The Leader detecting and following are one of the main challenges in designing a leader-follower multi-robot system, in addition to the challenge of achieving the formation between the robots, while tracking the leader. The biological system is one of the main sources of inspiration for understanding and designing such multi-robot systems, especially, the aggregations that follow an external stimulus such as light. In this paper, a multi-robot system in which the robots are following a spotlight is designed based on the behavior of the Artemia aggregations. Three models are designed: kinematic and two dynamic models. The kinematic model reveals the light attraction behavior of the Artemia aggregations. The dynamic model will be derived based on the newton equation of forces and its parameters are evaluated by two methods: first, a direct method based on the physical structure of the robot and, second, the Least Square Parameter Estimation method. Several experiments are implemented in order to check the success of the three proposed systems and compare their performance. The experiments are divided into three scenarios of simulation according to three paths: the straight line, circle, zigzag path. The V-Rep software has been used for the simulation and the results appeared the success of the proposed system and the high performance of tracking the spotlight and achieving the flock formation, especially the dynamic models.
In modern robotic field, many challenges have been appeared, especially in case of a multi-robot system that used to achieve tasks. The challenges are due to the complexity of the multi-robot system, which make the modeling of such system more difficult. The groups of animals in real world are an inspiration for modeling of a multi- individual system such as aggregation of Artemia. Therefore, in this paper, the multi-robot control system based on external stimuli such as light has been proposed, in which the feature of tracking Artemia to the light has been employed for this purpose. The mathematical model of the proposed design is derived and then Simulated by V-rep software. Several experiments are implemented in order to evaluate the proposed design, which is divided into two scenarios. The first scenario includes simulation of the system in situation of attraction of robot to fixed light spot, while the second scenario is the simulation of the system in the situation of the robots tracking of the movable light spot and formed different patterns like a straight-line, circular, and zigzag patterns. The results of experiments appeared that the mobile robot attraction to high-intensity light, in addition, the multi-robot system can be controlled by external stimuli. Finally, the performance of the proposed system has been analyzed.
A new algorithm for multi-object recognition and localization is introduced in this paper. This algorithm deals with objects which have different reflectivity factors and distinguish color with respect to the other objects. Two beacons scan multi-color objects using long distance IR sensors to estimate their absolute locations. These two beacon nodes are placed at two corners of the environment. The recognition of these objects is estimated by matching the locations of each object with respect to the two beacons. A look-up table contains the distances information about different color objects is used to convert the reading of the long distance IR sensor from voltage to distance units. The locations of invisible objects are computed by using absolute locations of invisible objects method. The performance of introduced algorithm is tested with several experimental scenarios that implemented on color objects.
This paper presents the designing of path planning system in an environment contains a set of static polygon obstacles localized and distributed randomly by using differential drive mobile robot. In this paper the designed algorithm (two dimensional path planning algorithm) is proposed in order of investigate the path planning of mobile robot with free collision using the visibility binary tree algorithm. The suggested algorithm is compared with the virtual circles tangents algorithm in the time of arrival and the longest of the path to the target. The aim of this paper is to get an algorithm has better performance than the other algorithms and get less time of arrival and shortest path with free collision.
In coordination of a group of mobile robots in a real environment, the formation is an important task. Multi- mobile robot formations in global knowledge environments are achieved using small robots with small hardware capabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidance should be accomplished. Finally, several static and dynamic strategies for polygon shape formation are implemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, have been investigated. These strategies have better efficiency in completing the formation, since they use the cluster matching algorithm instead of the triangulation algorithm.
