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Novel Algorithm for Mobile Robot Path Planning in Constrained Environment

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Computers, Materials & Continua 2022年第5期71卷 2697-2719页

作者： Aisha Muhammad mohammed a.h.ali Sherzod Turaev Ibrahim haruna Shanono Fadhl hujainah Mohd Nashrul Mohd Zubir Muhammad Khairi Faiz Erma Rahayu Mohd Faizal Rawad Abdulghafor Faculty of Manufacturing Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechanical Engineering Faculty of EngineeringUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science and Software Engineering College of Information TechnologyUnited Arab Emirates UniversityAl AinUnited Arab Emirates Faculty of Electrical and Electronics Engineering Universiti Malaysia Pahang(UMP)Pekan26600Malaysia Department of Mechatronics Engineering Faculty of TechnologyBayero UniversityKano(BUK)700241Nigeria Computer Science and Engineering Department Chalmers and University of Gothenburg41296GothenburgSweden Department of Artificial Intelligence Faculty of Computer Science and Information TechnologyUniversity of Malaya50603Kuala LumpurMalaysia Department of Computer Science Faculty of Information and Communication TechnologyInternational Islamic University Malaysia53100Kuala LumpurMalaysia

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobilerobot path planning problem in a two-dimensional map with the presence ofconstraints. This approach gives the possibility to find the path for a wheelmobile robot considering some constraints during the robot movement inboth known and unknown environments. The feasible path is determinedbetween the start and goal positions by generating wave of points in alldirection towards the goal point with adhering to constraints. In simulation,the proposed method has been tested in several working environments withdifferent degrees of complexity. The results demonstrated that the proposedmethod is able to generate efficiently an optimal collision-free path. Moreover,the performance of the proposed method was compared with the A-star andlaser simulator (LS) algorithms in terms of path length, computational timeand path smoothness. The results revealed that the proposed method hasshortest path length, less computational time and the best smooth path. Asan average, GLS is faster than A∗ and LS by 7.8 and 5.5 times, respectivelyand presents a path shorter than A∗ and LS by 1.2 and 1.5 times. In orderto verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot(WMR) platform in labs and roads. The experimental work investigates acomplete autonomous WMR path planning in the lab and road environmentsusing a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of theanalogous-road in lab or real-road environments. The study shows that theproposed method is able to generate shortest path and best smooth trajectoryfrom start to goal points in comparison with laser simulator.

关键词： Path planning generalized laser simulator wheeled mobile robot global path panning local path planning

Integrated photonic fractional convolution accelerator

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Photonics Research 2024年第8期12卷 1828-1839页

作者： KEVIN ZELAYA mohammed-ali MIRI Department of Physics Queens College of the City University of New YorkQueensNew York 11367USA Physics Program The Graduate Center of the City University of New YorkNew YorkNew York 10016USA

An integrated photonic circuit architecture to perform a modified-convolution operation based on the discrete fractional Fourier transform(DFrFT) is introduced. This is accomplished by utilizing two nonuniformly coupled waveguide lattices with equally spaced eigenmode spectra, the lengths of which are chosen so that the DFrFT and its inverse operations are achieved. A programmable modulator array is interlaced so that the required fractional convolution operation is performed. Numerical simulations demonstrate that the proposed architecture can effectively perform smoothing and edge detection tasks even for noisy input signals, which is further verified by electromagnetic wave simulations. Notably, mild lattice defects do not jeopardize the architecture performance, showing its resilience to manufacturing errors.

关键词： fractional convolution utilizing

MoBShield:A Novel XML Approach for Securing Mobile Banking

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Computers, Materials & Continua 2024年第5期79卷 2123-2149页

作者： Saeed Seraj ali Safaa Sadiq OmprakashKaiwartya Mohammad Aljaidi Alexandros Konios mohammed ali mohammed Abazeed Department of Computer Science Nottingham Trent UniversityClifton LaneNottinghamNG118NSUK Department of Computer Science Faculty of Information TechnologyZarqa UniversityZarqa13110Jordan Department of Computer Science King Khalid UniversityAbha61421Saudi Arabia

