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Obstacles Avoidance for Mobile Robot Using Enhanced Artificial Potential Field
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In this paper, an enhanced artificial potential field (EAPF) planner is introduced. This planner is proposed to rapidly find online solutions for the mobile robot path planning problems, when the underlying environment contains obstacles with unknown locations and sizes. The classical artificial potential field represents both the repulsive force due to the detected obstacle and the attractive force due to the target. These forces can be considered as the primary directional indicator for the mobile robot. However, the classical artificial potential field has many drawbacks. So, we suggest two secondary forces which are called the midpoint repulsive force and the off-sensors attractive force. These secondary forces and modified primary forces are merged to overcomethe drawbacks like dead ends and U shape traps. The proposed algorithm acquirs information of unknown environment by collecting the readings of five infrared sensors with detecting range of 0.8 m. The proposed algorithm is applied on two different environments also it is compared with another algorithm. The simulation and experimental results confirm that the proposed algorithm always converges to the desired target. In addition, the performance of algorithm is well and meets the requirements in terms of saved time and computational resources.

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Publication Date
Tue Mar 01 2011
Journal Name
Al-khwarizmi Engineering Journal
Noise Removal of ECG Signal Using Recursive Least Square Algorithms
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This paper shows an approach for Electromyography (ECG) signal processing based on linear and nonlinear adaptive filtering using Recursive Least Square (RLS) algorithm to remove two kinds of noise that affected the ECG signal. These are the High Frequency Noise (HFN) and Low Frequency Noise (LFN). Simulation is performed in Matlab. The ECG, HFN and LFN signals used in this study were downloaded from ftp://ftp.ieee.org/uploads/press/rangayyan/, and then the filtering process was obtained by using adaptive finite impulse response (FIR) that illustrated better results than infinite impulse response (IIR) filters did.

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Publication Date
Thu Nov 01 2012
Journal Name
2012 International Conference On Advanced Computer Science Applications And Technologies (acsat)
Data Missing Solution Using Rough Set theory and Swarm Intelligence
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This paper presents a hybrid approach for solving null values problem; it hybridizes rough set theory with intelligent swarm algorithm. The proposed approach is a supervised learning model. A large set of complete data called learning data is used to find the decision rule sets that then have been used in solving the incomplete data problem. The intelligent swarm algorithm is used for feature selection which represents bees algorithm as heuristic search algorithm combined with rough set theory as evaluation function. Also another feature selection algorithm called ID3 is presented, it works as statistical algorithm instead of intelligent algorithm. A comparison between those two approaches is made in their performance for null values estima

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Publication Date
Tue Dec 28 2021
Journal Name
2021 2nd Information Technology To Enhance E-learning And Other Application (it-ela)
Pedestrian and Objects Detection by Using Learning Complexity-Aware Cascades
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Publication Date
Wed Jan 01 2020
Journal Name
Desalination And Water Treatment
Reducing endotoxin from dialysis water by using different disinfection processes
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Publication Date
Mon Apr 20 2020
Journal Name
Neuroquantology
Evaluating Radon Level in Imported Milk Using CR-39 Detector
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Publication Date
Thu Jan 23 2020
Journal Name
Iraqi Journal Of Laser
Spider Veins Treatment using 1064 nm Long-Pulse Nd:YAG Laser
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spider veins are clusters of Ectatic venules & are common finding on the lower limbs generally believed to be caused by multiple factors, including genetic predisposition, hormonal factors, gravity, occupation, pregnancy, becoming increasingly apparent with age, and trauma. Therapeutic options include sclerotherapy, surgical procedures, and treatment with different laser systems.

 Objectives: The purpose of the study was to evaluate the efficacy and safety of long pulsed (Nd:YAG) laser emitting at 1064nm in the treatment of spider veins.

Patients, Materials and Methods: This prospective study was done in the laser medicine research clinics of the Institute of las

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Publication Date
Thu Apr 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
Estimate the Partial Linear Model Using Wavelet and Kernel Smoothers
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This article aims to estimate the partially linear model by using two methods, which are the Wavelet and Kernel Smoothers. Simulation experiments are used to study the small sample behavior depending on different functions, sample sizes, and variances. Results explained that the wavelet smoother is the best depending on the mean average squares error criterion for all cases that used.

 

 

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Publication Date
Tue Jun 06 2023
Journal Name
Journal Of University Of Anbar For Pure Science (juaps)
Approximate Solution of Emden-Fowler Equation Using the Galerkin Method
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Publication Date
Mon Jul 22 2019
Journal Name
Innovations In Pharmacy
Evaluate Factors Influencing Depression in Baghdad: Using Deck-Depression Inventory
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Objective: This study goal was to screen participants from different settings in Baghdad for depression using Beck Depression Inventory (BDI) scale and identify factors influencing the levels of depression. Methods: This cross-sectional study included a convenience sample of 313 people from four settings (teaching hospital, college of medicine, college of pharmacy, and high school) in Baghdad, Iraq. The participants were screened using paper survey relying on the BDI scale during spring 2018. Using multiple linear regression analysis, we measured the association between depression scores and six participant factors. Results: The overall prevalence of depression in our sample was 57.2%. Female participants had higher BDI

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Publication Date
Sun Feb 15 2026
Journal Name
Journal Of Engineering
Drag Reduction Using Passive Methods on KIA PRIDE Car Model
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An experimental study on a KIA pride (SAIPA 131) car model with scale of 1:14 in the wind tunnel was made beside the real car tests. Some of the modifications to passive flow control which are (vortex generator, spoiler and slice diffuser) were added to the car to reduce the drag force which its undesirable characteristic that increase fuel consumption and exhaust toxic gases. Two types of calculations were used to determine the drag force acting on the car body. Firstly, is by the integrating the values of pressure recorded along the pressure taps (for the wind tunnel and the real car testing), secondly, is by using one component balance device (wind tunnel testing) to measure the force. The results show that, the average drag estimated on

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