Swimming performance underlies the biomechanical properties and functional morphology of fish fins. In this article, a pair of concave fin has been suggested, which is inspired from Labriform-mode Swimming fish. First, three concave fins with different sizes are proposed in order to choose the optimum size. All three fins have the same length but with different surface areas, such that each fin has an aspect ratio different from the others. Next, the complete design of the robot is suggested, the complete design of the body and pectoral fins were subjected to computational fluid dynamics (CFD) analysis to show the validity of the proposed model. Finally, the physical model is suggested and provided with 3D printer of Polylactic Acid (PLA) with a density of 1240 kg/ m3. The swimming robot fins have been examined by CFD analysis provided by Solidworks® to evaluate the highest thrust and lowest drag forces. The result showed that the optimum fin is the one with the lowest aspect ratio fin produces the highest drag, whereas the highest aspect ratio fin gives the lowest drag and thrust, therefore; a value of aspect ratio in between these two cases is chosen. While other types of examinations are based on motion analysis of the 3D design, the required motor torque is calculated in order to select a suitable servomotor for this purpose, which a HS-5086WP waterproof servomotor can achieve the calculated torque.
A new algorithm for the localization and identification of multi-node systems has been introduced in this paper; this algorithm is based on the idea of using a beacon provided with a distance sensor and IR sensor to calculate the location and to know the identity of each visible node during scanning. Furthermore, the beacon is fixed at middle of the frame bottom edge for a better vision of nodes. Any detected node will start to communicate with the neighboring nodes by using the IR sensors distributed on its perimeter; that information will be used later for the localization of invisible nodes. The performance of this algorithm is shown by the implementation of several simulations .
The coordination of overcurrent relay protection in the power framework is crucial for preserving electrical distribution systems. It ensures that both primary and backup protection are provided to the system. It is essential to maintain a minimal level of coordination between these relays in order to reduce the overall running time and guarantee that power outages and damage are kept to a minimum under fault conditions. Proper coordination between the primary and back-up relays can minimize the operation duration of overcurrent with instantaneous and earth fault relays by selecting the optimum TMS (Time Multiplier Setting) and PS (Plug Setting). The present study investigates the difficulty associated with determining the TMS and PS values of earth-fault and overcurrent relays at the 33/11 kV power distribution substation in Basra using the instantaneous setting element. Overcurrent and earth fault relays were simulated in two scenarios: one with a time delay setting and one with an immediate setting. This procedure was carried out to generate Time Current Characteristics (TCC) curves for each Circuit Breaker (CB) relay took place in the Nathran substation, which has a capacity of 2×31.5 MVA and operates at a voltage level of 33/11 kV. The substation is a part of the Basrah distribution network. The short circuit current is estimated at each circuit breaker (CB), followed by the simulation of protection coordination for the Nathran substation using the DIgSILENT Power Factory software. This research is based on real data collection, and the setting considers the short-circuit current at the farthest point of the longest feeders. The results show the effectiveness of the proposed coordination scheme, which reduced trip operation time by 20% compared to the presented case study while maintaining coordination between primary and backup protection.
The reliability and feasibility of optical coherent communication system are strongly conditioned by laser phase noise and fluctuations of the state of polarization (SOP) of the optical field at the output of conventional single mode fiber. The double frequency parameter shift keying (DFPSK) system has been proposed in the literature as an efficient scheme that allows compensation of both effects by sending a reference channel that is suitably frequency shifted by using polarization modulation. This paper presents a comprehensive theoretical analysis for the performance of this system in the presence of dichroism which is introduced when the transmission channel has polarization dependent losses or amplifications. The results indicate that the performance of DFPSK system is affected by dichroism even in the low noise frequency regime.
In this paper, we focus on ensuring encrypted vehicular communication using wireless controller area network performance at high node densities, by means of Dedicated Short-Range Communication (DSRC) algorithms. We analyses the effect of the vehicular communication parameters, message-rate, data-rate, transmission power and carrier sensing threshold, on the application performance. After a state-of-the-art analysis, we propose a data-rate DSRC algorithm. Simulation studies show that DSRC performs better than other decentralized vehicular communication algorithms for a wide range of application requirements and densities. Vehicular communication plays one of the most important roles for future autonomous vehicle. We have systematically investigated the impact of vehicular communication using the MATLAB application platform and achieved an accuracy of 93.74% after encrypting all the communications between the vehicles and securing them by applying the encryption on V2V communication in comparison with the existing system of Sensor Networks which stands at 92.97%. The transmission time for the encryption is 165 seconds while the rate of encryption is as low as 120 Mbps for the proposed awareness range of vehicles to vehicle using DSRC algorithm in Wireless-Controller Area Network for communication. Experimental results show that our proposed method performs 3% better than the recently developed algorithms.
