Preferred Language
Articles
/
alkej-361
Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm
...Show More Authors

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.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Mon May 27 2019
Journal Name
Al-academy
Virtual Museums: Features and Characteristics: وعد عدنان محمود
...Show More Authors

This research provides a study of the virtual museums features and characteristics and contributes to the recognition of the diversity of visual presentation methods, as the virtual museums give the act of participation and visual communication with programs at an open time, so that it would contribute to reflection, thinking and recording notes, developing the actual and innovative skills through seeing the environments. The study has been divided into two sections the first one is virtual museum techniques. The techniques were studied to reach the public and are used remotely by the services of personal computers or smart phones being virtual libraries that store images and information that was formed and built in a digital way and how

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Sep 16 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Strongly Convergence of Two Iterations For a Common Fixed Point with an Application
...Show More Authors

     In this paper, we study some cases of a common fixed point theorem for classes of firmly nonexpansive and generalized nonexpansive maps. In addition, we establish that the Picard-Mann iteration is faster than Noor iteration and we used Noor iteration to find the solution of delay differential equation.

 

View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Sun Jan 30 2022
Journal Name
Iraqi Journal Of Science
Convergence and Stability of Iterative Scheme for a Monotone Total Asymptotically Non-expansive Mapping
...Show More Authors

    In this work, we introduce Fibonacci– Halpern iterative scheme ( FH scheme) in partial ordered Banach space (POB space) for monotone total asymptotically non-expansive mapping (, MTAN mapping) that defined on weakly compact convex subset.  We also  discuss the results of weak and strong convergence for this scheme.

 Throughout  this work, compactness condition of m-th iterate  of the mapping for some natural m is necessary to ensure strong convergence, while Opial's condition has been employed to show weak convergence. Stability of FH scheme is also  studied. A numerical comparison is provided by an example to show that FH scheme is faster than Mann and Halpern iterative

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (1)
Scopus Crossref
Publication Date
Sun Sep 02 2012
Journal Name
Baghdad Science Journal
New Fuzzy Normed Spaces
...Show More Authors

In this paper the research introduces a new definition of a fuzzy normed space then the related concepts such as fuzzy continuous, convergence of sequence of fuzzy points and Cauchy sequence of fuzzy points are discussed in details.

View Publication Preview PDF
Crossref
Publication Date
Wed Oct 20 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Some Games with Soft -ᶅ-Pre-Generalized Open Sets
...Show More Authors

    In this paper, the concept of soft closed groups is presented using the soft ideal pre-generalized open and soft pre-open, which are -ᶅ- - -closed sets " -closed", Which illustrating several characteristics of these groups.  We also use some games and   -  Separation Axiom, such as (Æ®0, Ó¼, ᶅ) that use many tables and charts to illustrate this. Also, we put some proposals to study the relationship between these games and give some examples.

View Publication Preview PDF
Crossref
Publication Date
Wed Jul 17 2019
Journal Name
Iraqi Journal Of Science
Induced callus from seedlings of Peganum harmala L. and studying harmine compound concentration in vitro and in vivo by GC analysis
...Show More Authors

Plant tissue culture considers a benefit biotechnological technique for scientific research especially the production of undifferentiation callus cells and regeneration through suspension or static media. The seedlings of Peganum harmala was used as a source to produce callus mass in vitro in static media through different tissue culture media supplemented by varying combinations of plant growth regulators (PGR). The result illustrates that 2 mg/l of Kinitine with 0.5 mg/l of 2, 4-D was efficient to stimulate callus induction with percent 100% in stem and root of P. harmala and this combination gave a high fresh weight, 1954 mg in root and 1170
mg in stem and high dry weight in root and stem was 74.6

... Show More
View Publication Preview PDF
Scopus (5)
Crossref (2)
Scopus Crossref
Publication Date
Sat Apr 29 2023
Journal Name
Research Journal Of Pharmacy And Technology
Assessment of Serum Neopterin Levels in patients hospitalized with severe COVID-19
...Show More Authors

Background: COVID-19 has caused a considerable number of hospital admissions in China since December 2019. Many COVID-19 patients experience signs of acute respiratory distress syndrome, and some are even in danger of dying. Objective: to measure the serum levels of D-dimer, Neutrophil-Lymphocyte count ratio (NLR), and neopterin in patients hospitalized with severe COVID-19 in Baghdad, Iraq. And to determine the cut-off values (critical values) of these markers for the distinction between the severe patients diagnosed with COVID‐19 and the controls. Materials and methods: In this case-control study, we collect blood from 89 subjects, 45 were severe patients hospitalized in many Baghdad medical centers who were diagnosed with COVID

... Show More
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Mon Dec 05 2022
Journal Name
Baghdad Science Journal
Cluster Analysis of Biochemical Markers as Predictor of COVID-19 Severity
...Show More Authors

Numerous blood biomarkers are altered in COVID-19 patients; however, no early biochemical markers are currently being used in clinical practice to predict COVID-19 severity. COVID-19, the most recent pandemic, is caused by the SRS-CoV-2 coronavirus.  The study was aimed to identify patient groups with a high and low risk of developing COVID-19 using a cluster analysis of several biomarkers. 137 women with confirmed SARS CoV-2 RNA testing were collected and analyzed for biochemical profiles. Two-dimensional automated hierarchy clustering of all biomarkers was applied, and patients were sorted into classes. Biochemistry marker variations (Ferritin, lactate dehydrogenase LDH, D-dimer, and C- reactive protein CRP) have split COVID-19 patien

... Show More
View Publication Preview PDF
Scopus (10)
Crossref (1)
Scopus Crossref
Publication Date
Sun Mar 19 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Minimizing the Total Completion Times, the Total Tardiness and the Maximum Tardiness
...Show More Authors

In this paper, the main work is to minimize a function of three cost criteria for scheduling n jobs on a single machine. We proposed algorithms to solve the single machine scheduling multiobjective problem. In this problem, we consider minimizing the total completion times, total tardiness and maximum tardiness criteria. First a branch and bound (BAB) algorithm is applied for the 1//∑Ci+∑Ti+Tmax problem. Second we compare two multiobjective algorithms one of them based on (BAB) algorithm to find the set of efficient (non dominated) solutions for the 1//(∑Ci ,∑Ti ,Tmax) problem. The computational results show that the algorithm based on (BAB) algorithm is better than the other one for generated the total number of

... Show More
View Publication Preview PDF
Publication Date
Wed Mar 30 2022
Journal Name
Iraqi Journal Of Science
Retrieval of Timewise Coefficients in the Heat Equation from Nonlocal Overdetermination Conditions
...Show More Authors

     This paper investigates the simultaneous recovery for two time-dependent coefficients for heat equation under Neumann boundary condition. This problem is considered under extra conditions of nonlocal type. The main issue with this problem is the solution unstable to small contamination of noise in the input data. The Crank-Nicolson finite difference method is utilized to solve the direct problem whilst the inverse problem is viewed as nonlinear optimization problem. The later problem is solved numerically using optimization toolbox from MATLAB. We found that the numerical results are accurate and stable.

View Publication Preview PDF
Scopus (11)
Crossref (1)
Scopus Crossref