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.
The aim of the study is to study the quality of services in a sample of the municipalities of Baghdad governorate and identify the deviations in their operations and provide solutions to address the causes of deviations. The research field aims at the same activity related to municipal services and their quality and analysis using some tools for continuous improvement to identify the authorities responsible for the delay and quality of services. In the future, the importance of research is shown by the use of these tools and their use and their application to the data of the directorates (sample of the study) to diagnose and treat problems, especially that they include statistical methods that are clear and easy to understand the
... Show MoreFinancial inclusion refers to the access of financial services at low cost and high-quality from the formal financial sector to all segments of society, especially marginalized groups, and then use and benefit from them. Financial inclusion is also associated with banking stability, as well as with financial integrity and financial protection for the consumer, therefore, it achieves a number of objectives, the most important of which is to support and enhance banking stability. This is what made it attract the attention of many countries and central banks recently.
The study aims to show the impact of financial inclusion indicators on ban
... Show MoreThe present study included the impact of the follow-up variation in the temperature of aqueous medium in the vertical migration behavior of different groups of Zooplankton, consisted species Cyclops vernalis, Daphnia magna, Diaptomus dilopatus, that have been grown in controlled in terms of light and pH laboratory conditions, so choosing temperature of respectively 16,20,24,28, and 32 ËšC. The result showed a clear change in the migration behavior of testing planktonic species, it was a negative relationship between temperatures arises and individual of D. magna in the water column.While being appositive relationship with individual of C. vernalis and the same with D. dilopatus. Also, the result revealed a different impact
... Show MoreThe study current included histological structure of stomach of Liza abu , anatomical results found that stomach represent the expander non-convoluted part of gastrointestinal tract it is located between the end of the esophagus and the beginning of the intestine , the average length of stomach was (1.5) cm , composed of two parts : cardiac stomach which is represent the anterior part and be thin- walled , the other part was pyloric stomach or gizzard and the walls were thick . The internal surface of cardiac and pyloric stomach contain longitudinal folds numbering (7), folds branching to finger shape structures extend inside the lumen . Histological study showed that stomach wall composed of three main histological layers : mucos
... Show MoreIn this work, the copper metal was treated using Nd:YAG laser with energy 1Joul to enhance corrosion resistance and improve surface properties. The copper metal has many applications in industry as well as water, oil and gas pipes. The same conditions, (laser power density, scan speed, distance between paths, medium gas-air) were applied in the laser surface treatment, After laser treatment, the samples microstructures were investigated using optical microscope (OM) to examine micro structural changes due to laser irradiation. Specimen surfaces were investigated using atomic force microscopy (AFM), X-ray diffraction (XRD), macro hardness, and corrosion test before and after laser treatment to
... Show MoreAzadirachtin is a naturally occurring substance that belongs to an organic molecule class which is called tetranortriterpenoids. It is on of the most powerful plant derived insecticides known, its structure is similar to insect hormones called ecdysoncs (Molting Hormone), which control the process of metamorphosis. Azadirachtin has been isolated from fruits of Melia azedarach L. The structure of this compound was determined by spectral studies (IR spectra and GC Mass spectra) and denitrified by then layer chromotochraphy (TLC).
Firstly, in this study, a brief updated description and applications of different solar collectors used in renewable energy systems for supplying electric and thermal energy was presented. Secondly, an attempt was made to utilize tilting orientation of solar collector for maximizing collector energy with time in respect to horizontal orientation. For energy calculation, global solar radiation was used since they are directly related. For that purpose, field measurements of half-hourly radiation on two flat panels of tilting and horizontal orientations were carried out throughout 8-month period under local climate of Baghdad. Then, energy gain and radiation level averages were calculated based on the field radiation
... Show MoreDespite widespread agreement on the beneficial nature of hydrated lime (HL) addition to asphalt concrete mixes, understanding of the effect of HL particle size is still limited. Previous investigations have focused mainly on two different size comparisons, and so certain guidance for a practical application cannot yet be produced. This study investigates three distinct sizes of HL, in the range of regular, nano, and sub-nano scales, for their effects on the properties of modified asphalt concretes. Five different percentages of HL as a partial replacement of ordinary limestone filler in asphalt concrete mixes were studied for wearing course application purposes. Experimental tests were conducted to evaluate the mechanical properties
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