In this paper, a new algorithm called table-based matching for multi-robot (node) that used for localization and orientation are suggested. The environment is provided with two distance sensors fixed on two beacons at the bottom corners of the frame. These beacons have the ability to scan the environment and estimate the location and orientation of the visible nodes and save the result in matrices which are used later to construct a visible node table. This table is used for matching with visible-robot table which is constructed from the result of each robot scanning to its neighbors with a distance sensor that rotates at 360⁰; at this point, the location and identity of all visible nodes are known. The localization and orientation of invisible robots rely on the matching of other tables obtained from the information of visible robots. Several simulations implementation are experienced on a different number of nodes to submit the performance of this introduced algorithm.
This paper proposes a low-cost Light Emitting Diodes (LED) system with a novel arrangement that allows an indoor multi- robot localization. The proposed system uses only a matrix of low-cost LED installed uniformly on the ground of an environment and low-cost Light Dependent Resistor (LDR), each equipped on bottom of the robot for detection. The matrix of LEDs which are driven by a modified binary search algorithm are used as active beacons. The robot localizes itself based on the signals it receives from a group of neighbor LEDs. The minimum bounded circle algorithm is used to draw a virtual circle from the information collected from the neighbor LEDs and the center of this circle represents the robot’s location. The propose system is practically implemented on an environment with (16*16) matrix of LEDs. The experimental results show good performance in the localization process.
Linearization sensors characteristics becomes very interest field for researchers due to the importance in enhance the system performance, measurement accuracy, system design simplicity (hardware and software), reduce system cost, ..etc. in this paper, two approaches has been introduced in order to linearize the sensor characteristics; first is signal condition circuit based on lock up table (LUT) which this method performed for linearize NTC sensor characteristic. Second is ratiometric measurement equation which this method performed for linearize LVDT sensor characteristic. The proposed methods has been simulated by MATLAB, and then implemented by using Anadigm AN221E04 Field Programmable Analog Array (FPAA) development kit which several experiments performed in order to improve the performance of these approaches.
A wireless body area network (WBAN) connects separate sensors in many places of the human body, such as clothes, under the skin. WBAN can be used in many domains such as health care, sports, and control system. In this paper, a scheme focused on managing a patient’s health care is presented based on building a WBAN that consists of three components, biometric sensors, mobile applications related to the patient, and a remote server. An excellent scheme is proposed for the patient’s device, such as a mobile phone or a smartwatch, which can classify the signal coming from a biometric sensor into two types, normal and abnormal. In an abnormal signal, the device can carry out appropriate activities for the patient without requiring a doctor as a first case. The patient does not respond to the warning message in a critical case sometimes, and the personal device sends an alert to the patient’s family, including his/her location. The proposed scheme can preserve the privacy of the sensitive data of the patient in a protected way and can support several security features such as mutual authentication, key management, anonymous password, and resistance to malicious attacks. These features have been proven depending on the Automated Validation of Internet Security Protocols and Applications. Moreover, the computation and communication costs are efficient compared with other related schemes.
Obstacle avoidance in mobile robot path planning represents an exciting field of robotics systems. There are numerous algorithms available, each with its own set of features. In this paper a Witch of Agnesi curve algorithm is proposed to prevent a collision by the mobile robot’s orientation beyond the obstacles which represents an important problem in path planning, further, to achieve a minimum arrival time by following the shortest path which leads to minimizing power loss. The proposed approach considers the mobile robot’s platform equipped with the LIDAR 360o sensor to detect obstacle positions in any environment of the mobile robot. Obstacles detected in the sensing range of the mobile robot are dealt with by using the Witch of Agnesi curve algorithm, this establishes the obstacle’s apparent vertices’ virtual minimum bounding circle with minimum error. Several Scenarios are implemented and considered based on the identification of obstacles in the mobile robot environment. The proposed system has been simulated by the V-REP platform by designing several scenarios that emulate the behavior of the robot during the path planning model. The simulation and experimental results show the optimal performance of the mobile robot during navigation is obtained as compared to the other methods with minimum power loss and also with minimum error. It’s given 96.3 percent in terms of the average of the total path while the Bezier algorithm gave 94.67 percent. While in experimental results the proposed algorithm gave 93.45 and the Bezier algorithm gave 92.19 percent.
