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
Tue Aug 01 2023
Journal Name
Baghdad Science Journal
An evaluation of waste and well water quality for agriculture production around Erbil city, Iraq
...Show More Authors

Erbil city is located in the northern Iraq with a population of over one million people. Due to water crises farmers usually use wastewater and well water for the agricultural production. In this study six stations were designed to sample waste water and three from well water to define waste water and ground water characteristics. In this study, Residual Na+ Carbonate, Mg++ hazard, salinity hazard, Kelley index, %sodium, total hardness, permeability index, potential salinity, sodium adsorption ratio, and Irrigation Water Quality Index (IWQI) were determined. The order of average cation concentrations in water was Mg2+> Ca2+ > Na+ > K+. While the proportion of main

... Show More
View Publication Preview PDF
Scopus (4)
Scopus Crossref
Publication Date
Sun Apr 01 2012
Journal Name
مجلة الإدارة والاقتصاد
مقارنة لبعض الطرائق المعلمية واللامعلمية لتقدير دالة المعولية باستخدام المحاكاة
...Show More Authors

يھدف البحث الى اجراء تقدير دالة المعولية لتوزيــع ويبل ذي المعلمتين بالطرائـق المعلميــة والمتمثلة بـ (NWLSM,RRXM,RRYM,MOM,MLM (، وكذلك اجراء تقدير لدالة المعولية بالطرائق الالمعلمية والمتمثلة بـ . (EM, PLEM, EKMEM, WEKM, MKMM, WMR, MMO, MMT) وتم استخدام اسلوب المحاكاة لغرض المقارنة باستخدام حجوم عينات مختلفة (20,40,60,80,100) والوصول الى افضل الطرائق في التقدير باالعتماد على المؤشر االحصائي متوسط مربعات الخطا التكاملي (IMSE(، وقد توصل البحث الى

... Show More
Publication Date
Mon Sep 01 2008
Journal Name
Journal Of Economics And Administrative Sciences
تحديد القيم الشاذة باستخدام الطرق الاستكشافية ومقارنتها مع الطرق المعلمية
...Show More Authors

         The availability of statistical data plays an important role in planning process. The importance of this research which deals with safety of statistical data from errors and outliers values. The Objective of this study is to determine the outlier values in statistical data by using modern exploratory data methods and comparing them with parametric methods. The research has been divided into four chapters ,the main important conclusions reached are:1-The exploratory methods and the parametric methods showed variation between them in determining the outlier values in the data.

2-The study showed that the box plot method was the best method used in determining

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Oct 18 2022
Journal Name
Applied Sciences
The Influence of Flight Direction and Camera Orientation on the Quality Products of UAV-Based SfM-Photogrammetry
...Show More Authors

Unmanned aerial vehicles (UAVs) can provide valuable spatial information products for many projects across a wide range of applications. One of the major challenges in this discipline is the quality of positioning accuracy of the resulting mapping products in professional photogrammetric projects. This is especially true when using low-cost UAV systems equipped with GNSS receivers for navigation. In this study, the influence of UAV flight direction and camera orientation on positioning accuracy in an urban area on the west bank of the Euphrates river in Iraq was investigated. Positioning accuracy was tested in this study with different flight directions and camera orientation settings using a UAV autopilot app (Pix4Dcapture software

... Show More
View Publication
Scopus (18)
Crossref (14)
Scopus Clarivate Crossref
Publication Date
Mon Oct 31 2022
Journal Name
Biodiversitas Journal Of Biological Diversity
Identification of new species record of Cyanophyceae in Diyala River, Iraq based on 16S rRNA sequence data
...Show More Authors

Abstract. Hassan FM, Mahdi WM, Al-Haideri HH, Kamil DW. 2022. Identification of new species record of Cyanophyceae in Diyala River, Iraq based on 16S rRNA sequence data. Biodiversitas 23: 5239-5246. The biodiversity and water quality of the Diyala River require screening water in terms of biological contamination, because it is the only water source in Diyala City and is used for many purposes. This study aimed to identify a new species record of Cynaophyceae and emphasize the importance of using molecular methods beside classic morphological approaches, particularly in the water-shrinkage-aqua system. Five different sites along Diyala River were selected for Cyanophyceae identification. Morphological examination and 16S rRNA sequen

