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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 Mar 10 2021
Journal Name
Baghdad Science Journal
phylogentic study of cephalopharyngeal selerites
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drosophila larvare of diffrent speces were subjected to this in order study the structure of cephalopharyngeal armature and mouth more hooks dentition the lines number among

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Publication Date
Sun Mar 30 2008
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Characteristic Performance of Deionized Columns
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The reclamation of makeup water is studied in terms of breakthrough time (i.e., the leakage of the cations). Makeup water was subjected to lab-scale ion exchangers of two types: strong acid cation and weak base anion exchanger. The experimental investigation was directed to study the ion exchanger performance in terms of four different parameters (i.e., copper concentration, total dissolved solids (TDS), feed rate and bed depth). Box-Wilson composite rotatable design was adopted in designing the experiments. Breakthrough times of the effluent stream are measured in terms of copper concentration of 2 to 25 ppm, TDS concentration of 250 to 1250 ppm, feed rate of 0.38 to 5.34 l/h and bed depth of 5 to 70 cm. Simulation the effect of the stu

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Publication Date
Sun May 17 2020
Journal Name
Iraqi Journal Of Science
Nonclassical Symmetry of Differential Equations
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In this paper, we discuss the difference between classical and nonclassical symmetries. In addition, we found the non-classical symmetry of the Benjamin Bona Mahony Equation (BBM). Finally, we found a new exact solution to a Benjamin Bona Mahony Equation (BBM) using nonclassical symmetry.

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Publication Date
Wed Dec 01 2010
Journal Name
Al-khwarizmi Engineering Journal
Properties of High Performance Concrete
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The research deals with a new type of high-performance concrete with improved physical properties, which was prepared by using metal additives minutes (Metakaolin) and by studing their impact on the properties of mortar and concrete high-performance through destructive and non destructive tests. This type of concrete is used broadly in public buildings and in other structures . The research involved a number of experiments such as finding the activity index of burned at a temperature of 750 º C according to the standard ( ASTM C-311/03), as well as casting models for the cubic mortar mixtures and concrete containers at different rates of metakaolin ranging between (5% - 20%) as an added part to the cement mix to get a high- compressive

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Publication Date
Tue Jan 02 2018
Journal Name
Journal Of Educational And Psychological Researches
Sponsorship of widows in Islam
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The research addressed the problem of widows that increased recently enormously. The researcher also referred to the perspective of Islam that gave a significant attention for both widows and orphans as powerless groups. Some straightforward example were presented to reflect the actual difficulties that encounter these groups as well as the author proposed number of appropriate ways that mitigate their psychological and physical sufferings such as: the provision of convenience jobs, and the legislation of rule that save their rights. Moreover, the researcher addressed the importance of marrying widows and what these challenges that encounter polygamy in Arab societies, the advantages and disadvantages of polygamy, and discussing all the

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Publication Date
Mon Jun 30 2008
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Simulation of Wiped Film Evaporator
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A mathematical model and associated computer program were developed to simulate the steady state operation of wiped film evaporators for the concentration of glycerol-water solution. In this model, various assumptions were made to facilitate the mathematical model of the wiped film evaporator. The fundamental phenomena described were: sensible heating of the solution and vaporization of water. Physical property data were coded into the computer program, which performs the calculations of this model. Randomly selected experiments were carried out in a small scale wiped film evaporator from ALVAL COMPANY, using different concentrations of the glycerol solution (10, 30 and 50 Wt. %) for different feed rates (30, 50, 80, 100 and 120 l/h) and

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Publication Date
Sun Dec 31 2000
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
The Preparation of Isosorbide Dinitrate
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Publication Date
Sun May 08 2022
Journal Name
Al-kindy College Medical Journal
Surrogates Markers of Insulin Resistance
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Insulin resistance is a fundamental feature of obesity, diabetes, and cardiovascular diseases and contributes to many of the metabolic syndrome's abnormalities. It is defined as a subnormal reaction to normal insulin concentrations or a situation in which greater than normal insulin concentrations are necessary for normal response.

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Publication Date
Wed Mar 01 2023
Journal Name
Baghdad Science Journal
New Structures of Continuous Functions
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         Continuous functions are novel concepts in topology. Many topologists contributed to the theory of continuous functions in topology. The present authors continued the study on continuous functions by utilizing the concept of gpα-closed sets in topology and introduced the concepts of weakly, subweakly and almost continuous functions. Further, the properties of these functions are established.

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Publication Date
Thu Jan 23 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Frictional resistance of aesthetic brackets
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Background: The aim of this study was to evaluate and compare the static frictional forces produced by monocrystalline ceramic (sapphire) bracket and polycrystalline ceramic bracket. Materials and methods: one hindered twenty brackets/segment of archwire combinations were used, each bracket/segment of archwire combination was tested 10 times. The tests were performed in a universal testing Instron machine. The data was submitted to in depended t-test. Results: The independent sample t-tests showed a highly significant difference in the static frictional forces between monocrystalline ceramic (sapphire) bracket and polycrystalline ceramic bracket. Conclusion: According to the biomechanical result gained from the present study, the monocryst

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