In this paper, the hybrid-climbing legged robot is designed, implemented, and practically tested. The robot has four legs arranged symmetrically around the body were designed for climbing wire mesh fence. Each leg in robot has 3DOF which makes the motion of the robot is flexible. The robot can climb the walls vertically by using a unique design of gripper device included metal hooks. The mechanism of the movement is a combination of two techniques, the first is the common way for the successive movement like gecko by using four limbs, and the second depending on the method that used by cats for climbing on the trees using claws, for this reason, the robot is named hybrid-climbing legged robot. The movement mechanism of the climbing robot is achieved by emulating the motion behavior of the gecko, which helped to derive the kinematic equations of the robot. The robot was practically implemented by using a microcontroller for the mainboard controller while the structure of the robot body is designed by AutoCAD software. Several experiments performed in order to test the success of climbing on the vertical wire mesh fence.
The demand for application of mobile robots in performing boring and extensive tasks are increasing rapidly due to unavailability of human workforce. Navigation by humans within the warehouse is one among such repetitive and exhaustive task. Autonomous navigation of mobile robots for picking and dropping the shelves within the warehouse will save time and money for the warehousing business. Proposing an optimization model for automated storage and retrieval systems by the goals of its planning is investigated to minimize travel time in multi-robot systems. This paper deals with designing a system for storing and retrieving a group of materials within an environment arranged in rows and columns. Its intersections represent storage locations. The title of any subject is indicated by the row number and the column in it. A method was proposed to store and retrieve a set of requests (materials) using a number of robots as well as one receiving and delivery port. Several simulation results are tested to show this improvement in length of path and time of arrival.
In this paper, fuzzy Petri Net controller is used for Quadrotor system. The fuzzy Petrinet controller is arranged in the velocity PID form. The optimal values for the fuzzy Petri Net controller parameters have been achieved by using particle swarm optimization algorithm. In this paper, the reference trajectory is obtained from a reference model that can be designed to have the ideal required response of the Quadrotor, also using the quadrotor equations to find decoupling controller is first designed to reduce the effect of coupling between different inputs and outputs of quadrotor. The system performance has been measured by MATLAB. Simulation results showed that the FPN controller has a reasonable robustness against disturbances and good dynamic performance.
Smart Microgrid (MG) effectively contributes to supporting the electrical power systems as a whole and reducing the burden on the utility grid by the use of unconventional energy generation resources, in addition to backup Diesel Generators (DGs) for reliability increasing. In this paper, potential had been done on day-ahead scheduling of diesel generators and reducing the energy cost reached to the consumers side to side with renewable energy resources, where economical energy and cost-effective MG has been used based on optimization agent called Energy Management System (EMS). Improved Particle Swarm Optimization (IPSO) technique has been used as an optimization method to reduce fuel consumption and obtain the lowest energy cost as well as achieving the best performance to the energy system. Three scenarios are adopted to prove the efficiency of the proposed method. The first scenario uses a 24 hour time horizon to investigate the performance of the model, the second scenario uses two DGs and the third scenario depends on a 48-hour time horizon to validating the performance. The superiority of the proposed method is illustrated by comparing it with PSO and simulation results show using the proposed method can reducing the fuel demand and the energy cost by satisfying the user’s preference.
In this article, a novel three dimensional chaotic systems is presented. An extensive analysis including Lyapunov exponents, dissipation, symmetry, rest points with their properties is introduced. An adaptive tracking control system for the proposed chaos system has been designed. Also, synchronization system for two identical systems has been designed. The simulation results showed the effectiveness of the designed tracking and synchronization control systems.
