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Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
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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.

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Publication Date
Wed Feb 20 2019
Journal Name
Political Sciences Journal
A political perusal of Initiations in Declaring Middle East a District vacant of mass Destruction weapons
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A political perusal of Initiations in Declaring Middle East a District vacant of mass Destruction weapons

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Publication Date
Wed Mar 16 2016
Journal Name
Iraqi Journal Of Agricultural Sciences
INFLUENCE OF WHEY FOLIAR SPRAYING AND GROWING POINT PINCHING ON GROWTH AND YIELD PARAMETERES OF OKRA
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An experiment was carried out in the fields that belong to agiriculture college /Baghdad university (AL-Jadyria) according to randomized compeleted blocks design(R.C.B.D.) with three replications during the spring season of 2015 to Study impact of growing point pinching and foliar spraying of whey on some traits of vegetative growth and yield of okra(Abelmoschus esculentus L.Moench) AL-Batra local cultivar.The experiment was included six treatments which was pinching or no pinching of growthing point and foliar spraying of whey with three concentration (0%,50%and75%).The results showed that pinching was siginificant in all traits of vegetative growth except plant High where the highest values of branches number , diameter of stem and leafe

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Scopus
Publication Date
Fri Jul 22 2022
Journal Name
Journal Of Biomimetics, Biomaterials And Biomedical Engineering
Influence of Bioactive and Bio Inert Ceramic Powders on Tribology Properties of PMMA Composite Denture Base
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Polymer matrix composites are suitable materials for medical applications, such as denture base resin polymethyl methacrylate (PMMA). This includes light weight and high strength. This paper describes the effect of selected weight fractions (1, 2, 3, 4 & 5) % wt of nano(Alumina AL2O3, Zirconia ZrO2, Hydroxyapatite HA and Halloysite nanoClay) reinforcements on the biopolymer matrix (PMMA). Some tribology tests were used to evaluate the prepared system (impact strength, hardness surface, and wear rate) tests. The samples were fabricated by (Hand Lay-Up) with different particle reinforcement percentages. All tests were accomplished at room temperature, and samples were developed according to the ASTM standard. The weight fraction o

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Publication Date
Wed Nov 08 2023
Journal Name
Aip Conf. Proc.
Correlation of Mercury With Some Biochemical Parameters in Serum of Mothers and Their New Born Children
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Scopus
Publication Date
Fri Jan 01 2021
Journal Name
International Journal Of Agricultural And Statistical Sci.
Evaluating the performance of introduced varieties of Maize (Zea mays L.) And estimating some genetic parameters
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Publication Date
Tue Jan 01 2019
Journal Name
Journal Of Global Pharma Technology
A Modified Version of Generalized Standard Addition Method as Quantitative Determination of Lysineacetyl salicylate-Glycine Complex
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Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
The Theory of Vital Space - Theoretical Study of Geopolitical Dimensions, Targets and Means (USA) Case Study
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The concept of forming the living space in the American strategic thought has an
important position it is regarded as an strategic movement that it supports the American
United States with the huge capabilities in its own concern that enables it to approach of
American administration , we find that of different historical periods it works to establish that
the geopolitical dimension which is accompanied with the ability of American response for
the evens that in its own turn enables the American united states to seize the growing chances
in the global strategic environment This study includes five chapters :
- Chapter one: The idea of living space.
- Chapter two: Geopolitical dimension of living space theory.
-

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Publication Date
Fri Aug 16 2019
Journal Name
Canadian Journal Of Physics
Influence of the variation in the Hubbard parameter (U) on activation energies of CeO2-catalysed reactions
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Accurate description of thermodynamic, structural, and electronic properties for bulk and surfaces of ceria (CeO2) necessitates the inclusion of the Hubbard parameter (U) in the density functional theory (DFT) calculations to precisely account for the strongly correlated 4f electrons. Such treatment is a daunting task when attempting to draw a potential energy surface for CeO2-catalyzed reaction. This is due to the inconsistent change in thermo-kinetics parameters of the reaction in reference to the variation in the U values. As an illustrative example, we investigate herein the discrepancy in activation and reaction energies for steps underlying the partial and full hydrogenation of acetylene over the CeO2(111) surface. Overall, we find th

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Publication Date
Fri Jan 01 2021
Journal Name
Desalination And Water Treatment
Green synthesis of graphene-coated glass as novel reactive material for remediation of fluoride-contaminated groundwater
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Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
The changes in the thickness of 1000 – 500 MB and it effects the climate of Iraq
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This research paper is about synoptic climate specifically with in the upper air layers
using upper air layers maps analysis which are maps of thickness for the level 1000 – 500
MB, that their high average ranges between 100 – 5600 M above surface. This research paper
focuses on studying special and temporal variations of the atmosphere thickness above Iraqaccording
to this study, it is concluded that atmosphere thickness above Iraq increases
towards south with an average of 100 M as compared with north of Iraq. Regarding the
temporal variations, it is concluded that atmosphere thickness during hot months. In July, for
example, the atmosphere thickness becomes thicker than in January with an average of
(250)M

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