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SOCIO-ECONOMIC PROBLEMS- A STUDY OF SUGALI TRIBE IN JILLELAMANDA PEDDA THANDA, CHITTOOR DISTRICT, ANDHRA PRADESH

Authors:

G.Kiran Kumar Reddy, Aliya Sultana, M.Surendra, Y. Suneetha , P. Kousar Basha

DOI NO:

https://doi.org/10.26782/jmcms.2020.08.00065

admin August 24, 2020

Abstract:

In India, numerous tribal people are living. From generations onwards,there are socio economic disparities and problems among the tribal people. This paper discusses about trivials and tribulations of sugali people, who secluded in Jilleamanda Pedda Thanda, in Chittoor District. Sugalis are migratory one. Culture,traditions, pastoral life are part of their life. Aim: To evaluate the social status of sugalis and rehabilitation in Chittoor District, Andhra Pradesh. Materials and Methods: We spent 15 days in the Thanda, and surveyed about the life style of living, interaction with tribe’s. We garnered some information from secondary sources. Results: Status of marriage system, living style, cultivation, political empowerment, cattle rearing, and alcoholism impact on their economic status are discussed. Conclusion: Tribal people must take care about their self-development. It leads to familial, society development

Keywords:

Income,marriage system,schemes,political upliftment,

Refference:

I. Ayappan, A., 1948, “Report on the Socio-economic conditions of the Aboriginal Tribes of the Province of Madras”. Government Press, Madras, pp.164-166.
II. Briggs, T.“An account of the origin, history and manners of Banjaras and transactions of the literary society of Bombay”, Vol 08, pp. 172-191, 1877.
III. Crook, W, “The tribes and castes of the North western India”, Delhi, pp. 149-173, 1974.
IV. Cumberlege, 1882, “Same account of the Banjara class”. Bombay, pp. 149-173.
V. Elliot, H. M. “Banjara’ the races of N.W. province of India. London, Volume 01, pp. 55-56, 1869.
VI. Government of Andhra Pradesh Panchayat Raj Engineering Departemnt, Andhra Pradesh Rural Roads Connectivity Project The Asian Infrastructure Investment Bank assisted, Tribal Peoples Planning Framework (TPPF), Financial Report, July 2018.
VII. Government of India, Ministry of Tribal Affairs, Lok Sabha, Unstarred Question No. 221, to be answered on 17.07.2017, Tribal Population,
VIII. http://www. indiaenvironmentportal.org.in /files /file/ tribal % 20population_1.pdf
IX. Jost, C. “of Caravans and Wanderlust: the Banjarans”. The India Magazine of her people and culture, Vol 02, pp41-47,1982.
X. Malhotra, S.P., and Bose, A.P. “Problems of Rehabilitation of Nomadic Banjaras”. Annals of the Arid Zone, Volume 02, no 3, pp. 74-76,1963.
XI. Nanjundaiah, H.V. and Ananta Krishan Iyer, L.K.“The Mysore tribes and castes”. Mysore University, Mysore, Volume 02, pp.39-142,1928.
XII. RamaswamyAiyer, C.P.andChman Lal’s “Gipsics-Forgotten children in India”, Ministry of Publication Division of Information and Broadcasting, Government of India, Volume 07, issue 09, 1962.
XIII. RanjitaSingh.“Social Conditions of Elders and Problems”, Quest Journals Journal of Research in Humanities and Social Science, Vol 3, Issue 3, pp. 52-54, 2015.
XIV. Rao, A .V. “Problems of the Aged Seeking Psychiatric Help”, New Delhi: ICMR,1985.
XV. Robertson B. “Banjara’ Census of growth”. Journal of Biosocial Science, Volume01,pp. 43-67,1892.
XVI. Russel, R.V. and Hiralal, R.B. “Tribes and Castes of the Central province in India”.Rajadhani book Centre, Delhi: Vol 02, pp162-191, 1975.
XVII. Roma Banjara. “Shampan India – the Banjara People of India’.Jyoti Industrial estate,Vol 03,issue 03, 1983.
XVIII. Singh. R. “Social conditions of elderly and problems”, Journal of Research in Humanities and Social Science. Volume 03, issue03, pp. 20-25 2015.
XIX. Sira-j-ul-Hassan Syed., “The castes and tribes of H.E.H”. TheNizam’s Dominions, Volume01, pp. 15-25, 1920.
XX. Tanuja M. “Care and support for the elderly: a comparative study in rural and urban setups in Odisha”. International Journal Social Economics,pp. 52–64, 2012.
XXI. Websites: http:// aptribes. gov.in /pdfs/table2.pdf.