The synchronization of chaos is a well-known topic which attracted the attention of the scientific community in the last two decades. However, the robustness of the synchronous state has been not widely studied, especially considering real cases in which the effects introduced by the physical channel through which chaotic circuits interact, may deeply influence the quality of synchronization and even the onset of it. In this paper, the synchronization of two chaotic circuit coupled through a non– ideal channel is investigated. In particular, the effects of channels introducing a frequency–independent or frequency–dependent time–delay are investigated. Furthermore, two different design strategies to obtain a linear compensation block able to compen- sate the considered channel effects are presented and the recovery of the synchronous state is discussed.
In today's chemical, refinery, and petrochemical sectors, separation tanks are one of the most significant separating processes. One or more separation tanks must operate consistently and reliably for multiple facilities' safe and efficient operation. Therefore, in this paper, a PI controller unit has been designed to improve the performance of the tank level controller of the industrial process in Basrah Refinery Station. The overall system mathematical model has been derived and simulated by MATLAB to evaluate the performance. Further, to improve the performance of the tank level controller, optimal PI parameters should be calculated, which Closed-Loop PID Autotuner has been used for this task. Several experiments have been conducted to evaluate the performance of the proposed system. The results indicated that the PI controller based on the Autotuner Method is superior to the conventional PI controller in terms of ease to implement and configuration also less time to get optimal PI gains.
In a counterfeit clever control procedure, another productive methodology for an indoor robot localization framework is arranged. In this paper, a new mathematic calculation for the robot confinement framework utilizing light sensors is proposed. This procedure takes care of the issue of localization (position recognizing) when utilizing a grid of LEDs distributed uniformly in the environment, and a multi- portable robot outfitted with a multi-LDRs sensor and just two of them activate the visibility robot. The proposed method is utilized to assess the robot's situation by drawing two virtual circles for each two LDR sensors; one of them is valid and the other is disregarded according to several suggested equations. The midpoint of this circle is assumed to be the robot focus. The new framework is simulated on a domain with (n*n) LEDs exhibit. The simulation impact of this framework shows great execution in the localization procedure.
This paper presents the design of a path planning system in an environment that contains a set of static and dynamic polygon obstacles localized randomly. In this paper, an algorithm so-called (Polygon shape tangents algorithm) is proposed to move a mobile robot from a source point to a destination point with no collision with surrounding obstacles using the visibility binary tree algorithm. The methodology of this algorithm is based on predicting the steps of a robot trajectory from the source to the destination point. The polygon shapes tangent algorithm is compared with the virtual circles' tangents algorithm for different numbers of static and dynamic polygon obstacles for the time of arrival and the length of the path to the target. The obtained result shows that the used algorithm has better performance than the other algorithms and gets less time of arrival and shortest path with free collision.
In recent years, increased importance of Smart Grid, which includes monitoring and control the consumption of customers of electric power. In this paper, Wireless Smart Electrical Power Meter has been designed and implemented which ZigBee wireless sensor network (WSN) will be used for wireless electrical power meter communication supported by PIC microcontroller which used for power unit measurements. PIC microcontroller will be used for evaluating all electric power parameters at costumer side like V rms , I rms , KWh, and PF, and then all these parameters will be send to base station through wireless network in order to be calibrated and monitored.
Self-organizing systems arise in many different fields. In this work we analyze data from social and biological systems. A central question is to demonstrate the presence of the determinism in time-series extracted from such systems that appear apparently not correlated but that are two good benchmarks for the study of complexity in real systems. We will apply the Kaplan test and we will define an order parameter for the biological data to characterize the complexity of the system.
This work deals with the simulation model of multi-machines system as cold rolling mill is considered as application. Drivers of rolling system are a set of DC motors, which have extend applications in factories as aluminum rolling. Interconnection of multi DC motors in such a way that they are synchronized in their rotational speed. In cold rolling, the accuracy of the strip exit thickness is a very important factors. To realize accuracy in the strip exit thickness, Automatic Gauge Control system is used. In this paper MATLAB/SIMULINK models are proposed and implemented for the entire structures. Simulation results were presented to verify proposed model of cold rolling mill.
