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A Review On Path Planning Algorithms For Mobile Robots, Mustafa Abed, Omar Lutfy, Qusay Al-Doori Jul 2026

A Review On Path Planning Algorithms For Mobile Robots, Mustafa Abed, Omar Lutfy, Qusay Al-Doori

Engineering and Technology Journal

Mobile robots use is rising every day. Path planning algorithms are needed to make a traveler of robots with the least cost and without collisions. Many techniques have been developed in path planning for mobile robot worldwide, however, the most commonly used techniques are presented here for further study. This essay aims to review various path planning strategies for mobile robots using different optimization methods taken recent publisher’s paper in last five year.

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Modeling And Control Of Wheeled Mobile Robot With Four Mecanum Wheels, Sameh Hasana, Hasan Alwan Jul 2026

Modeling And Control Of Wheeled Mobile Robot With Four Mecanum Wheels, Sameh Hasana, Hasan Alwan

Engineering and Technology Journal

This work presents a driving control for the trajectory tracking of four mecanum wheeled mobile robot (FMWMR). The control consists of Backstepping-Type 1 Fuzzy Logic-Particle swarm optimization i.e.,(BSC-T1FLC-PSO). The kinematic and dynamic models have been derived. Backstepping controller (BSC) is used for finding controlled torques that generated from robot motors while Type-1 fuzzy logic control (T1FLC) as well as particle swarm optimization (PSO) used for finding the appropriate values of gain parameters of BSC. Square trajectory has been selected to test the performance of the control system of FMWMR. MATLAB/ Simulink is used to simulate the results. It has been …

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Experimental Investigation Of Surface Roughness Using Uncoated And Coated Tungsten Carbide Cutting Tool In Turning Operation, Frzdaq Thamer, Ali Abbar, Farhad. Othman Jul 2026

Experimental Investigation Of Surface Roughness Using Uncoated And Coated Tungsten Carbide Cutting Tool In Turning Operation, Frzdaq Thamer, Ali Abbar, Farhad. Othman

Engineering and Technology Journal

The cutting process is an important process of industrialization. It is requisite to using advantage quality cutting tools in order to preserve the type of product. Coating on the cutting tool has a substantial effect in terms of mechanical properties and the end results of the product. The cutting tool can be manufactured in various material types, but today's cemented tungsten carbide is the most commonly used material in the tool industry because its properties comply with manufacturers' requirements. This study investigates the impact of an Al2O3 coated cutting tool relative to an uncoated cutting tool on the dry cutting …

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Protection Coordination Of 33/11 Kv Power Distribution Substation In Iraq, Thamir Abdul-Wahhab, Yamur Obied Jul 2026

Protection Coordination Of 33/11 Kv Power Distribution Substation In Iraq, Thamir Abdul-Wahhab, Yamur Obied

Engineering and Technology Journal

The coordination between protective devices is the process of determining the most appropriate timing of power interruption during abnormal conditions in the power system. The aim of this work is to coordinate the protection of the 33/11 kV power distribution substation in Iraq using the CYME 7.1 software package. In this paper overcurrent and earth fault relays are simulated in two cases, with time delay setting and instantaneous setting, to obtain the Time Current Characteristics (TCC) curves for each Circuit Breaker (CB) relay of Al-Karama substation (2×31.5 MVA, 33/11 kV) in Babil distribution network. The short circuit current at each …

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Design Of Robust Fopi-Fopd Controller For Maglev System Using Particle Swarm Optimization, Salwan Y. Yousif, Mohamed J. Mohamed Jul 2026

Design Of Robust Fopi-Fopd Controller For Maglev System Using Particle Swarm Optimization, Salwan Y. Yousif, Mohamed J. Mohamed

Engineering and Technology Journal

Magnetic Levitation System (MLS) is one of the benchmark laboratories models for designing and testing feedback control systems in the presence of the parametric uncertainties and disturbances effect. Therefore, the MLS can be regarded as a tool to study and verify a certain robust controller design. In this paper, two types of powerful control schemes are presented to control the MLS. The first controller is a robust PI-PD controller, while the other is a robust fractional order FOPI-FOPD controller which provides two extra degrees of freedom to the system. In both controller design procedures, the Particle Swarm Optimization (PSO) algorithm …