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Journal Vol – 15 No -8, August 2020

TENSOR COMPLETION WITH DCT BASED GRADIENT METHOD

Authors:

Jyothula Sunil Kumar , N Durga Sowdamini

DOI NO:

https://doi.org/10.26782/jmcms.2020.08.00066

admin August 24, 2020

Abstract:

Tensor Completion from a limited number of non-distorted observations, has enticed researchers interest. The color image has been considered as the three dimensional tensor. Low rank property in Optimization has been used to recover the tensors in the image. The Low rank prior alone not enough to tensor completion. The traditional tensor truncated nuclear norm approaches have been able to approximate the real rank of the tensor, but these are low rank prior approaches. Here a transformation-based optimization method has been proposed to complete the tensors of the image. The Discrete Cosine Transformation (DCT) has been used as transformation method. The tensor singular value decomposition (t-SVD) and accelerated proximal gradient line (APGL) approaches have been considered. The Full Reference metrics i.e., peak signal to noise ratio (PSNR) and structural similarity (SSIM) have been used to evaluate the proposed approach. The obtained results are superior to the existing algorithms. The PSNR and SSIM have been recorded as 27.30 dB and 0.8845 respectively

Keywords:

Tensor Completion,Tensor Singular Value Decomposition,Discrete Cosine Transform,Convex Optimization,

Refference:

I. Emmanuel J Candès and Benjamin Recht. Exact matrix completion via convex optimization. Foundations of Computational mathematics, 9(6):717, 2009.

II. Ji Liu, Przemyslaw Musialski, Peter Wonka, and Jieping Ye. Tensor completion for estimating missing values in visual data. IEEE transactions on pattern analysis and machine intelligence, 35(1):208–220, 2012.

III. Jing Dong, Zhichao Xue, Jian Guan, Zi-Fa Han, and Wenwu Wang. Low rank matrix completion using truncated nuclear norm and sparse regularizer. Signal Processing: Image Communication, 68:76–87, 2018.

IV. Misha E Kilmer, Karen Braman, Ning Hao, and Randy C Hoover. Third-order tensors as operators on matrices: A theoretical and computational framework with applications in imaging. SIAM Journal on Matrix Analysis and Applications, 34(1):148–172, 2013.

V. Ping-Ping Wang, Liang Li, and Guang-Hui Cheng. Low rank tensor completion with sparse regularization in a transformed domain. arXiv preprint arXiv:1911.08082, 2019.

VI. Shengke Xue, Wenyuan Qiu, Fan Liu, and Xinyu Jin. Low-rank tensor completion by truncated nuclear norm regularization. In 2018 24th International Conference on Pattern Recognition (ICPR), pages 2600–2605. IEEE, 2018.

VII. Yao Hu, Debing Zhang, Jieping Ye, Xuelong Li, and Xiaofei He. Fast and accurate matrix completion via truncated nuclear norm regularization. IEEE transactions on pattern analysis and machine intelligence, 35(9):2117–2130, 2012.

VIII. Yaru Su, Xiaohui Wu, and Wenxi Liu. Low-rank tensor completion by sum of tensor nuclear norm minimization. IEEE Access, 7:134943–134953, 2019.

IX. Yunhe Wang, Chang Xu, Shan You, Chao Xu, and Dacheng Tao. Dct regularized extreme visual recovery. IEEE Transactions on Image Processing, 26(7):3360–3371, 2017.

