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Article
Optimum Path Planning for Multi Mobile Robots with Speed of Work Achievement as Constrain

Author: Bashra Kadhim Oleiwi
Journal: Journal of University of Babylon مجلة جامعة بابل ISSN: 19920652 23128135 Year: 2018 Volume: 26 Issue: 10 Pages: 181-196
Publisher: Babylon University جامعة بابل

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Abstract

This paper presents optimum path planning for multi mobile robots that move between an initial point toward a target point then back to the initial point in a way that avoid collision without heavily slow down robots speed. The work system designs for taking into consideration robots velocities as well as time that robots will spend it in their target points, since both could be variant for all robots. In order to achieve the work objectives, time and space method combined with sequential entry method are used to design robots motion. In addition, two priority levels are used of carefully selected priorities to avoid collision between robots; node level priority and robot level priority. In node level priority, the priority gives to robots in a manner that minimize the number of over all system collisions. While in robot level priority the priority gives to robots that cause faster speed for work achievement. The work is tested with different number of robots and different types of maps, and the algorithm proved its efficiency in finding the optimum solution regarding system performance for each robot in the collision points. The proposed algorithm is implemented using VBA programming language.

هذا البحث يمثل التخطيط الامثل لمسار عدة روبوتات متنقلة بين نقطة البدء باتجاه نقطة الهدف ثم العودة الى نقطة البداية وتجنب الاصطدام وبدون ابطاء شديد في سرعة الروبوتات. وتم الاخذ بنظر الاعتبار في تصميم النظام سرع الروبوتات وكذلك الوقت المستهلك لحركة الروبوتات باتجاه نقطة الهدف، حيث كلاهما متغيران لجميع الروبوتات. من اجل تحقيق اهداف العمل استخدمت طريقة الوقت والفراغ (time and space method) مع طريقة تسلسل الدخول (sequential entry method) لتخطيط حركة الروبوتات. ايضا تم استخدام اثنين من مستويات الاولوية ليتم اختيار الاولوية للروبوتات بعناية لتجنب التصادم بين الروبوتات والمتمثلة بأولوية مستوى العقدة واولوية مستوى الروبوت، نلاحظ في اولوية مستوى العقدة فالاولوية للروبوتات التي تقلل عدد التصادمات في كل النظام، في حين الاولوية في مستوى الروبوت للروبوتات التي تسبب سرعة في انجاز العمل. تم اختبار العمل على عدد مختلف من الروبوتات وانواع مختلفة من الخرائط، حيث اثبتت الخوارزمية كفائتها في ايجاد الحل الامثل بخصوص اداء النظام لكل الروبوتات في نقاط التصادم. حيث تم تطبيق الخوارزمية بأستخدام لغة البرمجة فيجوال بيسك/ اكسل.


Article
Smart E-Attendance System Utilizing Eigenfaces Algorithm

Authors: Farah F. Alkhali --- Bashra Kadhim Oleiwi
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2018 Volume: 18 Issue: 1 Pages: 56-63
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

With the development of technologies and the availability of internet in the present era, the human has been looking for ease and efficiency in running his business, the educational field has been affected by a radical revolution as a result of the introduction of advanced technology. This has led educational institutions to provide and utilize all methods of advanced technology. This paper suggests a simple way of taking students attendance in universities and schools by using face detection and recognition with the goal of checking student’s attendance in the classroom automatically. This operation is done with low cost because there is no need for special hardware to install the system in the classroom. It can be applied using a computer and a camera with low effort and high efficiency. Eigenfaces algorithm is applied in the proposed system for face detection and recognition utilizing OpenCV libraries and Visual C#.Net 2015 with Microsoft Access 2016.


Article
Smart Autonomous Wheelchair Controlled by Voice Commands-Aided by Tracking System

Authors: Bashra Kadhim Oleiwi --- Farah F. Alkhalid
Journal: IRAQI JOURNAL OF COMPUTERS,COMMUNICATION AND CONTROL & SYSTEMS ENGINEERING المجلة العراقية لهندسة الحاسبات والاتصالات والسيطرة والنظم ISSN: 18119212 Year: 2019 Volume: 19 Issue: 1 Pages: 82-87
Publisher: University of Technology الجامعة التكنولوجية

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Abstract

This study focuses on the design of an autonomous wheelchair basedsmart driving features for disabled persons. The movement directions andposition tracking of the wheelchair are controlled and localized by pre-definedvoice commands and global positioning system (GPS), respectively. Arduinomicrocontroller based on speaker dependent voice recognition module andtracking system based on quad-board SIM808 has been used to help thewheelchair navigation. The experimental tests of the proposed system have beendone and given satisfactory results in controlling the wheelchair and making acall on demand. Hence the proposed system is a simple, easy to use and lowcosthardware for designing.

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