In this paper, a new technique for multi-robot localization in an unknown environment, called the leader-follower localization algorithm is presented. The framework utilized here is one robot that goes about as a leader and different robots are considered as followers distributed randomly in the environment. Every robot equipped with RP lidar sensors to scan the environment and gather information about every robot. This information utilized by the leader to distinguish and confine every robot in the environment. The issue of not noticeable robots is solved by contrasting their distances with the leader. Moreover, the equivalent distance robot issue is unraveled by utilizing the permutation algorithm. Several simulation scenarios with different positions and orientations are implemented on (3- 7) robots to show the performance of the introduced technique.
Due to the last increase in data and information technology, the need to use robots in many life areas is increased. There is a great diversity in this field, depending on the type of task required, as the robot enters the parcels of air, land, and water. In this paper, a robot's mission designed to move things is concentrated, relying on line-tracing technology that makes it easy to track its path safely, the RFID is distributed in its approach. When the robot reads the RFID tag, it stops until it raises the load from above, the robot continues its path toward the target. When an obstacle obstructs the robot path, the robot deviates and returns after a while to its previous approach. All this technology is implemented using a new algorithm which is programmed using the visual basic program. The robot designed to transfer the stored material is used according to a site known as an identifier that is identified by the RFID value, where the robot is programmed through a microcontroller and a unique store program that determines the current location and the desired location, then is given the task for the robot to do it as required. The robot is controlled using an ATmega controller to control other parts connected to the electronic circuit, the particular infrared sensor, and ultrasound to avoid potential obstacles within the robot's path to reach the target safely. In addition to this, the robot is made up of an RFID sensor to give unique to each desired target site. Through the console, it is possible to know the link indicated by the target. The H-bridge is also used to obtain a particular command and guide the robot as needed to move freely in all directions and a DC motor which is unique for moving wheels at the desired speed, and Bluetooth for programmable and secure wireless transmission and reception with all these parts through a unique program that also uses application inventory. The robot has proven to be a great success in performing the required task through several tests that have been practically performed.
This paper presents a comprehensive analysis of a new direct detection polarization shift keying (DD POLSK) receiver structure that is based on Jones matrix technique. The bit - error rate (BER) characteristics of the receiver is examined under system impairments and the results are compared with those related to other DD POLSK receivers reported in the literature. The results indicate that Jones matrix receiver is less sensitive to optical amplifier gain variation when compared with other receivers.
This paper provides a two algorithms for designing robust formation control of multiple robots called Leader- Neighbor algorithm and Neighbor-Leader algorithm in unknown environment. The main function of the robot group is to use the RP lidar sensor attached to each robot to form a static geometric polygon. The algorithms consist of two phases implemented to investigate the formation of polygon shape. In the leading- neighbor algorithm, the first stage is the leader alignment and the adjacent alignment is the second stage. The first step uses the information gathered by the main RP Lidar sensor to determine and compute the direction of each adjacent robot. The adjacent RP Lidar sensors are used to align the adjacent robots of the leader by transferring these adjacent robots to the leader. By performing this stage, the neighboring robots will be far from the leader. The second stage uses the information gathered by adjacent RP sensors to reposition the robots so that the distance between them is equal. On the other hand, in the neighbor-leader algorithm, the adjacent robots are rearranged in a regular distribution by moving in a circular path around the leader, with equal angles between each of the two neighbor robots. A new distribution will be generated in this paper by using one leader and four adjacent robots to approve the suggested leader neighbor algorithm and neighbor-leader algorithm .
In this work, the collective behavior of Artemia Salina is studied both experimentally and theoretically. Several experiments have been designed to investigate the Artemia motion under different environment conditions. From the results of such experiments, a strategy to control the direction of motion of an Artemia population, by exploiting their sensitivity to light, has been derived and then implemented.