X. Zemin Zhang, Gregory Ely, Shuchin Aeron, Ning Hao, and Misha Kilmer. Novel methods for multilinear data completion and de-noising based on tensor-svd. In Proceedings of the IEEE conference on computer vision and pattern recognition, pages 3842–3849, 2014.

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Journal Vol – 15 No -8, August 2020

DESIGN OF SINGLE LINE TO THREE LINE POWER CONVERTER

Authors:

M. Subba Rao , SakilaGopal Reddy , K. Sai Janardhan , Sangu Harish Reddy

DOI NO:

https://doi.org/10.26782/jmcms.2020.08.00067

admin August 24, 2020

Abstract:

This power converter is a device thattransforms single-line power to three-phase power. The proposed single line to three-line ((1φ or DC)/3φ) power-conversion system contains a power converter; zero-sequence transformer set, and filter capacitors and inductors. Generally, converters are utilized wherever the supply is single-phase to convert it into three-phase we use this type of converters. These converters are mostly used in secluded location and surcharges because of the electric utilities don't install due to cost is too high to install. Three-phase services usually require a high price due to the installation of extra equipment and meters at the transformer and also extra electric wire for transmission is required. In this paper, the single-line to three-phase converter is designed by using SIMULINK toolbox in MATLAB software.

Keywords:

MOSFET,Single Line,Three Phase ,Fly back Converter,MPPT,

Refference:

I. Ashraf A. Mohammed and Samah M. Nafie; fly back Converter Design forLow Power Application.International conference on computing control, networking,electronicsandEmbedded systems.

II. EuzeliCipriano, CursinoBrandãoJacobina, Edison Roberto Cabral da Silva, Nady Rocha ” Single-Phase to Three-Phase Power Converters: State of the Art”, IEEE – Institute of Electrical and Electronics Engineering, Vol. 27, Issue. 5, (2012) PP- 2437 – 2452.

III. Mohan Reddy K.; Naveen Reddy A.; “solar PV Array fed four switch buck-boost converter for LHB Coach” ijcta, 9 (29), 2016, pp.249-255.

IV. M.SubbaRao, Dr.Ch.SaiBabu, Dr.S.Satyanarayana, “Digital Fuzzy Current Mode Controlled Integrated PFC Converter with External Ramp Compensation”, Journal of Circuits, Systems, and Computers (JCSC), Vol. 27, No. 9 (2018), p.p.1850147-1-23.

V. Sanmesh S Khandolkar, Noah Dias “Design and Fabrication of Single Phase to Three Phase Variable Voltage Power Converter” GRD Journals- Global Research and Development Journal for Engineering, Volume 2, Issue 5, (2017) PP-31-37.
VI. SmithaPaulose , Charles K J, Xaviour K, Niju Raphael “Single Phase to Three Phase Converter” International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering, Vol. 7, Issue 3, (2018) PP- 1519 – 1525.

VII. Subbarao M, Ch. SaiBabu, S. Satyanarayana ,” Design and analysis of variable switching frequency controlled integrated switched mode power converter for class C & class D appliances”, Ain Shams EngJol.,vol. 9 (2018),pp 2849–2858.

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Journal Vol – 15 No -8, August 2020

A FIXED POINT THEOREM IN GENERALIZED METRIC SPACES

Authors:

M.K.BOSE , R. TIWARI

DOI NO:

https://doi.org/10.26782/jmcms.2010.07.00001

admin September 27, 2020

Abstract:

In this article we prove a fixed point theorem in generalized metric spaces.

Keywords:

Refference:

1) Branciari A., A fixed point theorem of Banach-Caccioppoli type on a class of generalized metric spaces, Publ. Math. Debrecen, 57 (1-2) (2000), 31-37.
2) Lahiri B. K., Saha P.. and Tiwari R. A generalized metric space is not Hausdroff, Rev. Bull. Cal. Math. Soc., 6(2) (2008), 177-178.

