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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 Mar 01 2023
Journal Name
Ecological Engineering & Environmental Technology
Environmental Impact Assessment for Industrial Organizations Using Rapid Impact Assessment Matrix
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Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
اضاءات لتنمية القدرة على اختيار الملابس الجاهزة
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Publication Date
Thu May 18 2023
Journal Name
College Of Islamic Sciences
Consider speech science in light of its purposes
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Considering the science of speech in the light of its purposes is an accurate scientific study that looks at it from its reality in which it originated, and its topic that it dealt with and its goals that it sought, and it follows its main course in the directions of approving the belief and inferring it, and repelling the objections to it, and this study comes to show the realism of the science of speech in its emergence Its subject and method, since its launch was from the reality of the Islamic nation and based on its intellectual needs, so its presence was necessary in the life of the Islamic nation because of its role in facing the challenges faced by the Islamic faith, and the dangers it was exposed to as a result of the intellectu

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
Peace Indicating Words in Pre- Islamic Poetry
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In pre- Islamic poetry, there are a lot of words that indicate
peacefulness of one sort of another, in addition to the inspirations of semantic
modeling in which the poet sets himself in various horizons.
Among these words: brother, comrade, friend, companion, lover,
people, prince, home, land, country, blessing, honesty, contract, company,
justice, thankfulness, forgiveness, pardoning, guest, goodness, faithfulness,
silence, death, peace,….
In addition, there are their derivatives from various aspects that indicate
peacefulness either directly or indirectly.

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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
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
Human ability to change in Koran
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In this research the subject of human ability to change, as it is proven in the Koran , which is proof of the argument against the ability of human change , whether the change in the positive or negative direction .
Here the limits of the research are limited to a study of analysis of human ability to change and this establishes the important of knowing that man has the ability while in the wrong way to change the path to the right path which Gifts and guidance .
The search required three demands and conclusion
- The first required :- is to try the idolaters to take out believers by right .
- The second required :- is to change what is inside the soul as a reason to enter blessings on man .
- The third required :- is good

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Publication Date
Thu Sep 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
The impact of market orientation and the commitment of employees to performance
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أستهدفت الدراسة اختبار أثر التوجه السوقي والتزام العاملين على أداء المنظمة المسوقة لخدمات النقل الجوي. حيث تم اختيار شركة الخطوط الجوية الملكية الأردنية كمجال تطبيقي.وقد اعتمدت الدراسة في قياس المتغيرات على مقاييس مختبرة وقد تأكد صحتها وثباتها لقياس المتغيرات في البيئة الحالية.  وقد بينت نتائج التحليل الإحصائي الذي استخدمت فيه أساليب إحصائية مختلفة بالاستعانة ببرنامج SPSS))

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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 May 01 2024
Journal Name
مجلة العلوم الانسانية والاجتماعية
كيفية توزيع حصيلة البيع الجبري على الدائنين
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Publication Date
Thu Aug 22 2024
Journal Name
وقائع المؤتمر العلمي الدولي التاسع للعلوم الانسانية والتربوية
تأثير بعض العقائد الدينية على الشخصية اليهودية
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