This paper presents the design and implementation of a smart robotic vacuum cleaner based on Internet of Things (IoT) technologies, named IO-VAC, specifically developed for smart home environments. The paper covers both the mechanical and electronic aspects of the robot’s development. A 2D layout was created using ArchiCAD to define the positioning of components and sensor angles when designing the robot, followed by a 3D model to visualize the final design. The robot chassis was fabricated using reinforced plastic to ensure durability and lightweight structure. The IO-VAC is controlled using an Arduino Mega board programmed in C/C++. Where, the system includes three ultrasonic sensors for obstacle avoidance, along with an infrared (IR) sensor for edge detection to prevent falls. The embedded system of IO-VAC integrates an ESP8266 Wi-Fi module, allowing for remote control via the Blynk IoT platform to enable users to control the robot’s movement (forward, backward, left, right), adjust suction power, select the desired cleaning algorithm, and monitor the battery level in real-time. In this paper three movement algorithms were developed: random, spiral and zigzag, and their performance was tested on two types of surfaces smooth and rough to ensure reliability and efficiency in various cleaning conditions after testing the validation of IO-VAC. Based on the test results of robot performance, the zigzag algorithm proved to be the most effective in terms of covered area, cleaning mission time, power consumption and minimizing redundancy. This work demonstrates an effective integration of embedded systems with IoT technologies, offering a smart and cost-efficient solution for automating household cleaning tasks.

Abstract— In order to better control the 3-DOF helicopter model, this work is constructed to fulfill and satisfy high performance requirements while taking robustness, reference tracking, and actuator effort into consideration. As a result, the helicopter model dynamics were modeled and shown in a state-space for the first time utilizing the system identification technique. MATLAB was used to identify, design, and simulate the H∞ controller for the nonlinear system. This ideal controller, known as LQG (Linear Quadratic Gaussian), was created, modeled, and applied to the actual model for the nonlinear system using MATLAB. Both controllers' outcomes were displayed. An explanation of the fundamental distinctions between the H∞ controller and the LQG controller is also provided.

Keywords— H∞ controller, LQG controller, 3-DOF helicopter model, MATLAB/SIMULINK

Free-space optical communication (FSO) is an innovative technology that uses light rays to transmit data over the air, providing a wireless alternative to traditional cables. However, the performance of this system is greatly affected by severe weather conditions such as fog, rain, humidity, and atmospheric turbulence, which degrade the quality of communication and pose challenges that require precise solutions. This paper aims to analyze the impact of these environmental factors on the performance of the FSO system using three main criteria: the bit error rate (BER) to evaluate the accuracy of data transmission, the signal-to-noise ratio (SNR) to assess the quality of communication, and the total attenuation induced by each atmospheric condition to quantify its effect on signal degradation. The On-Off Keying (OOK) modulation technique was adopted due to its simplicity and widespread use in optical communication systems. Using MATLAB, simulation models representing different weather scenarios were employed to analyze the performance of the FSO system under varying environmental conditions. The effects of atmospheric changes on system behavior are studied and evaluated to gain a deeper understanding of its operation and limitations. Also, in this paper a further enhancement is introduced to the system by integrating Multiple-Input Multiple-Output (MIMO) technology to improve its performance under challenging conditions as a solution.

This paper proposes a novel robust blind color image watermarking technique that combines entropy analysis, lifting wavelet transform (LWT), QR factorization, and discrete cosine transform (DCT) for copyright protection. The RGB components of the color image are first separated, and the R component is then subjected to the 2-level LWT. Following DCT is applied to the 2-level LWT's high-frequency sub-band, the DCT coefficients are separated into 4x4 non-overlapping blocks. Each chosen block is then subjected to QR factorization, and the watermark is embedded in the first row and first column element of the upper triangular matrix. Numerous simulated tests show that the presented scheme is highly imperceptible and robust to attacks. The presented watermarking scheme performs better than the others in terms of invisibility, according to comparisons with comparable schemes.

With the growing demand for fast and reliable telecommunications infrastructure, deploying a Long-Term Evolution (LTE) network has become a necessity to support both economic and social development. This paper presents three proposed layouts for designing an LTE network in the downtown area of Gharyan, which represents the city’s central and most densely populated zone. The project was motivated by the uneven distribution of coverage across the area, whereseveral locations experience either a complete lack of service or very weak signal reception. The aim is to support the city’s digital transformation by improving access to mobile internet and data services, which in turn enhances business performance, emergency response, public service efficiency, education, remote learning, telemedicine, and remote work opportunities. To implement this plan, the design process relied on Mentum Planet software, a tool specialized in mobile network planning, using real-world terrain and signal data provided by Almadar Company. Three different network layout designs were simulated using two built-in propagation models: the Planet General Model (PGM) and the Q9 model. These simulations were conducted to assess signal strength and coverage across the study area. The analysis showed that one of the layouts provided significantly better signal quality and broader coverage compared to the others. Moreover, the Q9 model proved more reliable in predicting signal behavior in densely built urban settings. Based on these findings, a set of technical recommendations has been developed to guide the future implementation of LTE networks in similar environments, while also addressing challenges such as terrain variations, signal interference, and infrastructurelimitations. In conclusion, this work contributes to enhancing telecommunications services in Gharyan and supports broader efforts toward innovation and digital inclusion across key sectors in the region.