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Journal Vol - 5 No -1, July 2010

CURVE REPRESENTATION OF DSA GENERAL INDEX WITH THE HELP OF WAVELET FUNCTIONS

Authors:

M.M. Rahman, M. Das, M.G. Arif, M.A. Hossen, M.E. Karim

DOI NO:

https://doi.org/10.26782/jmcms.2010.07.00002

admin September 27, 2020

Abstract:

In this study, we collected the monthly raw data form DSE (Dhaka Stock Exchange) and we analyzed the data based on curve fitting. We represented this curve in wavelet form, especially in the form of Haar wavelet representation.

Keywords:

Refference:

1) Addition, Pual S. (2002): he Illustrade Wavelet Transform Handbook, Institution of physics.
2) Charles, C. (1991): Wavelet Theory, Academic Press, Cambridge, MA.
3) Christensen, O. (2004): Approximation Theory, From Taylor Polynomials to Wavelet Birrkhauser, Boston.
4) Daubechies, I. (1992)): Ten Lectures on Wavelets. SIAM, Philadelphia, pa.
5) Debnath, L. 2002): Wavelet transformation and their application, Birkhauser, Boston.
6) Mallat, S. (1999): A wavelet Tour of Signal Processing. Academi Press, New York.
7) Mayer, Y. (1993): Wavelets: their past and their future, Progress in Wavelet Analysis and its Application Gif-su-Yvette, pp 9-18.
8) Strang, G. (1989): Wavelets and Dilation Equations: A brief introduction. AM Review, 31: 614-627.
9) Wells, R.O. (1993): Parametrizing Smooth Compactly Supported Wavelets. Transform American Mathematical Society, 338(2): 919-931.
10) Walnut, D.F. (2001 0: An Introduction to Wavelet Analysis BiRkhuser, Boston.
11) Wojtaszczyk, P. (1997): A Mathematical Introduction to Wavelet, Cambridge University press, Cambridge, U. K.

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Journal Vol - 5 No -1, July 2010

RATE OF CHANGE OF VORTICITY COVARIANCE IN MHD TURBULENT FLOW OF FLUID IN A ROTATING SYSTEM

Authors:

M.L. Rahman

DOI NO:

https://doi.org/10.26782/jmcms.2010.07.00003

admin September 27, 2020

Abstract:

In the paper, the rate of change of vorticity covariance in MHD turbulent flow of dusty fluid in a rotating system is studied. The results obtained show that the defining scalers (………………………..) of the rate of change of vorticity covariance of MHD turbulent flow depend on the defining sclars, W,T,R,P and F of the tensors (……………………………..) already defined in the problem.

Keywords:

Refference:

1) Taylor, G.I. (1935) “Statistical theory of turbulence”, Proc.Roy.Soc.London,A151,421
2) Chandrasekhar, S. (1951). “The invariant theory of isotropic turbulence in magneto-hydrodynamics’,Proc.Roy.Soc.London,A204,435
3) Chandrasekhar, S. (1955a). “A theory of Turbulence”, Proc.Roy.Soc.London,A229, 1
4) Chandrasekhar, S. (1955b). “Hydromagnetic Turbulence-1 a deductive theory”, Proc.Roy.Soc.London,A233,322
5) Jain .C. (1962). “Pressure fluctuations within isotropic turbulence”, Mathematic Student,30,185
6) Saffman, P.G.(1962). On the stability of Laminar flow of a dusty gas”, J.Fuid Mech., 13, 120
7) Hinze, J.O (1975). Turbulence,McGraw Hill,New York
8) Stanisic, M.M. 1985).Mathematical theory of turbulence”,Springer-Verlag,New York
9) Kishore,N. and Sinha, A.(1988).”Rate of change of vorticity covariance in dusty fluid turbulence”,Astrophysics and Space Science,146,53
10) Kishore, N. and Gosefid,Y.T. (1988). “Effect of coriolis force on acceleration covariance in MHD turbulence”, Astrophysics and Space Science,150,89.
11) Sinha, A.(1988).’’Effect of dust particles on acceleration covariance of ordinary turbulence”,J. Scientific Research,.H.U.,38,7
12) Kishore,N. and Sarker,S.A. (1989).” Rate of change of vorticity covariance in MHD turbulence”, Presented in the 5th Mathematical Conference,B.H.U
13) Kishore,N. and Sarker,S.A. (1920).” International journal of energy research,V14,573-577.

