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| 1 | Improved Dijkstra Algorithm for Mobile Robot Path Planning and Obstacle Avoidance显示文摘Optimal path planning avoiding obstacles is among the most attractive applications of mobile robots(MRs)in both research and education.In this paper,an optimal collision-free algorithm is designed and implemented practically based on an improved Dijkstra algorithm.To achieve this research objectives,first,the MR obstacle-free environment is modeled as a diagraph including nodes,edges and weights.Second,Dijkstra algorithm is used offline to generate the shortest path driving the MR from a starting point to a target point.During its movement,the robot should follow the previously obtained path and stop at each node to test if there is an obstacle between the current node and the immediately following node.For this aim,the MR was equipped with an ultrasonic sensor used as obstacle detector.If an obstacle is found,the MR updates its diagraph by excluding the corresponding node.Then,Dijkstra algorithm runs on the modified diagraph.This procedure is repeated until reaching the target point.To verify the efficiency of the proposed approach,a simulation was carried out on a hand-made MR and an environment including 9 nodes,19 edges and 2 obstacles.The obtained optimal path avoiding obstacles has been transferred into motion control and implemented practically using line tracking sensors.This study has shown that the improved Dijkstra algorithm can efficiently solve optimal path planning in environments including obstacles and that STEAM-based MRs are efficient cost-effective tools to practically implement the designed algorithm. | Shaher Alshammrei Sahbi Boubaker Lioua Kolsi | 2022 | Computers, Materials & Continua2022，，9： | 4 |
| 2 | Hidden attractors in a new fractional-order discrete system: Chaos, complexity, entropy, and control显示文摘This paper studies the dynamics of a new fractional-order discrete system based on the Caputo-like difference operator.This is the first study to explore a three-dimensional fractional-order discrete chaotic system without equilibrium.Through phase portrait,bifurcation diagrams,and largest Lyapunov exponents,it is shown that the proposed fractional-order discrete system exhibits a range of different dynamical behaviors.Also,different tests are used to confirm the existence of chaos,such as 0-1 test and C0 complexity.In addition,the quantification of the level of chaos in the new fractional-order discrete system is measured by the approximate entropy technique.Furthermore,based on the fractional linearization method,a one-dimensional controller to stabilize the new system is proposed.Numerical results are presented to validate the findings of the paper. | Adel Ouannas Amina Aicha Khennaoui Shaher Momani Viet-Thanh Pham Reyad El-Khazali | 2020 | Chinese Physics B2020，29，5： | 2 |
| 3 | Positive Solution to Nonzero Boundary Values Problem for a Coupled System of Nonlinear Fractional Differential Equations显示文摘 | Jinhua Wang Hongjun Xiang Zhigang Liu Shaher Momani | 2009 | International Journal of Differential Equations2009，，： | 1 |
| 4 | Non-perturbative analytical solutions of the space-and time-fractional Burgers equations显示文摘 | Shaher Momani | 2006 | Chaos Solutions and Fractional2006，28，： | 1 |
| 5 | Decomposition Method for Solving Fractional Riccati Differential Equations 显示文摘 | Shaher M Nabil S | 2006 | Applied Mathematics and Computation2006，182，2： | 1 |
| 6 | Numerical approximations and Pad approximants for a fractional population growth model 显示文摘 | Shaher Momani Rami Qaralleh | 2007 | Appl Math Modell2007，31，： | 1 |
| 7 | Successful establishment of long-term bone marrow cultures in 103 patients with myelodysplastic syndromes显示文摘 | Alvi S Shaher A Sherry V | 2001 | Leuk Res2001，25，11： | 1 |
| 8 | Improved growth of stromal cells in long term bone marrow cultures (LTMC) of myelodysplastic syndrome (MDS) patients treated with thalidomide显示文摘 | Alvi S Shaher A Henderson B | 2000 | Blood2000，96，11： | 1 |
| 9 | CLINICAL CASE SEMINAR:Riedel's Thyroiditis:Report of a Case Complicated by Spontaneous Hypoparathyroidism,Recurrent Laryngeal Nerve Injury ,and Horner's Syndrome显示文摘 | TAHIRA YASMEEN SHAHER KHAN SONAL G | 2002 | Journal of Clinical Endocrinology & Metaboliam2002，87，8： | 1 |
| 10 | Sloving systems of fractional differential equations using differential transform method 显示文摘 | Vedat Suat Erturk Shaher Momani | 2008 | Joural of Computational and Applied Mathematics2008，215，： | 1 |
| 11 | Numerical solutions for systems of fractional differential equations by the decomposition method显示文摘 | Shaher Momani Kamel AI-Khaled | 2005 | Applied Mathematics and Computation2005，162，： | 1 |
| 12 | Cclinical presentanion of rhabdomyoma of the hert in infancy and childhood显示文摘 | Shaher RM Mintzer J Farina M | 1972 | Am J Cardiol1972，30，10： | 1 |
| 13 | Port closure techniques 显示文摘 | Shaher Z | 2007 | Surg Endosc2007，21，8： | 1 |
| 14 | Growth in Toddlers' Spanish, English, and Conceptual Vocabulary Knowledge 显示文摘 | Jeannette Mancilla-Martinez Shaher Banu Vagh | 2013 | Early Childhood Research Quarterly2013，，3： | 1 |
| 15 | An algorithm for solving the fractional convection-diffusion equation with nonlinear source term显示文摘 | Shaher M | 2007 | Communications in Nonlinear Science and Numerical Simulation2007，，12： | 1 |
| 16 | A generalized differentialtransform method for linear partial differentialequations of fractional order 显示文摘 | ZAID O SHAHER M | 2008 | AppliedMathematics Letters <2008，21，： | 1 |
| 17 | Improved growth of stromal cells in long term bone marrow cultures(LTBMC)of myelodysplastic syndrome (MDS) patients treated with thalidomide显示文摘 | Shaher A Henderson B | 2000 | Blood2000，96，11： | 1 |
| 18 | The author reply--port closure techniques显示文摘 | Shaher Z | | 0，，3： | 1 |
| 19 | Fractional Differential Equations显示文摘 | Fawang Liu Mark M. Meerschaert Shaher Momani Nikolai N. Leonenko Wen Chen Om P. Agrawal | 2010 | International Journal of Differential Equations2010，，： | 1 |
| 20 | Analytic solutions of the generalized water wave dynamical equations based on time-space symmetric differential operator显示文摘It is well known that there is a deep connection between the symmetric and traveling wave solutions.It has been shown that all symmetric waves are traveling waves.In this paper,we establish new analytic solution collections of nonlinear conformable time-fractional water wave dynamical equation in a complex domain.For this purpose,we construct a new definition of a symmetric conformable differential operator(SCDO).The operator has a symmetric representation in the open unit disk.By using SCDO,we generalize a class of water wave dynamical equation type time-space fractional complex Ginzburg-Landau equation.The results show that the obtainable approaches are powerful,dependable and prepared to apply to all classes of complex differential equations. | Rabha W.Ibrahim Chandrashekhar Meshram Samir B.Hadid Shaher Momani | 2020 | Journal of Ocean Engineering and Science2020，5，2： | 1 |
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