Preferred Language
Articles
/
alkej-283
Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
...Show More Authors

The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then  proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is implemented based on hybrid Crossoved Firefly Algorithm with Artificial Bee Colony (CFA-ABC) to tune the controller's parameters to achieve the optimal path. The performance of the hybrid optimization algorithm is verified by various benchmark functions. The simulation results show that the utilizing of CFA and (CFA-ABC ) are better than the original Firefly Algorithm. A simulation example is given to indicate the effectiveness of the proposed algorithm, the results have been done using MATLAB (R2013b), and all trajectory tracking results with two reference trajectories (circular and lemniscates ) are presented.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sat Mar 31 2018
Journal Name
Journal Of Engineering
Effecting of pH Parameter on Simulated Wastewater Treatment Using Electrocoagulation Method
...Show More Authors

The aim of the present research is to investigate the effecting of pH parameter on the feasibility of lead removal from simulated wastewater using an electrochemical system. Electrocoagulation method is one of electrochemical technology which is used widely to treat industrial wastewater. Parameters affecting this operation, such as initial metal concentration, applied current, stirrer speed, and contact time of electroprocessing were taken as 155ppm, 1.5 Ampere, 150 rpm, 60 minutes respectively. While pH of the simulated wastewater was in the range of  2 to 12 in the experiments. It was found from the results that pH is an important parameter affecting lead removal operation. The best value of pH parameter is appro

... Show More
View Publication Preview PDF
Scopus (19)
Crossref (15)
Scopus Crossref
Publication Date
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Science
Cytogenetic and Cytotoxic Potentials of Borago officinalis on Albino Male Mice
...Show More Authors

       The current study is an attempt to assess the cytogenotoxic potential of the ethanolic extract from the leaves of Borago officinalis on Swiss albino male mice. Young Swiss albino mice were orally administered with leaf ethanolic extract of Borago officinalis. Three mice groups were used using different doses of plant extract (T1: 100, T2: 200, and T3:400 mg\kg) in addition to the control negative group (untreated mice) for 7 days to assess mitotic index or 28 days to assess meiotic index.  The results revealed that the extract significantly induced the division of disruptive chromosomal changes in the bone marrow and the mean of abnormality was (3.5±0.47, 4.43±0.83, and 5.83±0.96%) for T1, T2, and T3 re

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Thu Dec 30 2021
Journal Name
Iraqi Journal Of Science
Impacts of Androgen Abuse and Overtraining on Endocrine Profile in Bodybuilders
...Show More Authors

Abuse of androgens and overtraining expose bodybuilders to multifactorial stress influences related to endocrine activity. Endocrine responses in 23 bodybuilder athletes were investigated after a strength training period, during which they were taking high doses of androgenic-anabolic steroids. Serum concentrations of TSH, T3, and T4 were unchanged significantly. Serum LH and FSH concentrations decreased dramatically (P<0.05). In addition, low mean concentration of serum testosterone was recorded, with more substantial reduction in participants of elder ages. The multiple regression model used in this analysis supported this inference. On the other hand, a positive association was observed between levels of blood lipids (total cholest

... Show More
View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Wed Aug 01 2018
Journal Name
Materials Research Bulletin
Chemical bath deposition of single crystal SnS nanobelts on glass substrates
...Show More Authors

SnS nanobelt thin films were deposited on glass substrates in acidic solution by chemical bath deposition (CBD) method. The belt-like morphologies of as-deposited SnS thin films were characterized by scanning electron microscope (SEM) and transmission electron microscopy (TEM). X-ray diffraction (XRD) and Raman measurements were carried out to confirm the crystal structures and phase purities of SnS nanobelt thin films. The morphologies and phase purities of SnS thin films were influenced greatly by the tin and sulfur precursors. The bandgaps of SnS nanobelts were determined to be 1.39–1.41 eV by UV–vis absorption and photoluminescence (PL) spectra. Current-voltage ((I-V)) and current-time ((I-T)) characteristics were studied to demon