In recent years, the number of researches in the field of artificial limbs has increased significantly in order to improve the performance of the use of these limbs by amputees. During this period, High-Density surface Electromyography (HD-sEMG) signals have been employed for hand gesture identification, in which the performance of the classification process can be improved by using robust spatial features extracted from HD-sEMG signals. In this paper, several algorithms of spatial feature extraction have been proposed to increase the accuracy of the SVM classifier, while the histogram oriented gradient (HOG) has been used to achieve this mission. So, several feature sets have been extracted from HD-sEMG signals such as; features extracted based on HOG denoted by (H); features have been generated by combine intensity feature with H features denoted as (HI); features have been generated by combine average intensity with H features denoted as (AIH). The proposed system has been simulated by MATLAB to calculate the accuracy of the classification process, in addition, the proposed system is practically validated in order to show the ability to use this system by amputees. The results show the high accuracy of the classifier in real-time which leads to an increase in the possibility of using this system as an artificial hand.
In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance.
This article introduces a novel Quantum-inspired Future Search Algorithm (QFSA), an innovative amalgamation of the classical Future Search Algorithm (FSA) and principles of quantum mechanics. The QFSA was formulated to enhance both exploration and exploitation capabilities, aiming to pinpoint the optimal solution more effectively. A rigorous evaluation was conducted using seven distinct benchmark functions, and the results were juxtaposed with five renowned algorithms from existing literature. Quantitatively, the QFSA outperformed its counterparts in a majority of the tested scenarios, indicating its superior efficiency and reliability. In the subsequent phase, the utility of QFSA was explored in the realm of fault detection in underground power cables. An Artificial Neural Network (ANN) was devised to identify and categorize faults in these cables. By integrating QFSA with ANN, a hybrid model, QFSA-ANN, was developed to optimize the network’s structure. The dataset, curated from MATLAB simulations, comprised diverse fault types at varying distances. The ANN structure had two primary units: one for fault location and another for detection. These units were fed with nine input parameters, including phase- currents and voltages, current and voltage values from zero sequences, and voltage angles from negative sequences. The optimal architecture of the ANN was determined by varying the number of neurons in the first and second hidden layers and fine-tuning the learning rate. To assert the efficacy of the QFSA-ANN model, it was tested under multiple fault conditions. A comparative analysis with established methods in the literature further accentuated its robustness in terms of fault detection and location accuracy. this research not only augments the field of search algorithms with QFSA but also showcases its practical application in enhancing fault detection in power distribution systems. Quantitative metrics, detailed in the main article, solidify the claim of QFSA-ANN’s superiority over conventional methods.
Recently, Jones matrix parameter shift keying (JMPSK) technique has been proposed in the literature to achieve phase noise and polarization state insensitive optical communication systems. The aim of this paper is to examine the performance of this system in the presence of system impairments, namely channel dichroism. A comprehensive analysis is presented to assess the effect of dichroism on the bit-error-rate (BER) characteristics of JMPSK receiver.
A robot is a smart machine that can help people in their daily lives and keep everyone safe. the three general sequences to accomplish any robot task is mapping the environment, the localization, and the navigation (path planning with obstacle avoidance). Since the goal of the robot is to reach its target without colliding, the most important and challenging task of the mobile robot is the navigation. In this paper, the robot navigation problem is solved by proposed two algorithms using low-cost IR receiver sensors arranged as an array, and a robot has been equipped with one IR transmitter. Firstly, the shortest orientation algorithm is proposed, the robot direction is corrected at each step of movement depending on the angle calculation. secondly, an Active orientation algorithm is presented to solve the weakness in the preceding algorithm. A chain of the active sensors in the environment within the sensing range of the virtual path is activated to be scan through the robot movement. In each algorithm, the initial position of the robot is detected using the modified binary search algorithm, various stages are used to avoid obstacles through suitable equations focusing on finding the shortest and the safer path of the robot. Simulation results with multi-resolution environment explained the efficiency of the algorithms, they are compatible with the designed environment, it provides safe movements (without hitting obstacles) and a good system control performance. A Comparison table is also provided.