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Design And Fpga Implementation Of Intelligent Fault Detection In Smart Wireless Sensor Networks, Mohammed H. Hadi, Abbas Hussain Issa, Atheer Alaa Sabri Jul 2026

Design And Fpga Implementation Of Intelligent Fault Detection In Smart Wireless Sensor Networks, Mohammed H. Hadi, Abbas Hussain Issa, Atheer Alaa Sabri

Engineering and Technology Journal

In this paper, both the design and hardware of Fault Detection (FD) in Wireless Sensor Network (WSN) was implemented using FPGA NI myRIO kit, wireless temperature sensors network with small size, low cost, and low power consumption. Work data processing was performed using pattern recognition methods to detect residual generation. LabVIEW software environment was employed for system performance. In this paper. The design of the hardware circuit NI myRIO kit received temperature from the sensors. The examined system showed an ability to monitor and track any fault or fire that may occur; based on the results, if collected data is …

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Investigation Of Thickness Distribution Variation In Deep Drawing Of Conical Steel Products, Muhsin J. Jweeg, Adnan I. Mohammed, Mohammed S. Jabbar Jul 2026

Investigation Of Thickness Distribution Variation In Deep Drawing Of Conical Steel Products, Muhsin J. Jweeg, Adnan I. Mohammed, Mohammed S. Jabbar

Engineering and Technology Journal

This study investigates the thickness variation behavior of deep drawing conical products under the effect of different forming parameters such as die wall inclination angle, punch velocity, sheet thickness, and sheet metal type. Two types of sheet metal were used, low carbon (AISI 1008) and galvanized steel sheets, of 110 mm diameters circular blanks at 0.9 and 1.2mm thickness formed by tooling set (punch, die, and blank holder). The conical dies inclination angles were at 70ᵒ, 72ᵒ, and 74ᵒ where, the punch velocity was 100, 150, and 200 mm/min. Numerical simulation was conducted using ABAQUS 6.14 where a dynamic explicit …

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Optimal H-Infinity Pid Model Reference Controller Design For Roll Control Of A Tail-Sitter Vtol Uav, Ali H. Mhmood, Hazem I. Ali Jul 2026

Optimal H-Infinity Pid Model Reference Controller Design For Roll Control Of A Tail-Sitter Vtol Uav, Ali H. Mhmood, Hazem I. Ali

Engineering and Technology Journal

In this work, an optimal and robust controller based on consolidating the PID controller and H-infinity approach with the model reference control is proposed. The proposed controller is intended to accomplish a satisfactory transient response by including the reference model. A Tail-Sitter VTOL UAV system is used to show the effectiveness of the proposed controller. A dynamic model of the system is formulated using Euler method. To optimize the design procedure, the Black Hole Optimization (BHO) method is used as a new Calibration method. The deviation between the reference model output and system output will be minimized to obtain the …

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Impact Of Distributed Generation On A Distribution Network Voltage Sags In Baghdad City, Ali H. Mohammed, Suad I. Shahl Jul 2026

Impact Of Distributed Generation On A Distribution Network Voltage Sags In Baghdad City, Ali H. Mohammed, Suad I. Shahl

Engineering and Technology Journal

Voltage sags are considered as one of the most detrimental power quality (PQ) disturbance due to their costly influence on sensitive loads. This paper investigates the voltage sag mitigation in distribution network following the occurrence of a fault. Two software are used in this work; the 1st is MATLAB R2017a for implementation of the Differential Evaluation (DE) algorithm to find the optimal location and size DG and while the 2nd software is CYME 7.1 for the distribution system modelling and analysis. The effectiveness of the proposed method is tested by implementing it on IEEE 33-bus system, and then it is …

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A Novel Recursive Heuristic Algorithm For Straight And U-Shaped Assembly Line Balancing With Fuzzy Processing Time, Samah. A. Aufy, Allaeldin. H. Kassam Jul 2026

A Novel Recursive Heuristic Algorithm For Straight And U-Shaped Assembly Line Balancing With Fuzzy Processing Time, Samah. A. Aufy, Allaeldin. H. Kassam

Engineering and Technology Journal

The paper aims to address the straight and U–type assembly line balancing problems by developing a novel recursive heuristic algorithm based on the idea of the depth of search. The dynamic fuzzy processing time (DFPT) model is employed to represent uncertainty and ambiguity related to the processing time in the actual production systems. The novel algorithm, the minimum cycle time objective is considered for a set of imposed considerers. They are arranged in an appropriate strategy in which three-stages are proposed and presented as a solution approach. Finally, the validity of the developed solution approach is evaluated through a tested …

