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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 Dec 01 2014
Journal Name
Journal Of Economics And Administrative Sciences
The Organiational challenges and thier effect of organiational rituals
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Administrative leaders conserned to understand the challenges which are faced their organizations and try to assimilate and adapt with the extent that achieves to it efficiency and effective- ess, and standing face to face to faceing any challenge.that threaten it’s existence thro- ugh using modern inputs reached to that level of these  challenges and applied the study on a sample deliberate random from teaching hospitals of the Directorate General for Health Baghdad Karkh, and the Directorate General for Health Baghdad Rusafa and the City of Medicine , The importance of t

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Publication Date
Tue May 30 2023
Journal Name
Iraqi Journal Of Science
Reconstruction of Timewise Dependent Coefficient and Free Boundary in Nonlocal Diffusion Equation with Stefan and Heat Flux as Overdetermination Conditions
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     The problem of reconstruction of a timewise dependent coefficient and free boundary at once in a nonlocal diffusion equation under Stefan and heat Flux as nonlocal overdetermination conditions have been considered. A Crank–Nicolson finite difference method (FDM) combined with the trapezoidal rule quadrature is used for the direct problem. While the inverse problem is reformulated as a nonlinear regularized least-square optimization problem with simple bound and solved efficiently by MATLAB subroutine lsqnonlin from the optimization toolbox. Since the problem under investigation is generally ill-posed, a small error in the input data leads to a huge error in the output, then Tikhonov’s regularization technique is app

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Publication Date
Tue Jan 01 2019
Journal Name
Energy Procedia
Electron Contribution to Stopping Power in Burning Plasma
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The dependence of the energy losses or the stopping power for the energies and the related penetrating factor are arrive by using a theoretical approximation models. in this work we reach a compatible agreement between our results and the corresponding experimental results.

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Publication Date
Thu Jul 01 2021
Journal Name
Iraqi Journal Of Science
mtDNA Haplogroup M5 Associated with Risk of Colorectal Cancer in South India Population
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The life on earth is driven by energy, supplied by the tiny organelles of the cell called mitochondria and they are usually stated as the powerhouses of the cell.  In population genetics, Mitochondrial DNA (mtDNA) is used extensively to categorize individuals or populations.  The mutation sites observed in human mtDNA by comparing with the reference sequence (rCRS) are termed into definite human mtDNA haplogroups. Previous studies showed that mtDNA specific haplogroups and polymorphisms were established to be linked with various human diseases, including cancer in numerous populations. Furthermore, it is also known that several mitochondrial DNA polymorphisms are implicated in enhanced production of Reactive Oxygen Species (ROS

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Publication Date
Sun Jan 19 2025
Journal Name
Journal Of Economics And Administrative Sciences
Formulating a strategy for the Northern Oil Company(Case Study)
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يهدف البحث الى تقديم استراتيجية مقترحة لشركة نفط الشمال ، وأخذت الاستراتيجية المقترحة بنظر الاعتبار الظروف البيئية المحيطة واعتمدت في صياغتها على اسس وخطوات علمية تتسم بالشمولية والواقعية ، اذ انها غطت الانشطة الرئيسية في الشركة (نشاط الانتاج والاستكشاف , نشاط التكرير والتصفية , التصدير ونقل النفط , نشاط البحث والتطوير , النشاط المالي , تقنية المعلومات , الموارد البشرية ) وقد اعتمد نموذج (David) في التحليل البيئي

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Publication Date
Tue May 01 2018
Journal Name
Journal Of Physics: Conference Series
FIBREWISE IJ-PERFECT BITOPOLOGICAL SPACES
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The main purpose of this paper is to introduce a some concepts in fibrewise bitopological spaces which are called fibrewise , fibrewise -closed, fibrewise −compact, fibrewise -perfect, fibrewise weakly -closed, fibrewise almost -perfect, fibrewise ∗-bitopological space respectively. In addition the concepts as - contact point, ij-adherent point, filter, filter base, ij-converges to a subset, ij-directed toward a set, -continuous, -closed functions, -rigid set, -continuous functions, weakly ijclosed, ij-H-set, almost ij-perfect, ∗-continuous, pairwise Urysohn space, locally ij-QHC bitopological space are introduced and the main concept in this paper is fibrewise -perfect bitopological spaces. Several theorems and characterizations c

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Publication Date
Sun Jul 31 2022
Journal Name
Iraqi Journal Of Science
nC-symmetric operators
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In this paper, we present a concept of nC- symmetric operator as  follows: Let A be a bounded linear operator on separable complex Hilbert space , the operator A is said to be nC-symmetric if there exists a positive number n (n  such that CAn = A* C (An = C A* C). We provide an example and study the basic properties of this class of operators. Finally, we attempt to describe the relation between nC-symmetric operator and some other operators such as Fredholm and self-adjoint operators.

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Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
Comparison of Pressure Losses Calculations by Approximate Methods in the Annulus (Laminar Flow)
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Most of the world's drilling companies use API method for calculating the
pressure drop in drilling oil and gas wells. Iraqi Drilling Company also uses this
method for drilling oil wells in all fields of Iraq. In Russia, the method is actively
used Grodde for calculating the pressure drop in drilling oil and gas wells. This
study includes a comparison of formulas API, Grodde and new techniques
developed methods for the laminar flow of viscoplastic fluids in the annular space.
The aim of this study is to determine the most accurate way to calculate the pressure
loss in drilling oil wells. The comparison was focused on identifying changes in the
values of β, using the above calculation methods.

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Publication Date
Thu Apr 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Extension of Cap by Size and Degree in the Space PG(3,11)‎
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A cap of size  and degree  in a projective space, (briefly; (k,r)-cap) is a set of  points with the property that each line in the space meet it in at most  points. The aim of this research is to extend the size and degree of complete caps and incomplete caps, (k, r)-caps of degree r<12 in the finite projective space of dimension three over the finite field of order eleven, which already exist and founded by the action of subgroups of the general linear group over the finite field of order eleven and degree four, to (k+i,r+1) -complete caps. These caps have been classified by giving the t_i-distribution and -distribution. The Gap programming has been used to execute the designed algorit

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Publication Date
Fri Jan 01 2021
Journal Name
Journal Of Economics And Administrative Sciences
Formulating a strategy for the Northern Oil Company(Case Study)
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                  The research aims to present a proposed strategy for the North Oil Company, and the proposed strategy took into account the surrounding environmental conditions and adopted in its formulation on the basis and scientific steps that are comprehensive and realistic, as it covered the main activities of the company (production and exploration activities, refining and refining activities, export and transport of oil, research and development activity, financial activity, information technology, human resources) and the (David) model has been adopted in the environmental analysis of the factors that have been diagnosed according to a

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