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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
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
Diagenetic Features and Porosity Development for Hartha Formation in the Balad and East Baghdad Oil Fields, Central Iraq
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     The Hartha Formation (age Late Campanian – Early Maastrichtian) is considered an important oil reservoir in Iraq. The petrography and the diagenetic features were determined based on the analyses of 430 thin sections from selected wells within Balad and East Baghdad oil fields, Ba-2, Ba-3, EB-53, Eb-56 and EB-102.

The most important and common diagenesis processes that affect Hartha Formation include Cementation, Neomorphsim, Micrtitization, Dolomitization, Compaction, Dissolution, and Authigenic minerals. This diagenesis deformation on Hartha Formation has overall accentuated the reservoir quality heterogeneity.

The reservoir quality evolution is affected by destruction by grain compaction mechanical and chemica

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Publication Date
Tue Feb 16 2016
Journal Name
The Iraqi Journal Of Agricultural Sciences
MEASURING VIBRATION AT TRACTOR PLATFORM , STEERING WHEEL AND SEAT EFFECTIVE AMPLITUDE TRANSMISSIBILITY FACTOR DURING OPERATION TILLAGE
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Field experiment conducted to measure vibrations on three axes longitudinal X, lateral Y and vertical Z on steering wheel, platform tractor and vertical vibration in seat tractor and seat effective amplitude transmissibility (SEAT) factor during operation tillage in silt clay loam soil with depth 18 cm in Baghdad. Split – split plot design under randomized complete block design with three replications least significant design 5 % used. Three factor were used in this experiment included two types of plows included chisel and disc plows which represented main plot, three tires inflation pressure was second factor included 1.1 ,1.8 and 2.7 bar, and three forward speeds of the tillage was third factor included 2.35 , 4.25 and 6.50 km/hr. Resu

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Publication Date
Sun Mar 19 2023
Journal Name
Journal Of Educational And Psychological Researches
Understanding Inclusion (National and International Perspective)
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Abstract

There have been a number of positive developments in inclusive education in many different countries, recognizing that all students, including those with disabilities, have a right to education. Around the world, educators, professionals, and parents are concerned about including children with disabilities in mainstream schools along with their peers. As a result of this trend, a number of factors are contributing, including the increasing importance of education in achieving social justice for pupils with special education needs; the right of individuals with disabilities to attend mainstream schools together with their typically developing peers; the benefit of equal opportunities for everyone in achie

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Publication Date
Thu Jan 31 2019
Journal Name
Journal Of Engineering
CFD Application on Shell and Double Concentric Tube Heat Exchanger
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This work is concerned with the design and performance evaluation of a shell and double concentric tubes heat exchanger using Solid Works and ANSY (Computational Fluid Dynamics).

Computational fluid dynamics technique which is a computer-based analysis is used to simulate the heat exchanger involving fluid flow, heat transfer. CFD resolve the entire heat exchanger in discrete elements to find: (1) the temperature gradients, (2) pressure distribution, and (3) velocity vectors.  The RNG k-ε model of turbulence is used to determining the accurate results from CFD.

The heat exchanger design for this work consisted of a shell and eight double concentric tubes. The number of inlets are three and that of o

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Publication Date
Sun May 17 2020
Journal Name
Iraqi Journal Of Science
On Semiannahilator Supplement Submodules
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Let R be associative; ring; with an identity and let D be unitary left R- module; . In this work we present semiannihilator; supplement submodule as a generalization of R-a- supplement submodule, Let U and V be submodules of an R-module D if D=U+V and whenever Y≤ V and D=U+Y, then annY≪R;. We also introduce the the concept of semiannihilator -supplemented ;modules and semiannihilator weak; supplemented modules, and we give some basic properties of this conseptes.

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Publication Date
Sun Dec 06 2015
Journal Name
Baghdad Science Journal
Energy Calculation for Excited Lithium Atom in Position Space
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The energy expectation values for Li and Li-like ions ( , and ) have been calculated and examined within the ground state and the excited state in position space. The partitioning technique of Hartree-Fock (H-F) has been used for existing wave functions.

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Publication Date
Wed Mar 27 2019
Journal Name
Iraqi Journal Of Science
Fuzzy Survival and Hazard Functions Estimation for Rayleigh distribution
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In this article, performing and deriving the probability density function for Rayleigh distribution by using maximum likelihood estimator method and moment estimator method, then crating the crisp survival function and crisp hazard function to find the interval estimation for scale parameter by using a linear trapezoidal membership function. A new proposed procedure used to find the fuzzy numbers for the parameter by utilizing (     to find a fuzzy numbers for scale parameter of Rayleigh distribution. applying two algorithms by using ranking functions to make the fuzzy numbers as crisp numbers. Then computed the survival functions and hazard functions by utilizing the real data application.

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Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Bubble Size Distribution In Gas-Liquid Dispersion Column
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The present work investigates the effect of; superficial air velocities of: 1, 3, and 6 cm/s for two types of perforated distributor on hydrodynamic characteristic in a gas-liquid dispersion column of; air-water, and airaqueous-n-propanol solution. Bubble distribution, gas holdup, and power consumption are parameters take in consideration. Experimental work was carried out in perspex column of 8.5 cm inside diameter and 1.5 m height. Two types of bubble generator (perforated plate) were fixed at the bottom of the column; plate A (99 holes of 0.5 mm diameter and free area of 0.34%), plate B (20 holes of 1.5 mm diameter and free area of 0.62%). Photographic technique was used to measure the bubble parameters. The experimental results were

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Publication Date
Sun Jan 08 2023
Journal Name
Journal Of Planner And Development
Design bases for waste recycling rules in cities/ Baghdad, a case study"
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Waste is one of the most important problems affecting the city’s environment and its urban landscape, which results from the activities and activities of man and the natural environment. Its sources have varied between residential, commercial, industrial, medical and hazardous, and its spread in cities, on roads and on abandoned open lands, has led to significant negative effects and risks to human health and the environment.

  Therefore, there were serious attempts to deal with waste and follow sequential steps that formed a waste management system such as (collection, sorting, transport, then treatment and disposal). Preventing and reducing waste, then recycling and recovering by composting or burning, and ending with bu

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Publication Date
Sun Jul 04 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Pretreatment Clinical Variables Associated With the Response to Intravitreal Bevacisumab (Avastin) Injection In Patients With Persistent Diabetic Macular Edema
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Background: The purpose of the study is to determine whether the pre-treatment clinical systemic variables and optical coherence tomographic (OCT) findings are associated with the subsequent response to the intravitreal Bevacisumab (IVB) in eyes with diabetic macular edema (DME).
Patients and Methods: 38 patients (45 eyes) with refractory diabetic macular edema. ; 16 females, 22 males and mean age was 57.5 year. All patients had DME not responded to other treatments. Complete eye examination; BCVA* (represented as LOGMAR for adequate statistical analysis), slitlamp exam, intraocular pressure measurement, stereoscopic biomicroscopy of the macula, and morphologic patterns of diabetic macular edema demonstra

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