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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
Fri Jul 24 2020
Journal Name
مجلة الفنون والادب وعلوم الانسانيات والاجتماع
التحفظات على اتفاقية سيداو (الدول العربية انموذجا)
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يهدف البحث إلى دراسة التحفظات على اتفاقية سيداو (الدول العربية أنموذجًا)، حيث يُعد نظام التحفظ على الاتفاقيات الدولية أحد المظاهر القانونية الحديثة في مجال العلاقات الدولية، والذي يقرّ بحق الدول في إبداء التحفظ على بعض أحكام الاتفاقيات الدولية، وفقًا للأحكام العامة التي حددتها المواد (19-23) من اتفاقية فيينا لقانون المعاهدات لعام 1969. وإذا كان حق الدول في التحفظ مكفولًا دوليًا، فإن الإشكالية القانونية تكمن في

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Publication Date
Wed Jun 01 2005
Journal Name
Journal Of The College Of Languages (jcl)
أدوات الىفي الذاخلة على الجملة التحويلية الاسمي
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أدوات الىفي الذاخلة على الجملة التحويلية الاسمي

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Publication Date
Wed Mar 16 2022
Journal Name
Journal Of Educational And Psychological Researches
Internet Addiction: Healthy, Psychological, and Social Implications
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The aim of the current research is to explore the health, psychological, and social implications of Internet addiction. Internet addiction is a new type of addiction, which negatively affects an individual’s life and creates social problems, psychological and nervous disorders. The research is divided into three sections: The first section is devoted to the definition of the research and includes the research problem, its importance in addition to the objectives, and the search terms were defined in it. The second section included the concept of addiction on the Internet and the causes, symptoms of addiction, forms, and previous studies were reviewed. As for the third topic, it deals with the theories explaining Internet addiction and

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Publication Date
Wed Jun 30 2021
Journal Name
Journal Of Planner And Development
Urban wetlands and their impact on city sustainability
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Urban wetlands are one of the complex systems that provide many economic, social and environmental services to the city. In this research, the most important services provided by urban wetlands from the point of view of the urban planner were reviewed, and the types of these lands and their divisions according to the type of services provided by each type were presented. Environmental is represented in its ability to reduce the dangers of floods, mitigate the climate and reduce its negative impacts, purify water and deplete a lot of suspended impurities and pollutants, and social services such as recreational areas and beautiful landscapes that inspire joy and reassurance in the soul, as well as cultural areas and sports activities for m

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Publication Date
Thu May 18 2023
Journal Name
Journal Of Engineering
A Comparative Study of Single-Constraint Routing in Wireless Mesh Networks Using Different Dynamic Programming Algorithms
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Finding the shortest route in wireless mesh networks is an important aspect. Many techniques are used to solve this problem like dynamic programming, evolutionary algorithms, weighted-sum techniques, and others. In this paper, we use dynamic programming techniques to find the shortest path in wireless mesh networks due to their generality, reduction of complexity and facilitation of numerical computation, simplicity in incorporating constraints, and their onformity to the stochastic nature of some problems. The routing problem is a multi-objective optimization problem with some constraints such as path capacity and end-to-end delay. Single-constraint routing problems and solutions using Dijkstra, Bellman-Ford, and Floyd-Warshall algorith

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Publication Date
Wed Jan 01 2025
Journal Name
Aip Conference Proceedings
Enhanced aerodynamics for sport cars using inverted wings: A comprehensive review
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Publication Date
Wed Mar 15 2023
Journal Name
International Journal Of Advances In Intelligent Informatics
An automatic lip reading for short sentences using deep learning nets
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One study whose importance has significantly grown in recent years is lip-reading, particularly with the widespread of using deep learning techniques. Lip reading is essential for speech recognition in noisy environments or for those with hearing impairments. It refers to recognizing spoken sentences using visual information acquired from lip movements. Also, the lip area, especially for males, suffers from several problems, such as the mouth area containing the mustache and beard, which may cover the lip area. This paper proposes an automatic lip-reading system to recognize and classify short English sentences spoken by speakers using deep learning networks. The input video extracts frames and each frame is passed to the Viola-Jone

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Publication Date
Sun Apr 30 2017
Journal Name
Journal Of Engineering
Implementation of a Proposed Load-Shedding System Using Altera DE2 FPGA
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A load-shedding controller suitable for small to medium size loads is designed and implemented based on preprogrammed priorities and power consumption for individual loads. The main controller decides if a particular load can be switched ON or not according to the amount of available power generation, load consumption and loads priorities. When themaximum allowed power consumption is reached and the user want to deliver power to additional load, the controller will decide if this particular load should be denied receiving power if its priority is low. Otherwise, it can be granted to receive power if its priority is high and in this case lower priority loads are automatically switched OFF in order not to overload the power generation. The

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Publication Date
Thu Jan 01 2015
Journal Name
Journal Of Engineering
Wastewater Bio-solids Management for Fertilizer Quality Using Co- composting Process
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Co-composting process can be acquired by combining organic fraction of municipal solid waste (OFMSW) with sewage sludge (SS) and mature compost (MC) as enhancement and bulking agent to overcome the problems of municipal solid waste and wastewater treatment plants besides the finally produced fertilizer usage for agriculture and horticulture. The effects of different mixture ratios of (OFMSW), (SS) and (MC) on the performance of composting process were investigated in this study. Piles of about 10 kg were prepared by mixing OFMSW, SS and MC in three different ratios (w/w) [OFMSW: SS: MC= 3:1:1, 3:2:1, and 3:3:1]. Results showed that the pile [3:1:1] was most beneficial to composting. The final compost products contained a

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
isolation and identification of cloves oil from eugenia caryophyllaa using Ultrasonic
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This research has been prepared to isolate and diagnose one of the most important vegetable oils from the plant medical clove is the famous with Alaeugenol oil and used in many pharmaceuticals were the isolation process using a technique ultrasonic extraction and distillation technology simple

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