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Journal Vol - 5 No -1, July 2010

UNSTEADY MHD FLOW OF GENERALIZED VISCO-ELASTIC OLDROYD FLUID UNDER TIME-DEPENDENT BODY FORCE THROUGH A POROUS CONCENTRIC CIRCULAR CYLINDRICAL DUCT

Authors:

M.S. Uddin

DOI NO:

https://doi.org/10.26782/jmcms.2010.07.00004

admin September 27, 2020

Abstract:

The aim of present paper is the investigation of the unsteady unidirectional flow of an incompressible generalized visco-elastic Oldroyd type fluid between porous concentric cylindrical duct under the action of a transverse magnetic field with time dependent body force. Here we have calculated the velocity profile of a fluid element of the problem theoretically and graphically. From the analysis of this fluid motion, the dynamics of the ordinary viscous fluid is also discussed.

Keywords:

Refference:

1) Lamb H., : Hydrodynamics, New York, over Pub, Inc (1945).
2) Cowling T.., Magneto hydrodynamics, Inter-Science, Pub. Inc New York (1957)
3) Carslaw H.S. and Jager .C., : Operational Method in Applied math, Dover Pub. Inc ew York (1949).
4) Das K.K., : Proc Math. Soc, BHU. 7 (1991), 35-39.
5) Sengupta P.R., and Mahapatra J. Roy, : Rev. Roum. Sci Tech. Mec. Appl (1971), 1023-1031.
6) Chakraborty G. and Sengupta P.R.,: Proc. Inter-AMSE Conference Signals, Data, System, New Delhi (India) ABSE press, Vol 4 1991), 83-92.
7) Ghose B.C., Sengupta P.R. : Proc Math. Soc., BHU. 9 (1993), 89-95.
8) Cabannes . : Theoretical magneto fluid dynamics, academic press. New York and London.
9) Chandrasekhar S.,: Hydrodynamics and Hydromantic stability, Cambridge University press, (1961).
10) Rlvlin R.S. and .Ericksen J.L, : J.R. at Mech. Anul 1955).
11) Reiner M., : Amer J. Math. Soc (1945).
12) Goldroyd J., : Proc. Roy. Soc. (1950), 200-523.
13) Das K.K. and Sengupta P.R. : Unsteady flow of a conducting viscousfluid through a straight tube, proc. Nat. Aead. Aci. India (1993).
14) Chakraborty G. and Sengupta P.R. : MHD flow of two immiscible visco-elastic Rivlin’s-Erickson fluids through a non-conducting rectangular channel, Journal of physics, Vol.42 (1992, 525-531.

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Journal Vol - 5 No -1, July 2010

SOME RESULTS ON THE MAXIMUM TERMS OF COMPOSITE ENTIRE FUNCTIONS

Authors:

Sanjib Kumar Datta , Somnath Mandal

DOI NO:

https://doi.org/10.26782/jmcms.2010.07.00005

admin September 27, 2020

Abstract:

The aim of this paper is to compare the maximum term of composition of two entire functions with their corresponding left and right factors.

Keywords:

Refference:

1) Singh, A.P.: On maximum term of composition of functions, Proc. Nat.Acad. Sci. India, 59A (1989), pp.103-115.
2) Singh, A.P.: On maximum modulus and maximum term of composition of entire functions, Indian J. Pure Appl. Math., 22(12), December(1991), pp.1019-1026.
3) Valiron, .: Lectures on the General Theory of Integral Functions, Chelsea Publishing Company, 1949.