... Show More
View Publication
Scopus (26)
Crossref (25)
Scopus Clarivate Crossref
Publication Date
Wed Mar 15 2023
Journal Name
Journal Of Baghdad College Of Dentistry
Anti-inflammatory effects of manuka honey on salivary cytokines (clinical study)
...Show More Authors

Background: Manuka honey (MH) is a mono-floral honey derived from the Manuka tree (Leptospermum scoparium). MH is a highly recognized for its non-peroxide antibacterial activities, which are mostly related to its unique methylglyoxal content (MGO) in MH. The beneficial phytochemicals in MH is directly related to their favorable health effects, which include wound healing, anticancer, antioxidant, and anti-inflammatory properties. Aims: The purpose of this study was to evaluate the effect of MH on pro-inflammatory cytokines (IL-8 and TNF-α) in patients with gingivitis and compare it with chlorhexidine (CHX) and distilled water (DW). Materials and Methods: This study was a randomized, double blinded, and parallel clinical trial. Forty-fiv

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (3)
Scopus Crossref
Publication Date
Thu Sep 13 2018
Journal Name
Baghdad Science Journal
Gamma Ray Effect on the Properties of Coumarin C47 Laser Dye
...Show More Authors

The research is concerned about studying the absorption spectrum of the solution coumarin dye C47. The chloroform solvent was used with C47 dye in three different concentrations 10-4, 10-5 and 10-6 M. The laser dye solution was prepared by dissolving the required amount of dye in chloroform alcohol, while studying absorption spectrum before and after irradiation with gamma ray by cobalt-60 source 60Co at exposure time, which are 0, 4, 6 and 18 hours with different absorbed doses 0, 136, 204 and 612 Gy. The results show that red shift in the absorption spectrum was increased by increasing the concentration of laser dye solutions , while the increase of gamma dose led to increase the red shift after irradiation, as the exposure period and irr

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Clarivate Crossref
Publication Date
Fri Jan 01 2016
Journal Name
The International Scientific Conference For Nanotechnology And Advance Research’s
Effect of the annealing and compositional on the Morphological and electrical
...Show More Authors

Nanocrystalline TiO 2 and CuO doped TiO 2 thin films were successfully deposited on suitably cleaned glass substrate at constant room temperature and different concentrations of CuO (0.05,0.1,0.15,0.2) wt% using pulse laser deposition(PLD) technique at a constant deposition parameter such as : (pulse Nd:YAG laser with λ=1064 nm, constant energy 800 mJ, with repetition rate 6 Hz and No. of pulse (500). The films were annealed at different annealing temperatures 423K and 523 K. The effect of annealing on the morphological and electrical properties was studied. Surface morphology of the thin films has been studied by using atomic force microscopes which showed that the films have good crystalline and homogeneous surface. The Root M

... Show More
Publication Date
Fri Jan 01 2021
Journal Name
Journal Of Advanced Pharmacy Education And Research
The effect of formulation and process variables on prepared etoricoxib ‎Nanosponges
...Show More Authors

View Publication
Scopus (1)
Crossref (4)
Scopus Crossref
Publication Date
Fri Jan 10 2025
Journal Name
Iraqi Journal Of Agricultural Sciences
EFFECT OF HAMMER SPEED AND GRAIN GENUS ON HAMMER MILL PERFORMANCE.
...Show More Authors

View Publication
Publication Date
Thu Dec 31 2015
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Effect of Particle Size of Sawdust on Behaviour of Sawdust/UPE Composites in Water
...Show More Authors

The aim of the present work is to develop a new class of natural fillers based polymer composites with sawdust (S.D) which used two particle sizes (1.2 μm & 2.3 μm) and different weight percentage from sawdust (10%, 15%, and 20%). The mechanical properties studied include hardness (shore D) for all samples at normal conditions (N.C). The unsaturated polyester (UPE) and its composites samples were immersed in water for  30 days to find the effect of particle size of sawdust (S.D) on the weight gain (Mt %) by water for all the samples, also to find the effect of water on their hardness. The results show that the composite materials of sawdust (S.D) fillers which has particle size (1.2 μm) better than (2.3 μm) particle size bef

... Show More
View Publication Preview PDF