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Design Of An Optimal Backstepping Controller For Nonlinear System Under Disturbance, Luay T. Rasheed, Mohammed K. Hamzah Jul 2026

Design Of An Optimal Backstepping Controller For Nonlinear System Under Disturbance, Luay T. Rasheed, Mohammed K. Hamzah

Engineering and Technology Journal

The aim of the work for this paper is the design of an optimal backstepping controller for a nonlinear pendulum system to stabilize the position of pendulum’s ball suspended in the desired position. The Cuckoo optimization algorithm (COA) has been utilized to get and tune the gain variables of the proposed backstepping controller in order to find the best torque action for the system. The numerical simulation results using (MATLAB package) show the robustness and the effectiveness of the proposed backstepping based COA controller in terms of obtaining the best torque control action without a saturation state that will stabilize …

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Optimal Placement And Size Of Distributed Generators Based On Autoadd And Pso To Improve Voltage Profile And Minimize Power Losses, Mustafa R. Nasser, Inaam I. Ali, Mohammed H. Alkhafaji Jul 2026

Optimal Placement And Size Of Distributed Generators Based On Autoadd And Pso To Improve Voltage Profile And Minimize Power Losses, Mustafa R. Nasser, Inaam I. Ali, Mohammed H. Alkhafaji

Engineering and Technology Journal

This work aims to improve the voltage profile and reduce electrical network losses through optimal planning of distributed generators. A new search algorithm (Autoadd) along with the (PSO) are introduced to choose the best location and size for distributed generators. Two systems are implemented; a 33-bus test network and a 30-bus of a local community in the city of Al- Diwaniyah. At the power flow, a solution is implemented using a fixed-point iteration method within an OpenDSS environment to check the performance of both networks. Moreover, the optimal location and size of the distributed generators are determined using Autoadd and …

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Design And Performance Analysis Of Permanent Magnet Synchronous Motor For Electric Vehicles Application, Mustafa Y. Bdewi, Ahmed M. Mohammed, Mohammed M. Ezzaldean Jul 2026

Design And Performance Analysis Of Permanent Magnet Synchronous Motor For Electric Vehicles Application, Mustafa Y. Bdewi, Ahmed M. Mohammed, Mohammed M. Ezzaldean

Engineering and Technology Journal

In electrical vehicle applications, power density plays a significant role in improving machine performance. The main objective of this paper is to design and analyze the performance of in-wheel outer rotor permanent magnet synchronous motor (PMSM) used in electric vehicles based on a previously designed model. The key challenge is to achieve the best machine performance regarding the highest torque density and lowest torque ripple. This work also aims at reducing the machine cost by using permanent magnet (PM) material, which has less energy density than the PM used in the previously designed model. An optimization procedure is carried out …

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Backstepping Control Strategy For Overhead Crane System, Mohammed Y. Khudhair, Mohammed Y. Hassan, Saleem K. Kadhim Jul 2026

Backstepping Control Strategy For Overhead Crane System, Mohammed Y. Khudhair, Mohammed Y. Hassan, Saleem K. Kadhim

Engineering and Technology Journal

Swinging on the shifted load by overhead crane is one of the main problems that all researchers suffer from. In addition, the crane system is a nonlinear and under-actuated system. Furthermore it is multivariable problem and it has coupling between its parameters (x, . In this work, a developed type of anti-sway Backstepping controller is proposed to solve swinging on the shifted load for full non-linear overhead crane system. Simulation results were validated against the related articles previously published which used Fuzzy Logic control. The enhancement is measured for Backstepping control as a swinging to achieve 50.7%, 38.1% and 42.5% …

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Detection Of Confusion Behavior Using A Facial Expression Based On Different Classification Algorithms, Fatima I. Yasser, Bassam H. Abd, Saad M. Abbas Jul 2026

Detection Of Confusion Behavior Using A Facial Expression Based On Different Classification Algorithms, Fatima I. Yasser, Bassam H. Abd, Saad M. Abbas