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Journal Vol - 5 No -1, July 2010

O FOURTH ORDER MORE CRITICALLY DAMPED NONLINEAR DIFFERENTIAL SYSTEM

Authors:

M. Ali Akbar

DOI NO:

admin September 27, 2020

Abstract:

In this article an analytical approximate solution has been investigated for obtaining the transient response of fourth order more critically damped nonlinear systems. The results obtained by the presented technique agree with the numerical result obtained by the fourth order Runge-Kutta method nicely. An example is solved to illustrate the method.

Keywords:

Refference:

1) Akbar, M. A. Paul A. C. and Sattar M.A., An Asymptotic Method of Krylov-Bogoliubov for Fourth Order Over-damped Nonliner Systems, Gaint, J. angladesh Math. Soc., Vol. 22, pp. 83-96, 2002.
2) Akbar, M.A. Shamsul Alam M. and Sattar M.A., Asymptotic Method for Fourth Order Damped Nonlinear Systems, Ganit, J. Bangladesh Math. Soc. Vol. 23, pp. 41-49, 2003.
3) Akbar, M. A, Shamsul Alam M. and . Sttar M., A Simple Technique for Obtaining Certain Over-damped Solutions of an (………………………) Order Nonlinear Differential Equation, Soochow of Mathematics Vol. 31(2), pp. 291-299, 2005.
4) Bogoliubov, N. N. and Mitropolski Yu., Asymptotic Methods in the Theory of Nonlinear Oscillations, Gordan and Breach, New York, 1961.
5) Emdadul Hoque, M., M. Takasaki, . Ishino and . Mizuon, Development of a Three Axis Active Vibration Isolator Using Zero-Power Control, IEEE/ASME Transactions on Mechatronics, 2(4), 462-470, 2006.
6) Krylov, N. . and Bogoliubov N. N., Introduction to Nonlinear Mechanics, Princeton University Press, New Jersey, 1947.
7) Mendelson, K. S., Perturbation Theory for Damped Nonlinear Oscillations, J. Math. Physics, Vol. 2, pp. 3413-3415, 1970.
8) Mizuon, T., T. Toumia and M. Takasaki, Vibration Isolation System Using Negative Stiffness, JSME International Journal, Series C, 46(3), 517-523, 2003.
9) Murty, I. S. N., Deekshatulu B. L. and Krishna G., On an Asymptotic Method of Krylov-Bogoliubov for Over-damped Nonlinear System, J. Frank. Inst., Vol. 288, pp. 49-65, 1969.
10) Murty, I. S. N., A Unified Krylov-Bogoliubov Method for Solving Second Order Nonlinear Systems, Int. J. Nonlinear Mech. Ol. 6, pp. 45-53, 1971.
11) Popov, I. P., A Generalization of the Bogoliubov Asymptotic Method in the Theory of Nonlinear Oscillations (in Russian) Dokl. Akad. SSR Vol. 3, pp. 308-310, 1956.
12) Rokibul, M. I, Akbar M. A. and Samsuzzoha ., “A New Technique for Third Order Critically Damped Non-linear Systems, “Journal of Applied Sciences Research, Vol. 4(6), pp. 695-706, 2008.
13) Rokibul M. I, Sharif ddin M., Akbar M. A, Azmol Huda M. and Hossain S. M. ., A New Technique for Fourth Order Critically Damped Nonlinear System with Some Conditions, Bull. Cal. Math. Soc., Vol. 100(5), pp. 501-514, 2008.
14) Sattar, M. A., An asymptotic Method for Second Order Critically Damped Nonlinear Equations, J. Frank. Inst., Vol. 321, pp. 109-113, 1986.
15) Shamsul Alam, M. and Sattar M. ., An Asymptotic Method for Third Order Critically Damped Nonlinear Equations, J. Mathematical and Physical Sciences, Vol. 30, pp. 291-298,1996.
16) Shamsul Alam, M., Asymptotic Methods for Second Order Over-damped and Critically Damped Nonlinear Systems, Soochow Journal of Math. Vol. 27, pp. 187-200, 2001.
17) Shamsul Alam, M. Bogoliubov’s Method for Third Order Critically Damped Nonlinear Systems, Soochow J. Math. Vol. 28, pp. 65-80, 2002.

