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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
Thu Jan 01 2015
Journal Name
International Journal Of Science And Research (ijsr
Interaction of Alpha Particles with Breast Tissue
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As modern radiotherapy technology advances, radiation dose and dose distribution have improved significantly. As part of a natural evolution, there has recently been renewed interest in therapy, particularly in the use of heavy charged particles, because these types of radiation serve theoretical advantages in all biological and physical aspects. The interactions of alpha particle with matter were studied and the stopping powers of alpha particle with Breast Tissue were calculated by using Beth-Bloch equation, Zeigler's formula and SRIM software, also the Range and Liner Energy Transfer (LET) and Breast Thickness As well as Dose and Dose equivalent for this particle were calculated by using Mat lab language for (0.01-200) MeV alpha ene

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Publication Date
Wed Aug 30 2023
Journal Name
Iraqi Journal Of Science
Use Algebra of Group Action to Find Special Types of Caps in PG(3,13)
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     Group action on the projective space PG(3,q)  is a method which can be used to construct some geometric objects for example cap. We constructed new caps in PG(3,13)  of degrees 2, 3, 4, 7,14 and sizes 2, 4, 5, 7, 10, 14, 17, 20, 28, 34, 35, 68, 70, 85, 119, 140, 170, 238, 340, 476, 595, 1190. Then the incomplete caps are extended to complete caps. 

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Publication Date
Thu May 28 2020
Journal Name
Iraqi Journal Of Science
The Use of HSV Color Model for Subtle Ear Region Extraction
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Identifying people by their ear has recently received import attention in the literature. The accurate segmentation of the ear region is vital in order to make successful person identification decisions. This paper presents an effective approach for ear region segmentation from color ear images. Firstly, the RGB color model was converted to the HSV color model. Secondly, thresholding was utilized to segment the ear region. Finally, the morphological operations were applied to remove small islands and fill the gaps. The proposed method was tested on a database which consisted of 105 ear images taken from the right sides of 105 subjects. The experimental results of the proposed approach on a variety of ear images revealed that this approac

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Publication Date
Mon Jan 30 2023
Journal Name
Iraqi Journal Of Science
Complete (k,r)-Caps From Orbits In PG(3,11)
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      The purpose of this article is to partition PG(3,11) into orbits. These orbits are studied from the view of caps using the subgroups of PGL(4,11) which are determined by nontrivial positive divisors of the order of PG(3,11). The τ_i-distribution and c_i-distribution are also founded for each cap.

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Block Method for SolvingState-Space Equations of Linear Continuous-Time Control Systems
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This paper presents a newly developed method with new algorithms to find the numerical solution of nth-order state-space equations (SSE) of linear continuous-time control system by using block method. The algorithms have been written in Matlab language. The state-space equation is the modern representation to the analysis of continuous-time system. It was treated numerically to the single-input-single-output (SISO) systems as well as multiple-input-multiple-output (MIMO) systems by using fourth-order-six-steps block method. We show that it is possible to find the output values of the state-space method using block method. Comparison between the numerical and exact results has been given for some numerical examples for solving different type

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Publication Date
Mon Jun 01 2020
Journal Name
Journal Of Planner And Development
The Transitions in Contemporary Urban Space
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It is the dynamic tension between the relatively fixed built environment and the constantly changing in social life that determines the nature of urban spaces belonging to different historical periods, and considered as a tool for diagnosing transformations in urban spaces, that’s why, the characteristics of urban space became unclear between positive spaces and negative spaces, so emerged the need to study contemporary urban space belonging to the current period of time and show the most important transformations that have occurred in contemporary urban space to reach urban spaces that meet the current  life requirements. Therefore, the research dealt with a study of the characteristics of contemporary urban space and the most pr

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
Another Type of Fuzzy Inner Product Space
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    In this paper, we generalize the definition of fuzzy inner product space that is introduced by Lorena Popa and Lavinia Sida on a complex linear space. Certain properties of the generalized fuzzy inner product function are shown. Furthermore, we prove that this fuzzy inner product produces a Nadaban-Dzitac fuzzy norm. Finally, the concept of orthogonality is given and some of its properties are proven.

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Publication Date
Thu May 11 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Approximation Properties of the Strong Difference Operators
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    In this paper , we study some approximation  properties of the strong difference and study the relation between the strong difference and the weighted modulus of continuity

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Publication Date
Mon May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Convergence Comparison of two Schemes for Common Fixed Points with an Application
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      Some cases of common fixed point theory for classes of generalized nonexpansive maps are studied. Also, we show that the Picard-Mann scheme can be employed to approximate the unique solution of a mixed-type Volterra-Fredholm functional nonlinear integral equation.

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Publication Date
Thu Jul 01 2021
Journal Name
Iraqi Journal Of Science
Some Geometric Properties of a Hyperbolic Univalent Function
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In this paper, we analyze several aspects of a hyperbolic univalent function related to convexity properties, by assuming  to be the univalent holomorphic function maps of the unit disk  onto the hyperbolic convex region  ( is an open connected subset of). This assumption leads to the coverage of some of the findings that are started by seeking a convex univalent function distortion property to provide an approximation of the inequality and confirm the form of the lower bound for . A further result was reached by combining the distortion and growth properties for increasing inequality  . From the last result, we wanted to demonstrate the effect of the unit disk image on the condition of convexity estimation

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