Engineering and Technology Journal

Confusion detection systems (CDSs) that need Noninvasive, mobile, and cost-effective methods use facial expressions as a technique to detect confusion. In previous works, the technology that the system used represents a major gap between this proposed CDS and other systems. This CDS depends on the Facial Action Coding System (FACS) that is used to extract facial features. The FACS shows the motion of the facial muscles represented by Action Units (AUs); the movement is represented with one facial muscle or more. Seven AUs are used as possible markers for detecting confusion that has been implemented in the form of a …

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Pattern Recognition Of Composite Motions Based On Emg Signal Via Machine Learning, Noof T. Mahmooda, Mahmuod H. Al-Muifraje, Sameer K. Salih, Thamir R. Saeed Jul 2026

Pattern Recognition Of Composite Motions Based On Emg Signal Via Machine Learning, Noof T. Mahmooda, Mahmuod H. Al-Muifraje, Sameer K. Salih, Thamir R. Saeed

Engineering and Technology Journal

In the past few years, physical therapy plays a crucial role during rehabilitation. Numerous efforts are made to demonstrate the effectiveness of medical/ clinical and human-machine interface (HMI) applications. One of the most common control methods is using electromyography (EMG) signals generated by muscle contractions to implement the prosthetic human body parts. This paper presents an EMG signal classification system based on the EMG signal. The data is collected from biceps and triceps muscles for six different motions, i.e., bowing, clapping, handshaking, hugging, jumping, and running using a Myo armband with eight electromyography sensors. The Root Mean Square, Difference Absolute …

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Examining Rebalancing Considers Of The Mixed-Model Assembly Line Type-Ii For The Straight And U-Shaped Layout Using The Taguchi Method, Samah. A. Aufy, Allaeldin. H. Kassam, Ghanim A. Ismeal Jul 2026

Examining Rebalancing Considers Of The Mixed-Model Assembly Line Type-Ii For The Straight And U-Shaped Layout Using The Taguchi Method, Samah. A. Aufy, Allaeldin. H. Kassam, Ghanim A. Ismeal

Engineering and Technology Journal

Facing the increasingly competitive market environment, assembly lines are gained attention because of the assembly process expenditure consumes more than 20 % of the manufacturing cost, and also improve its products to meet demand. In this paper, an attempt has been made to develop worker-task assigned to workstation heuristic (W-TAWH) approach for solving mixed-model assembly line balancing problem (M-MALBP), in which the assembly tasks have to be assigned to workstations, and each workstation needs to select only one of the available operators to perform the assigned tasks corresponding to the straight and U-shaped assembly lines with the objective minimum cycle …

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H∞ Loop Shaping Robust Postprandial Glucose Control For Type 1 Diabetes, Safa F. Fadhel, Safanah M. Raafat Jul 2026

H∞ Loop Shaping Robust Postprandial Glucose Control For Type 1 Diabetes, Safa F. Fadhel, Safanah M. Raafat

Engineering and Technology Journal

The Bergman model is one of the most commonly used models applied to the representation of the artificial pancreas (AP). It is important to study the effects of the insulin infusion on blood glucose concentration. This work includes a case study for the design of a robust controller for an AP. Robustness is a structured control that improves a system's ability to keep its stability and performance under various conditions. The proposed H∞ loop shaping HLS method will fulfill the design requirements of robust control and performance. The results of the simulation prove the superiority of the intended approach in …

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Encryption Voip Based On Generated Biometric Key For Rc4 Algorithm, Raya W. Abd Aljabar, Nidaa F. Hassan Jul 2026

Encryption Voip Based On Generated Biometric Key For Rc4 Algorithm, Raya W. Abd Aljabar, Nidaa F. Hassan

Engineering and Technology Journal

Voice over Internet Protocol (VoIP) calls are susceptible to interfere at many points by many attackers, thus encryption considered an important part in keeping VoIP. In this paper, Encryption VoIP based on Generated Biometric Key for RC4 Algorithm is proposed to encrypt the voice data before transmitting it over the network. The system uses a stream algorithm based on RC4 encryption with the new method of biometrics based Key generation technique. This system has generated complex keys in offline phase which is formed depend on features extracted using Linear Discernment Analysis (LDA) from face images. The experimental work shows that …

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Preparation Zno Nanoparticles With Different Concentration By Laser Ablation In Liquid, Ghufran S. Jaber, Khawla S. Khashan, Maha J. Abbas Jul 2026