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Journal Vol - 5 No -1, July 2010

EXPERIMENTAL STUDY OF TRAJECTORY TRACKING AND PATH PLANINNIG OF WHEELED MOBILE ROBOT (WMR)

Authors:

Kawther K Younus, Nabil H Hadi

DOI NO:

https://doi.org/10.26782/jmcms.2020.09.00001

admin September 27, 2020

Abstract:

This work studies the trajectory tracking of a non-holonomic WMR experimentally. Experimental work includes two parts where part one involves path tracking for some desired shapes, while the second part includes path planning and obstacle avoidance in the considered environment. Different cases of the trajectory were studied such as (straight line, circular, elliptical, squared, and triangular shape trajectory) utilizing Python programming. Also, the image processing technique and gird graph method had been used for the study two cases of path planning with different obstacles and position of obstacles, also with different start and goal points. On the other hand, the number of obstacles between the two cases is not the same and the shape of obstacles is uniform or non-uniform, also different size of obstacles were considered where the robot should avoid these obstacles and reach the goal point.The errors had been calculating adopting on the encoder. Results showed a very good match between the simulation and the desired trajectory. Also, the grid graph method was efficient in path planning and obstacle avoidance.

Keywords:

Mobile robot,Nonholonomic,DDWMR,Grid graph,Experimental,

Refference:

I Ali Alouache, and Qinghe Wu, 2018 China. “Genetic Algorithms for Trajectory Tracking of Mobile Robot Based on PID Controller”. PP237-241.

II Anish Pandey and Dayal R. Parhi, 2017 India. “Optimum Path Planning of Mobile Robot in Unknown Static and Dynamic Environments Using Fuzzy-Wind Driven Optimization Algorithm”, J. Defence Technology. V13. PP47-58.

III ImenHassani et. al, 2018 Tunisia. ” “Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm”, J. Mathematical Problems in Engineering. V2018. PP: 1-13

IV Mahmood Ali Moqbel et.al, 2016 Malaysia, Yemen. “Robust Backstepping Tracking Control of Mobile Robot Based on Nonlinear Disturbance Observer”, J. International Journal of Electrical and Computer Engineering (IJECE). V6. N2. PP901-908.

V Mohamed Maghenem. et. al, 2017 France. “Global Tracking-Stabilization Control of Mobile Robots with Parametric Uncertainty”. J. International Federation of Automatic Control. V50. PP4114–4119.

VI Mehr-e-Munir, ShahidLatif, Muhammad Aamir Aman,Waleed Jan, Jehanzeb Khan, Improved Distance Measuring Using Laser Light, J. Mech. Cont.& Math. Sci.Vol.-13, No.-3, July-August (2018), pp 192-198

VII Nardênio Almeida Martins et. al, 2011 Brasil, France. “An Adaptive Variable Structure Controller for the Trajectory Tracking of a Nonholonomic Mobile Robot with Uncertainties and Disturbances”, J. JCS&T. V11:No1. PP.

VIII Ollero, A., Sanfeliu, A., Montano, L., Lau, N., and Cardeira, C., 2017 Spain. B. ROBOT 2017: Third Iberian Robotics Conference.

IX Sourish Ghosh and Joydeep Biswas, 2017 Canada. “Joint Perception and Planning For Efficient Obstacle Avoidance Using Stereo Vision”, C. International Conference on Intelligent Robots and Systems (IROS). V2017. PP1026-1031.

X Yones k. k.and Hadi N. H. 2020 Iraq. “Path tracking and backstepping control for a wheeled mobile robot (WMR) in a slipping environment”, C. 3rd International Conference on Engineering Sciences.PP1-17.

XI Zheng Mingliang, Canonical Equations of Singular Mechanical Systems in Terms of Quasi-coordinates, J. Mech. Cont.& Math. Sci., Vol.-14, No.-4, July-August (2019), pp 1-7

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Journal Vol – 15 No -9, September 2020