Abstract:- This paper introduces a technique for modeling and effectively controlling the trajectory tracking of a robotic manipulator through an LQG controller optimized by the IPSO algorithm. Extensive simulations have been conducted within the MATLAB simulation environment. The LQG, which combines a Kalman Filter (KF) and a Linear Quadratic Regulator (LQR), is developed to follow the desired input for the robotic manipulator while minimizing the impact of process and measurement noise on its performance. The parameters of the LQG controller, which include the elements of the state and control weighting matrices for the LQR and KF, are optimally adjusted using the IPSO method. The validation of the proposed hybrid LQG-IPSO controller is conducted based on the control criteria parameters. The findings demonstrate that the proposed hybrid LQGIPSO controller can achieve excellent movement performance. To fully leverage the capabilities of the IPSO algorithm, careful adjustment and determination of IPSO parameters such as inertia weight, iteration count, acceleration constants, and particle quantity are essential. Therefore, The initial focus of this study is to conduct a comparative analysis of various fitness functions; simulation results indicate that the proposed hybrid LQGIPSO control method achieves commendable fitness outcomes with minimal steady-state error (ess). Following this, a comparison of the performances of a robotic manipulator using the hybrid LQG-IPSO controller, hybrid LQR-IPSO controller, LQG controller, and LQR controller is also presented. Based on the analysis, it can be concluded that superior performance parameters are attained with the hybrid LQG-IPSO controller when compared to its counterparts—the hybrid LQR-IPSO controller, LQG controller, and LQR controller—offering enhanced performance.

Keyw Keywords: Linear Quadratic Gaussian (LQG) controller, Linear Quadratic Regulator (LQR) controller, Improved Particle Swarm Optimization (IPSO) algorithm, Particle Swarm Optimization (PSO) algorithm and MATLAB etc

Abstract: This paper presents simulation technique for life assessment of the insulation of the power transformer. Load and ambient temperatures are two important factors that influence the hot spot of transformers. The transformer hot spot temperature is one of the most critical parameter in determining the life of transformer paper insulation. The simulation (Matlab Software Package) is based on related international standards as the IEC 60076-7:2005 loading guide method. Load and ambient temperatures of the transformer obtain from General Electrical Company and meteorology office of Libya are used as the input for the simulation together with transformer parameters from heat run test. Hottest spot temperature and loss-of-life are calculated. Lifetime of transformer is predicted. Keywords: Hot-spot temperature, power transformer, top-oil temperature, loss of life

الملخص

يواجه استقرار الجهد تحديات كبيرة بسبب الطلب المتزايد على الكهرباء والاعتماد على خطوط النقل الطويلة، خاصة في شبكات الجهد المتوسط بجنوب ليبيا. تركز هذه الدراسة على شبكة سبها بجهد 66 كيلو فولت، التي تعاني من عدم استقرار الجهد نتيجة الاعتماد على مصادر توليد الطاقة الشمالية وخسائر الطاقة التفاعلية العالية. باستخدام برنامج، NEPLAN تم تقييم فعالية جهازين من تقنيات، FACTS وهما المعوض المتزامن الثابت (SVC) والمعوض المتزامن الديناميكي، (STATCOM) في تحسين استقرار الجهد.

تناولت الدراسة ثلاثة سيناريوهات: بدون تعويض، باستخدام، SVC وباستخدام. STATCOM أظهرت النتائج أن كلا الجهازين يحسنان استقرار الجهد بشكل ملحوظ ويقللان من خسائر الطاقة، مع تفوق STATCOM في الاستجابة الديناميكية والكفاءة الإجمالية. تؤكد هذه النتائج أهمية تقنيات التعويض المتقدمة في ضمان استقرار وموثوقية توصيل الطاقة في الظروف التشغيلية الصعبة.

The new era of distance education opens up a new problem space for researchers to redefine educational needs. The COVID-19 lockdown with its tremendous consequences has affected the way of thinking and acting and has highlighted the merits of distance education. One of the most important of these problems is the inability of the lecturer technically to manage and present remote lectures, which resulted in the student's dissatisfaction with distance education. In this research, we have studied how to facilitate the work of the lecturer, who suffers from many problems, including the technical issues that need technical competencies in the field of information technology and modern technologies used in distance education, including the simulation system and displaying the system via the Internet, studying how to help the student also, in receiving distance education techniques and dealing with the programs used by the lecturer in skillfully presenting educational curricula. For that, the research focused on studying how to use a team to facilitate this work called the E-Learning Facilitator Team. This team plays a vital role in developing and maintaining an online program that is effective, and smooth, and that will support the realization of the planned learning outcomes. Faculty delivering courses online must be more than transmitters of knowledge; they must become facilitators of learning. Some highly seasoned instructors from the traditional on-ground environment will quickly adapt to the online model, while others may find the transition challenging at first [10].

An optimized image watermarking technique based on LU factorization and entropy analysis in combination with lifting wavelet transform and discrete cosine transform is presented in this paper. At first, the original image is decomposed by a 2-level lifting wavelet transform for obtaining the coefficients of a high-frequency subband followed by discrete cosine transform. Afterward, non-overlapping blocks are obtained by dividing the coefficients of discrete cosine transform whereas LU factorization is applied to each nonoverlapping blocks based on pseudo-random sequences. Then, the watermark is embedded into the first row, the first column element of the upper triangular matrix of LU factorization. The normalized cross-correlation (NC), and the peak signal-to-noise ratio (PSNR) are used to evaluate the invisibility and robustness of the presented technique. The experimental results have indicated that the presented technique fulfills all watermarking requirements in terms of invisibility, robustness, security, and capacity. The comparison with the existing scheme has shown that the proposed watermarking technique has a superior performance in terms of invisibility than the existing scheme.