Mobile banking security has witnessed significant R&D attention from both financial institutions and *** is due to the growing number of mobile baking applications and their reachability and usefulness to ***,these applications are also attractive prey for cybercriminals,who use a variety of malware to steal personal banking *** literature in mobile banking security requiresmany permissions that are not necessary for the application’s intended security *** this context,this paper presents a novel efficient permission identification approach for securing mobile banking(MoBShield)to detect and prevent malware.A permission-based dataset is generated for mobile banking malware detection that consists large number of malicious adware apps and benign apps to use as training *** dataset is generated from 1650 malicious banking apps of the Canadian Institute of Cybersecurity,University of New Brunswick and benign apps from Google Play.A machine learning algorithm is used to determine whether amobile banking application ismalicious based on its permission ***,an eXplainable machine learning(XML)approach is developed to improve trust by explaining the reasoning behind the algorithm’s *** evaluation tests that the approach can effectively and practically identify mobile banking malware with high precision and reduced false ***,the adapted artificial neural networks(ANN),convolutional neural networks(CNN)and XML approaches achieve a higher accuracy of 99.7%and the adapted deep neural networks(DNN)approach achieves 99.6%accuracy in comparison with the state-of-the-art *** promising results position the proposed approach as a potential tool for real-world scenarios,offering a robustmeans of identifying and thwarting malware inmobile-based banking ***,MoBShield has the potential to significantly enhance the security and trustworthiness of

关键词： Security malware detection deep learning convolutional neural networks deep neural networks

Explicit solutions to the time-fractional generalized dissipative Kawahara equation

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Journal of Ocean Engineering and Science 2024年第4期9卷 348-352页

作者： Marwan Alquran mohammed ali Omar Alshboul Department of Mathematics and Statistics Jordan University of Science and TechnologyIrbid 22110Jordan

In this paper,the generalized dissipative Kawahara equation in the sense of conformable fractional derivative is presented and solved by applying the tanh-coth-expansion and sine-cosine function *** quadratic-case and cubic-case are investigated for the proposed *** solutions are obtained with highlighting to the effect of the presence of the alternative fractional-derivative and the effect of the added dissipation term to the generalized Kawahara *** graphical analysis is presented to support the findings of the ***,we believe that the obtained results in this work will be important and valuable in nonlinear sciences and ocean engineering.

关键词： Time-fractional Kawahara equation Conformable-derivative Tanh-coth-expansion method Sine-cosine function method

Kaoline-based catalyst for a high stability desulfurization of sour heavy naphtha in a three-phase oscillatory baffled reactor

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Particuology 2024年第1期84卷 249-260页

作者： hassan M.hmood Saba A.Gheni Safaa M.R.Ahmed Mudheher M.ali hamid Yonis Saleh mohammed h.mohammed Awad E.mohammed Marwan A.Mahomood hiba R.mohammed Ahmed A.hassan Adam harvey North Refineries Company Ministry of OilIraq Chemical Engineering Department Tikrit UniversityIraq Ministry of Oil Iraq AL-hawija Technical Institute Northern Technical UniversityMoselIraq School of Engineering Newcastle UniversityUK

To meet the rapidly increasing demand for energy and the dramatic depletion of conventional crude oil,it is imperative to utilize sour *** no coke being produced,oxidative desulfurization(ODS)of naphtha lowers its sulfur content and average molecular *** this article,we outline a method for heavy naphtha non-extractive ODS using a very stable *** technique involves the use of a solid catalyst with oxygen gas as the *** necessitated relatively high mixing intensities;hence a three-phase Oscillatory Baffled Reactor(OBR)was *** catalyst was based on the zeolite ZSM-5,prepared from natural kaolin by a series of delamination and activation steps and impregnated with Fe.A TiO2 nanolayer was applied,using the sol-gel method,to prevent rapid *** reactor performance was evaluated to minimize the sulfur content in the naphtha *** to the protective coating,the sulfur conversion stabilized at 90%.The results of this work establish the use of natural clay-based catalysts in a continuous,three-phase ODS,particularly with regard to proving long-term *** also showed that modest ODS can be achieved using an environmentally friendly oxidant,at mild operating conditions,whilst maintaining stability.

