant thing is to prevent the mobile robot drifting from the desired path by fin...