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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
Wed May 03 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Fixed Point Theorem for Uncommuting Mappings
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   In this paper we prove a theorem about the existence and uniqueness common fixed point for two uncommenting self-mappings which defined on orbitally complete G-metric space. Where we use a general contraction condition.
 

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Publication Date
Sun May 14 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Complete (k,r)-Cap in PG(3,p) Over Galois Field GF(4)
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   The aim of this paper is to construct the (k,r)-caps in the projective 3-space PG(3,p) over Galois field GF(4). We found that the maximum complete (k,2)-cap which is called an                       ovaloid  , exists in PG(3,4) when k = 13. Moreover the maximum (k,3)-caps, (k,4)-caps and   (k,5)-caps. 

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Publication Date
Sun Jan 30 2022
Journal Name
Iraqi Journal Of Science
Fixed Point Theory for Study the Controllability of Boundary Control Problems in Reflexive Banach Spaces
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      In this paper, we extend the work of our proplem in uniformly convex Banach spaces using Kirk fixed point theorem. Thus the existence and sufficient conditions for the controllability to general formulation of nonlinear boundary control problems in reflexive Banach spaces are introduced. The results are obtained by using fixed point theorem that deals with nonexpanisive mapping defined on a set has normal structure and strongly continuous semigroup theory. An application is given to illustrate the  importance of the results.

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
The Use of Remote Sensing and GIS in Studying the Dynamics of Irrigated Space in Guercif Plain (Morocco)
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      The use of remote sensing and Geographic Information System (GIS) are among the most efficient modern tools to study the varied natural resources in terms of localization, identification of characteristics, and the study of its dynamics. Thus, the aim of this study is to show the importance of remote sensing and Geographical Information System in studying the Guercif irrigated plain.  We will first process and analyze satellite images using the program (Erdas IMAGINE 15. 00) and then create thematic maps illustrating the irrigated area's evolution (ArcGIS 10.8). The results revealed that since the late 20th century, the area of Guercif Plain has expanded significantly, with the total irrigated space that has been doubled many

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Publication Date
Wed Nov 30 2022
Journal Name
Iraqi Journal Of Science
Pointwise Estimates for Finding the Error of Best Approximation by Spline, Positive Algebraic Polynomials and Copositive
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     The first step in this research is to find some of the necessary estimations in approximation by using certain algebraic polynomials, as well as we use certain specific points in approximation. There are many estimations that help to find the best approximation using algebraic polynomials and geometric polynomials. Throughout this research, we deal with some of these estimations to estimate the best approximation error using algebraic polynomials where the basic estimations in approximation are discussed and proven using algebraic polynomials that are discussed and proven using algebraic polynomials that are specified by the following points and  if   as well as if   .

  For the second step of the work, the estimatio

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Publication Date
Sat Jul 31 2021
Journal Name
Iraqi Journal Of Science
Some Properties of Fuzzy Inner Product Space
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     Our goal in the present paper is to introduce a new type of fuzzy inner product space. After that, to illustrate this notion, some examples are introduced. Then we prove that that every fuzzy inner product space is a fuzzy normed space. We also prove that the cross product of two fuzzy inner spaces is again a fuzzy inner product space. Next, we prove that the fuzzy inner product is a non decreasing function. Finally, if U is a fuzzy complete fuzzy inner product space and D is a fuzzy closed subspace of U, then we prove that U can be written as a direct sum of D and the fuzzy orthogonal complement    of D.

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Publication Date
Sun Jan 26 2020
Journal Name
Iraqi Journal Of Science
sp[γ,γ^(* ) ]-open sets and sp[γ,γ^(* ) ]-compact spaces
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     In this work, we present the notion of sp[γ,γ^(* ) ]-open set,  sp[γ,γ^(* ) ]-closed, and sp[γ,γ^(* ) ]-closure such that several properties are obtained. By using this concept, we define a new type of spaces named sp[γ,γ^(* ) ]-compact space.

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Publication Date
Wed Aug 30 2023
Journal Name
Baghdad Science Journal
Biochemical Action of Vaccines in Iraqi Patients with COVID-19 Infection
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      The aim of the present study is to compare the biochemical action of the three vaccines taken in Iraq: Pfizer Biontech, AstraZeneca Oxford and Sinopharm based on biochemical parameters. Seventy COVID-19 Iraqi patients ( males and females ) were participated in the present study and classified into 7 groups : Gc :  COVID-19 patients ( without vaccine ) , Gp1: COVID-19 patients took one dose of Pfizer Biontech, Gp2 : COVID-19 patients took two doses of Pfizer Biontech, Ga1 : patients took one dose of AstraZeneca Oxford vaccine , Ga2: patients took two doses of AstraZeneca Oxford vaccine , Gs1 : patients took one dose of Sinopharm vaccine and Gs2:

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Publication Date
Tue Dec 26 2017
Journal Name
Al-khwarizmi Engineering Journal
Determination of Welding Velocity and Arc Energy for Fusion MAG Welding Joint
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 Abstract

This paper is an experimental work to determinate the effect of welding velocity and formed arc energy for CO2-MAG fusion weld pool. The input parameters (arc voltage, wire feed speed and gas flow rate) were investigated to find their effects on the weld joint efficiency. Design of experiment with response surface methodology technique was used to build empirical mathematical models for welding velocity and arc energy in term of the input welding parameters. The predicted quadratic models were statistically checked for adequacy purpose by ANOVA analysis. Additionally, numerical optimization was conducted to obtain the optimum values for welding velocity and arc energy. A good agree

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Publication Date
Sun Dec 14 2014
Journal Name
Al-khwarizmi Engineering Journal
Determination of Optimum Welding Parameters for FSW AA2024-T351
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Abstract

Friction stir welding is a relatively new joining process, which involves the joining of metals without fusion or filler materials. In this study, the effect of welding parameters on the mechanical properties of aluminum alloys AA2024-T351 joints produced by FSW was investigated.

Different ranges of welding parameters, as input factors, such as welding speed (6 - 34 mm/min) and rotational speed (725 - 1235 rpm) were used to obtain their influences on the main responses, in terms of elongation, tensile strength, and maximum bending force. Experimental measurements of main responses were taken and analyzed using DESIGN EXPERT 8 experimental design software which was used to develop t

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