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Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
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Abstract

Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization algorithm is proposed to find an optimal path based on the local search, D* and Euclidean distances.  The quintic polynomial equation is utilized to provide a smooth trajectory path. According to the observe results, the modified PSO algorithm is efficiently performs to find an optimal path even in difficult environments.

 

Keywords: D*, Free Cartesian Space, Path Planning, Particle Swarm Optimization (PSO), Robot Arm.

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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
A Deadline-Budget Constrained Task Admission Control for a Software-as-a-Service Provider in Cloud Computing
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    Cloud computing is a pay-as-you-go model that provides users with on-demand access to services or computing resources. It is a challenging issue to maximize the service provider's profit and, on the other hand, meet the Quality of Service (QoS) requirements of users. Therefore, this paper proposes an admission control heuristic (ACH) approach that selects or rejects the requests based on budget, deadline, and penalty cost, i.e., those given by the user. Then a service level agreement (SLA) is created for each selected request. The proposed work uses Particle Swarm Optimization (PSO) and the Salp Swarm Algorithm (SSA) to schedule the selected requests under budget and deadline constraints. Performances of PSO and SSA with and witho

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Publication Date
Wed Dec 30 2009
Journal Name
Iraqi Journal Of Physics
Preparation of Cu thin film by cylindrical magnetron sputtering device
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In the present work, a D.C. magnetron sputtering system was
designed and fabricated. This chamber of this system includes two
coaxial cylinders made from copper .the inner one used as a cathode
while the outer one used as a node. The magnetic coils located on
the outer cylinder (anode) .The profile of magnetic field for various
coil current (from 2Amp to 14Amp) are shown. The effect of
different magnetic field on the Cu thin films thickness at constant
pressure of 7x10-5mbar is investigated. The result shown that, the
electrical behavior of the discharge strongly depends on the values
of the magnetic field and shows an optimum value at which the
power absorbed by the plasma is maximum. Furthermore, the
pl

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Publication Date
Fri Jun 30 2023
Journal Name
Iraqi Journal Of Science
Effect of Liver Enzymes, Oxidative Stress and Vitamin D3 in Psoriatic Patients
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     Psoriasis is one of the skin’s chronic inflammatory diseases. Psoriasis etiology isn’t exactly known. Recently, it has been suggested that the imbalances in oxidant-antioxidant status happening because of the increase in reactive oxygen species production (ROS) and/or deficient function regarding the antioxidant system might be included in psoriasis pathogenesis. The major goal is to evaluate the antioxidant defense status in patients experiencing psoriasis and oxidative stresses represented by malondialdehyde (MDA) level and evaluate liver enzymes and vitamin D3. There are some tests of biochemical parameters and vitamins (GSH, MDA, VitD3, SOD, GPx, CAT, AST, ALT, and ALP) are conducted on 35 patients experiencing psoriasi

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Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
2D Seismic Data Analysis of Judaida Structure, Northern Iraq
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This research aims to study the structural analysis of the 2D reflection seismic data for the Judaida subsurface structure located in Kirkuk province, northern Iraq. It is located 60 Km southwest of Kirkuk oil field, and 35 Km southwest of Jambur oil field, the Daquq River passes through the study area. The reflectors in the seismic section were picked and identified by using the synthetic seismograms generated from the logs data of the Jd-1 well. Three main seismic reflectors, Fatha, Jeribe, and the Euphrates were chosen. These mentioned sedimentary formations were deposited during the Middle Miocene, Lower Miocene, and Early-Mid Miocene respectively. Time and depth maps were drawn for these three reflectors by processing average data f

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Publication Date
Sat Jul 01 2023
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The market value between the two dilemmas of profit distribution and retention: an analytical study in the Iraqi stock market
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Abstract:

             The distribution or retention of profits is the third decision among financial management decisions in terms of priority, whether at the level of theory or practice, as the issue of distribution or retention is multi-party in terms of influence and impact, as determining the optimal percentage for each component is still the subject of intellectual debate because these decisions are linked to the future of the organization and several considerations, The research focus on the nature of the policies followed by the Iraqi banking sector As the sample chosen by the intentional sampling method was represented by the Commercial Bank of

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Publication Date
Thu Jun 29 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
A Review of the Electrical Submersible Pump Development Chronology
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The electric submersible pump, also known as ESP, is a highly effective artificial lift method widely used in the oil industry due to its ability to deliver higher production rates compared to other artificial lift methods. In principle, ESP is a multistage centrifugal pump that converts kinetic energy into dynamic hydraulic pressure necessary to lift fluids at a higher rate with lower bottomhole pressure, especially in oil wells under certain bottomhole condition fluid, and reservoir characteristics. However, several factors and challenges can complicate the completion and optimum development of ESP deployed wells, which need to be addressed to optimize its performance by maximizing efficiency and minimizing costs and uncertainties. To

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Publication Date
Wed Jun 26 2019
Journal Name
Iraqi Journal Of Science
An Application of Response Surface Methodology for Optimizing the Production of Chitin Deacetylase Enzyme by Aspergillus Flavus
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In this study, the optimum conditions for chitin deacetylase (CDA) production by Aspergillus flavus F1 in solid-state fermentation were investigated via two optimization strategies: classical optimization based on the method of one factor at a time and statistical optimization using response surface methodology. The result of classical optimization showed that corn supplemented with 2% chitin moisturized with mineral salts solution at pH=7 and five days of incubation time were the optimum conditions for increasing CDA production with approximately yield of 219.5 U/g solid substrate. Furthermore, pH, moisture level and inoculum size were systemically evaluated to improve CDA production based on a central composite design using the Design

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Publication Date
Fri Aug 26 2022
Journal Name
Journal Of Advanced Research In Hr And Organizational Management
The Role of the Talent Management Strategy in Achieving the Entrepreneurial Performance of the Organization
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The research aims to identify Determination talent management dimensions of (attracting talent, developing talent, directing talent, performance management talent, retain talent) in the entrepreneurial performance of the organization dimensions of (advance planning, efficiency, effectiveness), so search occupies the extreme importance of being treated important and recent issue of the performance Entrepreneuria, management talent, aware of the importance of the subject and expected results of the company surveyed, was an analysis of data obtained through field visits in addition to the questionnaire and interviews, highlights were the results that have been reached to take the sample into account all the management requirements knack of att

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Publication Date
Wed May 29 2019
Journal Name
Journal Of Planner And Development
Evaluation the individual's share of urban land use for the holy city of Karbala
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The research aims to analyze and evaluate the urban land use according to the needs of the current and future population by adopting the planning criteria for the holy city of Karbala. In the theoretical side, we discussed the most important concepts of urban land use planning. In the practical aspect of the study, field surveys were conducted to obtain the required information. Using the GIS program, the land uses were planned and executed, Analysis By comparing the per capita use of urban land with criteria and the production of maps.

The main findings of the study are that there is a large deficit in meeting some of the needs of the urban land uses and the basic services of the city. The research recommended that the needs of

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Publication Date
Tue Jun 01 2021
Journal Name
Journal Of Planner And Development
Spatial analysis of rural services in the district of Fallujah, Zgharit village, as a model
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          The study of services in villages is one of the imperative matters that must   be focused on, because it leads to increased attention, which reduces the differences between the countryside and the urban. The extent of its.

  It is well known that community services need to be reached by a person, unlike the anchor services that reach people, here the population distribution plays an important and prominent role in signing these services, so the dispersed distribution pattern and the gathering pattern appeared in the distribution, thus an effect on the time and distance that the person walked to obtain The services are community-based. Therefore

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