关键词： Natural kaoline Desulfurization Three-phase Oscillatory baffled reactor

Experimental and numerical study of effecting core configurations on the static and dynamic behavior of honeycomb plate with aluminum material

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Defence Technology（防务技术） 2024年第9期39卷 177-192页

作者： Nehad Abid Allah hamza Fatima mohammed K.AL-Fatlwe Muna ali Talib Engineering College Al-Qasim Green University51013BabylonIraq Engineering Technical College of Al-Najaf Al-Furat Al-Awsat Technical University(ATU)Najaf54003Iraq

The sandwich panel incorporated a honeycomb core,a widely utilized composite structure recognized as a fundamental classification of composite *** a core resembling a honeycomb,possessing thickness and softness,and is flank by rigid face sheets that sandwich various shapes and *** paper presents an examination of the static and dynamic analysis of lightweight plates made of aluminum honeycomb sandwich *** sandwich plate samples are 300 mm long,and 300 mm wide,the heights of the core have been varied at four values ranging from 10 to 25 *** honeycomb core is manufactured from Aluminum material by using a novel technique namely resistance spot welding(RSW)instead of using adhesive material,which is often used when an industrial flaw is *** optimization based on response surface methodology(RSM)and design of experiment software(DOE)was used to verify the current work.A theoretical examination of the crashworthiness behavior(maximum bending load,maximum deflection)and vibration attributes(natural frequency,damping ratio,transient temporal response)of honeycomb sandwich panels with different design parameters was also carried *** addition,the finite element method-based ANSYS software was used to confirm the theoretical *** findings of the present work showed that the relationship between the natural frequency,core height,and cell size is *** contrast,the relationship between the natural frequency and the thickness of the cell wall is ***,the damping ratio is inversely proportional to the core height and cell size but directly proportional to the thickness of the cell *** study indicates that altering the core height within 10-25 mm leads to a significant increase of 82%in the natural frequency and a notable decrease of 49%in the damping *** findings are based on a specific cell size value of 0.01 m and a cell wall thickness of 0.001 ***,the results indicate

关键词： honeycomb Load Transient response Free vibration Natural frequency

Experimental and computational study of annealed nickel sulfide quantum dots for catalytic and antibacterial activity

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Nano Materials Science 2024年第3期6卷 355-364页

作者： Muhammad Ikram Sawaira Moeen ali haider Anwar Ul-hamid haya Alhummiany hamoud h.Somaily Souraya Goumri-Said mohammed Benali Kanoun Solar Cell Applications Research Lab Department of PhysicsGovernment College University LahoreLahore54000PunjabPakistan Department of Clinical Sciences Faculty of Veterinary and Animal SciencesMuhammad Nawaz ShareefUniversity of Agriculture66000MultanPunjabPakistan Core Research Facilities King Fahd University of Petroleum&MineralsDhahran31261Saudi Arabia Department of Physics Faculty of ScienceUniversity of JeddahP.O.Box 13151Jeddah21493Saudi Arabia Department of Physics Faculty of ScienceKing Khalid UniversityP.O.Box 9004AbhaSaudi Arabia Physics Department College of Science and General StudiesAlfaisal UniversityP.O.Box 50927Riyadh11533Saudi Arabia Department of Mathematics and Sciences College of Humanities and SciencesPrince Sultan UniversityP.O.Box 66833Riyadh11586Saudi Arabia

This research investigates the hydrothermal synthesis and annealing duration effects on nickel sulfide(NiS_(2) quantum dots(QDs)for catalytic decolorization of methylene blue(MB)dye and antimicrobial *** size increased with longer annealing,reducing catalytic ***–vis,XRD,TEM,and FTIR analyses probed optical structural,morphological,and vibrational *** confirmed NiS2's anorthic structure,with crystallite size growing from 6.53 to 7.81 nm during extended ***–Vis exhibited a bathochromic shift,reflecting reduced band gap energy(Eg)in NiS_(2).TEM revealed NiS_(2)QD formation,with agglomerated QD average size increasing from 7.13 to 9.65 nm with prolonged *** NiS_(2) showed significant MB decolorization(89.85%)in acidic *** NiS_(2) QDs demonstrated notable antibacterial activity,yielding a 6.15mm inhibition zone against Escherichia coli(***)compared to ***-principles computation supported a robust interaction between MB and NiS_(2),evidenced by obtained adsorption *** study highlights the nuanced relationship between annealing duration,structural changes,and functional properties in NiS_(2)QDs,emphasizing their potential applications in catalysis and antibacterial interventions.