Preparation Zno Nanoparticles With Different Concentration By Laser Ablation In Liquid, Ghufran S. Jaber, Khawla S. Khashan, Maha J. Abbas

Engineering and Technology Journal

The effects of varying laser pulse numbers on the fabricated of ZnONPs by pulsed laser ablation in deionized water of Zn-metal are investigated. The Nd: YAG laser at energy 600mJ prepared three samples by change the laser pulse number (100, 150, and 200). The results were collected and examined using an electron scanning microscope, XRD – diffraction, and transmission electron microscope. The result revealed the colloidal spherical shape and the homogeneous composition of the ZnO NPs. The nanoparticles resulted in different concentrations and sized distributions by changing the pulse number of a laser. The average particle size and the mass …

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A Proposal Video Encryption Using Light Stream Algorithm, Ataa R. Alawi, Nidaa F. Hassan Jul 2026

A Proposal Video Encryption Using Light Stream Algorithm, Ataa R. Alawi, Nidaa F. Hassan

Engineering and Technology Journal

Video encrypting is one technique to protect digital videos, it used to avoid unwanted interference and viewing of the transmitted videos. In this paper, a new selective video cryptography algorithm is suggested using light stream algorithm. As it known video size is large in size and it consume time in the encryption process, ChaCha a light encryption algorithm has been used to reduce the encryption time, encryption is done by Xoring frames of video with the key generated from ChaCha algorithm, it produced an acceptable results from robustness point view, but still encryption process consumed time, thus to speed up …

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Survey Of Recent Video Watermarking Techniques, Taisir N. Hummadia, Nidaa F. Hassanb Jul 2026

Survey Of Recent Video Watermarking Techniques, Taisir N. Hummadia, Nidaa F. Hassanb

Engineering and Technology Journal

With the development of the Internet coupled with expanding the accessibility of multimedia, various copyright issues have resulted. Several researchers have been working on watermarks to provide the security, durability, and a perception of multimedia. This paper a review of some recent works is presented related to video watermarking techniques, this study focuses on the pros and cons of recent video watermarking, areas of application, and the different types and attacks that are standing against these watermarking techniques. The results obtained from this study showed that watermark techniques based on the transfer domain, are more popular than those of the …

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Detection Face Parts In Image Using Neural Network Based On Matlab, Shahad L. Galib, Fouad S. Tahir, Asma A. Abdulrahman Jul 2026

Detection Face Parts In Image Using Neural Network Based On Matlab, Shahad L. Galib, Fouad S. Tahir, Asma A. Abdulrahman

Engineering and Technology Journal

Recently, face recognition system (FRS) is implemented in different applications including a range of vital services like airports and banking systems for security purposes. Therefore, deployed surveillance systems have been established which led to the urgent need to develop a vital face recognition system. In this work, a new algorithm was proposed for recognition of the face, personal and color images by training the convolutional neural network using the MATLAB program to build a new program for detection of the face, then building a separate program to discover the lips, nose, and eyes, New methods were explored to analyze the …

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A New Hybrid Technique For Face Identification Based On Facial Parts Moments Descriptors, Shaymaa M. Hamandi, Abdul Monem S. Rahma, Rehab F. Hassan Jul 2026

A New Hybrid Technique For Face Identification Based On Facial Parts Moments Descriptors, Shaymaa M. Hamandi, Abdul Monem S. Rahma, Rehab F. Hassan

Engineering and Technology Journal

Robust facial feature extraction is an effective and important process for face recognition and identification system. The facial features should be invariant to scaling, translation, illumination and rotation, several feature extraction techniques may be used to increase the recognition accuracy. This paper inspects three-moment invariants techniques and then determines how is influenced by the variation which may happen to the various shapes of the face (globally and locally) Globally means the whole face shapes and locally means face part's shape (right eye, left eye, mouth, and nose). The proposed technique is tested using CARL database images. The proposal method of …

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License Plate Tilt Correction: A Review, Nada N. Kamal, Enas Tariq Jul 2026

