Preferred Language
Articles
/
alkej-317
Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
...Show More Authors

This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of ACO algorithm for the same problem with the same environmental conditions by providing the shortest path for multiple testing environments.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Fri Apr 01 2022
Journal Name
Journal Of Engineering
Effect of Distributing Steel Fibers on Some Properties of Slurry Infiltrated Fiber Concrete
...Show More Authors

The slurry infiltrated fiber concrete (SIFCON) is nowadays considered a special type of high fiber content concrete; it is high strength and high performance material. This paper investigates the effect of spread steel fiber into the slurry mortar on some properties of SIFCON. According to fiber distribution, two sets were used in this investigation. The first set consisted of randomly distributing fibers inside the slurry. The second set was by placing the fibers in an orderly manner inside the slurry. Crimped steel fibers with an aspect ratio of (60) were used. Two different volume fractions percentage of (7% and 9%) by volume of mold were used in both sets for this study. Also, a w/c ratio of (0.35) and superplasticiz

... Show More
View Publication Preview PDF
Crossref (7)
Crossref
Publication Date
Tue Jan 31 2023
Journal Name
Iraqi Geological Journal
Reservoir Characterization and Rock Typing of Carbonate Reservoir in the Southeast of Iraq
...Show More Authors

Flow unit and reservoir rock type identification in carbonates are difficult due to the intricacy of pore networks caused by facies changes and diagenetic processes. On the other hand, these classifications of rock type are necessary for understanding a reservoir and predicting its production performance in the face of any activity. The current study focuses on rock type and flow unit classification for the Mishrif reservoir in Iraq's southeast and the study is based on data from five wells that penetrate it. Integration of several methods was used to determine the flow unit based on well log interpretation and petrophysical properties. The flow units were identified using the Quality Index of Rock and the Indicator of Flow Zone. Th

... Show More
Preview PDF
Scopus (8)
Crossref (1)
Scopus Crossref
Publication Date
Thu Mar 01 2018
Journal Name
Composite Structures
Computational homogenization of the elastic and thermal properties of superconducting composite MgB2 wire
...Show More Authors

View Publication
Scopus (41)
Crossref (39)
Scopus Clarivate Crossref
Publication Date
Sat Jan 25 2020
Journal Name
International Journal Of Research In Pharmaceutical Sciences
Determination of the Dissociation Constants of Metformin from a Second Derivative UV Spectrum
...Show More Authors

An environmentally begnin second derivative spectrometric approach was developed for the estimation of the dissociation constants pKa(s) of metformin, a common anti-diabetic drug.  The ultraviolet spectra of the aqueous solution of metformin were measured at different acidities, then the second derivative of each spectrum was graphed. The overlaid second derivative graphs exhibited two isobestic points at 225.5 nm and 244 nm pointing out to the presence of two dissociation constants for metformin pKa1 and pKa2, respectively. The method was validated by evaluating the reproducibility of the acquired results by comparing the estimated values of the dissociation constants of two different strategies that show excellent matching. As we

... Show More
View Publication Preview PDF
Scopus (10)
Crossref (7)
Scopus Crossref
Publication Date
Tue Sep 01 2020
Journal Name
Results In Engineering
Performance evaluation of asphalt concrete mixes under varying replacement percentages of natural sand
...Show More Authors

Frequently, load associated mode of failure, rutting and fatigue, are the main failure types found in some newly constructed roads within Baghdad, the capital of Iraq, and some suburban areas. The use of excessive amount of natural sand in asphalt concrete mixes which is attractive to local contractors could be one of the possible causes to the lack of strength properties of the mixes resulting in frustration in the pavement performance. In this study, the performance properties of asphalt concrete mixes with two natural sand types, desert and river sands, were evaluated. Moreover, five replacement rates of 0, 25, 50, 75, and 100% by weight of the fine aggregate finer than 4.75 were used. The performance properties including moisture susc

... Show More
View Publication
Crossref (15)
Crossref
Publication Date
Mon Jul 01 2019
Journal Name
Iop Conference Series: Materials Science And Engineering
Characteristic Zero Resolution of Weyl Module in the Case of the Partition (8,7,3)
...Show More Authors
Abstract<p>In this paper, we studied the resolution of Weyl module for characteristic zero in the case of partition (8,7,3) by using mapping Cone which enables us to get the results without depended on the resolution of Weyl module for characteristic free for the same partition.</p>
View Publication
Scopus (16)
Crossref (2)
Scopus Crossref
Publication Date
Tue Sep 01 2020
Journal Name
Heliyon
Extraction, optical properties, and aging studies of natural pigments of various flower plants
...Show More Authors

View Publication
Scopus (24)
Crossref (25)
Scopus Clarivate Crossref
Publication Date
Fri Sep 01 2023
Journal Name
Energy Reports
Effect of solvents on performance of Alq3/ZnO solar cells: A theoretical approach
...Show More Authors

Successfully, theoretical equations were established to study the effect of solvent polarities on the electron current density, fill factor and efficiencies of Tris (8-hydroxy) quinoline aluminum (Alq3)/ ZnO solar cells. Three different solvents studied in this theoretical works, namely 1-propanol, ethanol and acetonitrile. The quantum model of transition energy in donor–acceptor system was used to derive a current formula. After that, it has been used to calculate the fill factor and the efficiency of the solar cell. The calculations indicated that the efficiency of the solar cell is influenced by the polarity of solvents. The best performance was for the solar cell based on acetonitrile as a solvent with electron current density of (5.0

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Sun Jul 12 2020
Journal Name
Baghdad Science Journal
Spectroscopy Characterization of Ethylene Vinyl Acetate Degradation by Different Kinds of Accelerated Aging
...Show More Authors

            This paper presents a sight about the chemical structure deformation of poly (ethylene-co-vinyl acetate) (EVA) samples according to the change ratio of rate constant values. Spectroscopy kinetics fluorescence curves are fitted for two characteristic wavelength domains of fluorescent intensities. The short wavelengths (320-400 nm) domain show spectra overlapping, while at long wavelengths (400-800 nm) domain spectra are arranged in regular for each specific accelerated aging time. The ratio of kinetics rate constant at long wavelengths to kinetics rate constant of short wavelengths is the criterion of the degree chemical structure deformation. Molar extrin

... Show More
View Publication Preview PDF
Scopus (12)
Crossref (10)
Scopus Clarivate Crossref
Publication Date
Mon Mar 01 2021
Journal Name
Journal Of Physics: Conference Series
High pollutant levels of produced water around Al-Ahdab oil field in Wasit governorate (Iraq)
...Show More Authors
Abstract<p>Exploration activities of the oil and gas industry generate loads of formation water called produced water (PW) up to thousands of tons each day. Depending on the geographic area, formation depth, oil production techniques, and age of oil supply wells, PW from different oil fields contain different chemical compositions. Currently, PW is also known as industrial waste water containing heavy metals that are toxic to humans and the environment, requiring special processing so that they can be disposed of in the environment. To determine the heavy metals content in PW from the Al-Ahdab oil field (AOF), the Ministry of Science and Technology/Agricultural Research Department determined som</p> ... Show More
View Publication Preview PDF
Scopus (3)
Crossref (2)
Scopus Crossref