关键词： NiS_(2) antibacterial quantum dots dye degradation DFT

Social Media-Based Surveillance Systems for health Informatics Using Machine and Deep Learning Techniques:A Comprehensive Review and Open Challenges

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 1167-1202页

作者： Samina Amin Muhammad ali Zeb hani Alshahrani mohammed hamdi Mohammad Alsulami Asadullah Shaikh Institute of Computing Kohat University of Science and TechnologyKohat26000Pakistan Department of Computer Science College of Computer Science and Information SystemsNajran UniversityNajran61441Saudi Arabia Department of Information System College of Computer Science and Information SystemsNajran UniversityNajran61441Saudi Arabia

Social media(SM)based surveillance systems,combined with machine learning(ML)and deep learning(DL)techniques,have shown potential for early detection of epidemic *** review discusses the current state of SM-based surveillance methods for early epidemic outbreaks and the role of ML and DL in enhancing their ***,every year,a large amount of data related to epidemic outbreaks,particularly Twitter data is generated by *** paper outlines the theme of SM analysis for tracking health-related issues and detecting epidemic outbreaks in SM,along with the ML and DL techniques that have been configured for the detection of epidemic *** has emerged as a promising ML technique that adaptsmultiple layers of representations or features of the data and yields state-of-the-art extrapolation *** recent years,along with the success of ML and DL in many other application domains,both ML and DL are also popularly used in SM *** paper aims to provide an overview of epidemic outbreaks in SM and then outlines a comprehensive analysis of ML and DL approaches and their existing applications in SM ***,this review serves the purpose of offering suggestions,ideas,and proposals,along with highlighting the ongoing challenges in the field of early outbreak detection that still need to be addressed.

关键词： Social media epidemic machine learning deep learning health informatics pandemic

AMachine Learning Approach to Cyberbullying Detection in Arabic Tweets

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Computers, Materials & Continua 2024年第7期80卷 1033-1054页

作者： Dhiaa Musleh Atta Rahman mohammed Abbas Alkherallah Menhal Kamel Al-Bohassan Mustafa mohammed Alawami hayder ali Alsebaa Jawad ali Alnemer Ghazi Fayez Al-Mutairi May Issa Aldossary Dalal A.Aldowaihi Fahd Alhaidari Department of Computer Science College of Computer Science and Information TechnologyImam Abdulrahman Bin Faisal UniversityP.O.Box 1982Dammam31441Saudi Arabia Department of Computer Information Systems College of Computer Science and Information TechnologyImam Abdulrahman Bin Faisal UniversityP.O.Box 1982Dammam31441Saudi Arabia Department of Networks and Communications College of Computer Science and Information TechnologyImam Abdulrahman Bin Faisal UniversityP.O.Box 1982Dammam31441Saudi Arabia

With the rapid growth of internet usage,a new situation has been created that enables practicing *** has increased over the past decade,and it has the same adverse effects as face-to-face bullying,like anger,sadness,anxiety,and *** the anonymity people get on the internet,they tend to bemore aggressive and express their emotions freely without considering the effects,which can be a reason for the increase in cyberbullying and it is the main motive behind the current *** study presents a thorough background of cyberbullying and the techniques used to collect,preprocess,and analyze the ***,a comprehensive review of the literature has been conducted to figure out research gaps and effective techniques and practices in cyberbullying detection in various languages,and it was deduced that there is significant room for improvement in the Arabic *** a result,the current study focuses on the investigation of shortlisted machine learning algorithms in natural language processing(NLP)for the classification of Arabic datasets duly collected from Twitter(also known as X).In this regard,support vector machine(SVM),Naive Bayes(NB),Random Forest(RF),Logistic regression(LR),Bootstrap aggregating(Bagging),Gradient Boosting(GBoost),Light Gradient Boosting Machine(LightGBM),Adaptive Boosting(AdaBoost),and eXtreme Gradient Boosting(XGBoost)were shortlisted and investigated due to their effectiveness in the similar ***,the scheme was evaluated by well-known performance measures like accuracy,precision,Recall,and ***,XGBoost exhibited the best performance with 89.95%accuracy,which is promising compared to the state-of-the-art.

关键词： Supervised machine learning ensemble learning cyberbullying Arabic tweets NLP