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Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
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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.

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Publication Date
Tue Apr 24 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Theoretical Evaluations of Probability of Photons Yield Depending on Quantum Chromodynamics Theory
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      Aim of this research is the description with evaluation the photons rate probability at quark-gluon reactions processes theoretically depending on quantum color theory. In high energy physics as well as quantum field theory and quantum chromodynamics theory,they are very important for physical processes. In quark–gluon interaction there are many processes, the Compton scattering, annihilation pairs and quark–gluon plasma. There are many quantum features, each of three  and systems that taken which could make a quark–gluon plasma in character system. First, electric quark charge and color quantum charge that’s satisfied by quantum number. Second, the critical temperature and

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
Theoretical Study of The Heating Effect of Laser Radiations on SiUcaGlass Systems
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A theoretical study has been proposed to investigate the effects of different laser radiations (Nd - glass, DF and C02) as a heating source on different glass samples (Optical glass, Bk - 7 and Soda - lime glass) and different waves lengths (10.6, 3.8, 1.6) ???. The heat changes as which are resulted due irradiation with laser sources have been determined by using the one dimension mathematical relation as a function of time (t) and depth (z). The results of the study show ed that the irradiation with C02 laser had a greater effect than DF laser, while the effects of Nd - glass laser were minimal with a power density of (1.8*10?? w/m2) within atime(l^sec).(Forboth Kinds) The change in the temperatures were not exceeded than (70"K) in all sa

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Publication Date
Tue Feb 12 2019
Journal Name
Iraqi Journal Of Physics
The effect of deformation parameter of heavy nuclei on level density parameter
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The possible effect of the collective motion in heavy nuclei has been investigated in the framework of Nilson model. This effect has been searched realistically by calculating the level density, which plays a significant role in the description of the reaction cross sections in the statistical nuclear theory. The nuclear level density parameter for some deformed radioisotopes of (even- even) target nuclei (Dy, W and Os) is calculated, by taking into consideration the collective motion for excitation modes for the observed nuclear spectra near the neutron binding energy. The method employed in the present work assumes equidistant spacing of the collective coupled state bands of the considered isotopes. The present calculated results for f

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Effect of Cryogenic Treatment on the Properties of Low Carbon A858 Steel
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This study is concerned with the effect of Deep Cryogenic Treatment (DCT) at liquid nitrogen temperature (-196 o C) on the mechanical properties and performance of low carbon steel (A858). The tests specimens were divided in to two groups, the first group was subjected to the conventional heat treatment of normalizing, and the second group was also normalized then subjected to (DCT). The results have shown that after (DCT), the Hardness, Tensile properties and the impact energy absorbed were all slightly increased. However the fatigue test showed some positive improvement in fatigue limit by 20(N/mm2 ), and the volume wear rates at different loads were significantly decreased after (DCT). The changes in microstructure due to (DCT) were c

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Publication Date
Mon Apr 24 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect Of Additive Al On the Optical Properties Of Polystyrene-Aluminum Composites
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 Additive aluminum powder to the polystyrene to prepare the composites Polystyrene– Aluminum.The samples were prepared by using mechanical  compressed method at low pressure and a temperature 120°C.         Measurements  of absorbance and reflectance spectra were carried out by UV-Visible  spectrophotometer , the effect of additive aluminum  on the optical band  gap Eop and  optical constants ( refractive index n, extinction coefficient k ,dielectric constant ε and optical conductivity σop)  were studied for the prepared composites .         Results showed a decrease in the Eop with increasing  perc

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Publication Date
Tue Sep 19 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Activity of Myrrh (Commiphora nlolmol) Essential Oil on Growth of Candida Albicans
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The study was conducted to e'aluate the effect of Myrrh essential oil on growth of three isolates of Candida albicans. Results
.showed inhlbitory effect of Myrrh essential o.il on growth of the teste<:!
isolates. MTC tor vaginal and nail .isolates· was 5% where is for the standard isolate it w I 0%. AdditionaUy, Es ential oil affect morphology types of Candida albiccms cells, .resuJting double increase in pseu.dohyphae percentage and double decrease in budding cell percentage .compared to the control types which may indicate JYossible
e£fect on division and reproduction.
Activity of essential oil of Myrrh using gaseous contact
method showed .inhibitory effect of the ojl for the hree isolates. with
MIC more than

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Publication Date
Wed Jun 26 2019
Journal Name
Iraqi Journal Of Science
Influence of WS2 Nanoparticles Lubricants on Physical Characteristics of Wrought Aluminium Alloys
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The present study considers an influence of WS2 nanoparticles lubricants on physical characteristics of wrought Aluminium alloys. It is investigated parameters-performance relationship via tribological pin-on-disc tests, the pin is made of Aluminium alloys and the disk is made of AISI.1045, and the humidity was 70%. Oils with WS2 nanoparticles and without them reveal the loss rate of wear. In this study, the coefficient of friction (CoF) is reduced from 0.27 to 0.22 and the wear rate decreased from 0.128 x 10-6 Nm-1 to 0.107 x 10-6 Nm-1 at a load of 20 N. All worn surfaces were typically three types in wear mechanisms such as adhesive, abrasive, and oxidative wear. In addi

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Publication Date
Mon Sep 30 2002
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Effect of using Two Binders on the Agglomeration of Zeolite Type 4A
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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Effect of crude extract of menthaspicata on fertility in Albino female mice
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The crude aqueous extract of menthespicata , the objective of this study was to investigate the effects of this extraction , on the histological changes of the ovares and levels of sex hormone , ( FSH , LH , Estradiol ) in albino female mice . the extract was given orally for( 45 ) days . fourty mature female mice were used in this study , the animals divided into four major groups . each group was include ten mice . the first three groups was given different concentration )) (21 , 14 , 7 %) . While the fourth group considered as control group which had been administrated tab water . For ( 45 ) days each group had been killed for hormonal assay in blood

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Publication Date
Sat Mar 31 2018
Journal Name
Journal Of Engineering
Evaluation the Effect of Vibration on the Corrosion Rate of Automotive Paints
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This paper studies the influence of temperature on the corrosion rate of coated AA6111 aluminum alloy used in vehicle bodies under static and vibration states. The vibration test system was collected laboratory and used for testing of five different types of paints (EASI, Numix, Lesonal, DENSO and Polaron paints) in the 5 % NaCl solution using immersion test method. Lesonal paint provided the best corrosion protection, while DENSO paints show large values of corrosion rate, other coatings exhibit moderate values. Model of paints corrosion was developed to characterize the corrosion processes occur at the surfaces. It is found that corrosion rate obtained at vibration cases is larger than static cases and vibration effect

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