... Show More
View Publication
Scopus (5)
Crossref (3)
Scopus Crossref
Publication Date
Mon Jan 26 2026
Journal Name
Journal Of Baghdad College Of Dentistry
The effect of light curing tip distance on the curing depth of bulk fill resin based composites
...Show More Authors

Background: This in vitro study measure and compare the effect of light curing tip distance on the depth of cure by measuring vickers microhardness value on two recently launched bulk fill resin based composites Tetric EvoCeram Bulk Fill and Surefil SDR Flow with 4 mm thickness in comparison to Filtek Z250 Universal Restorative with 2 mm thickness. In addition, measure and compare the bottom to top microhardness ratio with different light curing tip distances. Materials and Method: One hundred fifty composite specimens were obtained from two cylindrical plastic molds the first one for bulk fill composites (Tetric EvoCeram Bulk Fill and Surefil SDR Flow) with 4 mm diameter and 4 mm depth, the second one for Filtek Z250 Universal Restorative

... Show More
View Publication Preview PDF
Publication Date
Sat Jan 01 2022
Journal Name
Journal Of Stomatology
Preferences of treatments and materials used in the management of exposed pulps: a web-based questionnaire study
...Show More Authors

View Publication
Scopus (4)
Crossref (4)
Scopus Crossref
Publication Date
Wed Jun 24 2020
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
PALEOBATHYMETRY ANALYSIS OF LIMESTONE IN BONGOMEME REGION BASED ON CONTENT OF BENTHIC FORAMINIFERA FOSSIL, GORONTALO DISTRICT, INDONESIA
...Show More Authors

   The location of the study area is surging hills in Bongomene area, Gorontalo, Indonesia. In this study, a geological survey and sampling were taken, and then an analysis of the content of benthic foraminifera was performed in each sample. The study aims to discover the species of benthic foraminifera fossils and to determine the paleobathymetry to the studied regions. The results of the analysis contained seven fossils species, namely Ammomassilina alveoliniformis, Stelligerum astrononion, Haynesia germanica, Nonion fabum, Praeglobobulimina ovata, Rhabdammina discreata and Saccorhiza ramosa. Based on the content of benthic foraminifera fossils, paleobathymetry is determined as Middle Shelf to Outer

... Show More
View Publication Preview PDF
Scopus (13)
Crossref (7)
Scopus Crossref
Publication Date
Mon Oct 01 2018
Journal Name
Journal Of Engineering
Evaluation The Performance Geodetic of the Receivers Using Static Positioning Technique
...Show More Authors

Global Navigation Satellite System (GNSS) is considered to be one of the most crucial tools for different applications, i.e. transportation, geographic information systems, mobile satellite communications, and others. Without a doubt, the GNSS has been widely employed for different scientific applications, such as land surveying, mapping, and precise monitoring for huge structures, etc. Thus, an intense competitive has appeared between companies which produce geodetic GNSS hardware devices to meet all the requirements of GNSS communities. This study aims to assess the performance of different GNSS receivers to provide reliable positions. In this study, three different receivers, which are produced by different manufactur

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Jan 01 2011
Journal Name
Journal Of Engineering
PHYSICAL MODEL OF KEROSENE PLUME MIGRATION IN AN UNSATURATED ZONE OF THE SANDY SOIL
...Show More Authors

Physical model tests were simulated non-aqueous phase liquid (NAPL) spill in two-dimensional
domain above the water table. Four laboratory experiments were carried out in the sand-filled
tank. The evolution of the plume was observed through the transparent side of this tank and the
contaminant front was traced at appropriate intervals. The materials used in these experiments
were Al-Najaf sand as a porous medium and kerosene as contaminant.
The results of the experiments showed that after kerosene spreading comes to a halt (ceased) in
the homogeneous sand, the bulk of this contaminant is contained within a pancake-shaped lens
situated on top of the capillary fringe.

View Publication Preview PDF
Crossref