Preferred Language
Articles
/
alkej-160
Obstacles Avoidance for Mobile Robot Using Enhanced Artificial Potential Field
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Dec 31 2023
Journal Name
Tropical Journal Of Natural Product Research
Cytotoxic Potential of Neem (Azadirachta indica A. Juss) Oil
...Show More Authors

View Publication Preview PDF
Scopus (11)
Crossref (2)
Scopus Crossref
Publication Date
Mon Aug 01 2022
Journal Name
Baghdad Science Journal
Optimized Artificial Neural network models to time series
...Show More Authors

        Artificial Neural networks (ANN) are powerful and effective tools in time-series applications. The first aim of this paper is to diagnose better and more efficient ANN models (Back Propagation, Radial Basis Function Neural networks (RBF), and Recurrent neural networks) in solving the linear and nonlinear time-series behavior. The second aim is dealing with finding accurate estimators as the convergence sometimes is stack in the local minima. It is one of the problems that can bias the test of the robustness of the ANN in time series forecasting. To determine the best or the optimal ANN models, forecast Skill (SS) employed to measure the efficiency of the performance of ANN models. The mean square error and

... Show More
View Publication Preview PDF
Scopus (24)
Crossref (12)
Scopus Clarivate Crossref
Publication Date
Mon Sep 09 2024
Journal Name
Научный Форум
the functioning of artificial intelligence for the development of communication skills among foreigners learning Russian
...Show More Authors

Preview PDF
Publication Date
Wed Jun 01 2016
Journal Name
Journal Of Engineering
Seismic Effects and Static Analysis for the Artificial Damped Outrigger Systems in Tall R.C Buildings
...Show More Authors

This paper studies the combination fluid viscous dampers in the outrigger system to add supplementary damping into the structure, which purpose to remove the dependability of the structure to lower variable intrinsic damping. It works by connecting the central core, comprising either shear walls or braced frames, to the outer perimeter columns.

     The modal considered is a 36 storey square high rise reinforced concrete building. By constructing a discrete lumped mass model, and using frequency-based response function, two systems of dampers, parallel and series systems are studied. The maximum lateral load at the top of the building is calculated, and  this load  w

... Show More
View Publication Preview PDF
Publication Date
Thu Oct 13 2022
Journal Name
Computation
A Pattern-Recognizer Artificial Neural Network for the Prediction of New Crescent Visibility in Iraq
...Show More Authors

Various theories have been proposed since in last century to predict the first sighting of a new crescent moon. None of them uses the concept of machine and deep learning to process, interpret and simulate patterns hidden in databases. Many of these theories use interpolation and extrapolation techniques to identify sighting regions through such data. In this study, a pattern recognizer artificial neural network was trained to distinguish between visibility regions. Essential parameters of crescent moon sighting were collected from moon sight datasets and used to build an intelligent system of pattern recognition to predict the crescent sight conditions. The proposed ANN learned the datasets with an accuracy of more than 72% in comp

... Show More
View Publication Preview PDF
Scopus (7)
Crossref (5)
Scopus Clarivate Crossref
Publication Date
Sun Nov 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Fatigue Characterization for Composite Materials used in Artificial Socket Prostheses with the Adding of Nanoparticles
...Show More Authors
Abstract<p>The prostheses sockets use normally composite materials which means that their applications may be related with the human body. Therefore, it was very necessary to improve the mechanical properties of these materials. The prosthetic sockets are subjected to varying stresses in gait cycle scenario which may cause a fatigue damage. Therefore, it is necessary or this work to modify the fatigue behavior of the materials used for manufacturing the prostheses sockets. In this work, different Nano particle materials are used to modify the mechanical properties of the composite materials, and increase the fatigue strength. By using an experimental technique, the effect of using different volu</p> ... Show More
View Publication
Scopus (41)
Crossref (37)
Scopus Crossref
Publication Date
Sun Jan 01 2023
Journal Name
Aip Conference Proceedings
Investigations about the effect of electrons screening potential on fusion reactivity for cold fusion of metals
...Show More Authors

View Publication
Crossref
Publication Date
Tue Jan 01 2019
Journal Name
Indian Journal Of Public Health Research &amp; Development
Loss of the Epigenetically Inactivated-X-Chromosome (Barr Body) a Potential Biomarker for Breast Cancer Development
...Show More Authors

View Publication
Scopus (4)
Crossref (2)
Scopus Crossref
Publication Date
Mon Jul 21 2025
Journal Name
Biochemistry (moscow), Supplement Series B: Biomedical Chemistry
Evaluation of Ornithine Decarboxylase and Ferric Reducing Capacity Levels as Potential Biomarkers for Polycystic Ovary Syndrome
...Show More Authors

Abstract—Background: Polycystic ovary syndrome (PCOS) is a prevalent hormonal disorder affecting reproductive- age women, often linked to metabolic issues like insulin resistance. Objective: this study aimed to evaluate ornithine decarboxylase (ODC) and ferric reducing capacity (FRC) levels in women with PCOS, with assess the effects of metformin and Primolut N treatment on their levels. Subjects and Methods: A case− control study was conducted with 150 married Iraqi women, categorized into three groups: 50 healthy controls, 50 untreated PCOS, 50 treated PCOS. Blood samples were analyzed for ODC, FRC levels and hormonal profiles. Statistical analysis applied independent t-test, Pearson’s correlation, ROC curve. Results: The ODC level

... Show More
View Publication
Scopus Clarivate Crossref
Publication Date
Wed Mar 20 2019
Journal Name
Al-khwarizmi Engineering Journal
Enhancement of Heat Exchanger Performance by Using Dimpled Tube
...Show More Authors

The enhancement of heat exchanger performance was investigated using dimpled tubes tested at different Reynolds numbers, in the present work four types of dimpled tubes with a specified configuration manufactured, tested and then compared performance with the smooth tube and other passive techniques performance. Two dimpled arrangements along the tube were investigated, these are inline and staggered at constant pitch ratio X/d=4, the test results showed that Nusselts number (heat transfer) of the staggered array is higher than the inline array by 13%.  The effect of different depths of the dimple (14.5 mm and 18.5 mm) has been also investigated; a tube with large dimple diameter enhanced the Nusselts number by about 25% for the ran

... Show More
View Publication Preview PDF
Crossref (2)
Crossref