License Plate Tilt Correction: A Review, Nada N. Kamal, Enas Tariq

Engineering and Technology Journal

Tilt correction is an essential step in the license plate recognition system (LPR). The main goal of this article is to provide a review of the various methods that are presented in the literature and used to correct different types of tilt that appear in the digital image of the license plates (LP). This theoretical survey will enable the researchers to have an overview of the available implemented tilt detection and correction algorithms. That’s how this review will simplify for the researchers the choice to determine which of the available rotation correction and detection algorithms to implement while designing their …

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Using Texture Feature In Fruit Classification, Mauj H. Abd Al Karim, Abdulamir A. Karim Jul 2026

Using Texture Feature In Fruit Classification, Mauj H. Abd Al Karim, Abdulamir A. Karim

Engineering and Technology Journal

Recent advances in computer vision have allowed wide-ranging applications in every area of life. One such area of application is the classification of fresh products, but the classification of fruits and vegetables has proven to be a complex problem and needs further development. In recent years, various machine learning techniques have been exploited with many methods of describing the different features of fruit and vegetable classification in many real-life applications. Classification of fruits and vegetables presents significant challenges due to similarities between layers and irregular characteristics within the class.Hence , in this work, three feature extractor/ descriptor which are local …

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Determination Efficient Classification Algorithm For Credit Card Owners: Comparative Study, Raghad A. Azeez Jul 2026

Determination Efficient Classification Algorithm For Credit Card Owners: Comparative Study, Raghad A. Azeez

Engineering and Technology Journal

Today in the business world, significant loss can happen when the borrowers ignore paying their loans. Convenient credit-risk management represents a necessity for lending institutions. In most times, some persons prefer to late their monthly payments, otherwise, they may face difficulties in the loan payment process to the financial institution. Mainly, most fiscal organizations are considered managed and refined client classification systems, scanning a valid client from invalid ones. This paper produces the data mining idea, specifically the classification technique of data mining and builds a system of data mining process structure. The credit scoring problem will be applied using …

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A Proposed Speaker Recognition Method Based On Long-Term Voice Features And Fuzzy Logic, Iman H. Hadi, Alia K. Abdul-Hassan Jul 2026

A Proposed Speaker Recognition Method Based On Long-Term Voice Features And Fuzzy Logic, Iman H. Hadi, Alia K. Abdul-Hassan

Engineering and Technology Journal

Speaker recognition depends on specific predefined steps. The most important steps are feature extraction and features matching. In addition, the category of the speaker voice features has an impact on the recognition process. The proposed speaker recognition makes use of biometric (voice) attributes to recognize the identity of the speaker. The long-term features were used such that maximum frequency, pitch and zero crossing rate (ZCR). In features matching step, the fuzzy inner product was used between feature vectors to compute the matching value between a claimed speaker voice utterance and test voice utterances. The experiments implemented using (ELSDSR) data set. …

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Assessing The Performance Of The Evacuated Tube Solar Collector Using Smart Curtain Through (Pso Based Pid) Controller And Nano Fluids, Hosham S.Anead, Khalid F. Sultan, Sura Abdul Jabbar Jul 2026

Assessing The Performance Of The Evacuated Tube Solar Collector Using Smart Curtain Through (Pso Based Pid) Controller And Nano Fluids, Hosham S.Anead, Khalid F. Sultan, Sura Abdul Jabbar

Engineering and Technology Journal

This research revealed control on Nano fluid temperature in the evacuated tube solar collector system, where Nano fluids used in ETSC as working fluid to increase heating system thermal efficiency. Smart curtain was used to shadow the evacuated tube solar collector and to control the temperature of the Nano fluid in heating or cooling condition which is moved by the stepper motor which is programmed to move through the Arduino board using an artificial intelligence method such as (PSO based PID) controller method . Where the curtain's main idea is to control the polarization of the sun's radiation, the work …

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A Brief Survey On Modern Iris Feature Extraction Methods, Hanaa M. Ahmed, Mohammed A. Taha Jul 2026

A Brief Survey On Modern Iris Feature Extraction Methods, Hanaa M. Ahmed, Mohammed A. Taha

Engineering and Technology Journal

This paper presents a survey of some of the most recent research work on the extraction phase of the Iris recognition system. Iris biometric system has been used for person recognition in wide applications where person identity authentication required for its stability and uniqueness as compared to other biometric systems. Iris based recognition systems consist of stages are Iris localization, normalization, feature extraction, and matching. The extraction of features influences the precision and reliability of the biometric system, so several methods have been used.

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