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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
Sun Sep 30 2012
Journal Name
College Of Islamic Sciences
Abolition and suspension in the verbs of the novice and the news
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In the Name of God, the Most Gracious, the Most Merciful
     Praise be to God, who taught the pen anthropology unless he knows, and peace and blessings be upon the master of bullying, and the imam of the eloquent Prophet Muhammad, the sincere and faithful, and his family and companions as a whole and whoever followed him to the Day of Judgment. And after:
       The science of grammar is among the most important of all language sciences at all, if not the most important of its sciences, due to the multiplicity of its doctrines and schools, the diversity of its methods, its phenomena and subjects, as well as the connection of this science with the most honorable languages,

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Publication Date
Tue Mar 15 2022
Journal Name
Arab Science Heritage Journal
قراءة في المصدر واسم المصدر على وفق الاستعمال
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What linguists mentioned about the infinitive and its use in the linguistic levels of speech, whether with its verb, or what was mentioned in the difference between the infinitive and the noun of the source, are matters that are related to the phenomenon of hearing in speech, a need necessitated by the nature of the linguistic law and its connection with the Arabic dialects, which proceeded in the linguistic levels to form Phenomenon inherent in the use of the source and the name of the source

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Publication Date
Tue Aug 15 2023
Journal Name
Journal Of Economics And Administrative Sciences
Estimating Demand for Imported Food Categories in Iraq
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Iraq is highly dependent on international markets to provide food for its residents. As imported food prices are highly dependent on crude oil prices in global markets, any shock in oil prices will have an impact on food consumption in the country. As a result, it is essential to study the demand for imported food at every time period. To the best of our knowledge as researchers, as not even a single study is available in the literature, this paper is considered the first to study the demand for imported food groups in Iraq. Therefore, the main objective of this research is to estimate demand elasticities for several imported food categories in Iraq. This study uses an Almost Ideal Demand System model to analyze the demand for imported f

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Publication Date
Thu Jun 01 2017
Journal Name
Journal Of The College Of Languages (jcl)
ההשגה על טקסטי התנ"ך ביצירות סופרים עבריים פרופ. עוזר ד"ר. עדנאן שביב ג'אסם
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תקציר

העיון הזה מדבר על דבר ההשגה על הטקסטים המקראיים בידי כמה מסופרים ופילוסופים יהודים אשר הושפעו מהרעיונותיהם של הפילוסופים האירופיים מחד גיסא, ואת הרעיונות של ההשכלה מאידך גיסא. היהודים היו חיים בבידוד, ותחת השליטה של הרבנות (רבנים) שהייתה שליטה מוחלטת. כבר העבודה של הרבנות מאז ימי קדם להעלות רעיונות במוחם של היהודים בתור העם הנבחר, והם מעולים ועדיפים על בני אדם. הם כל כך מסתמכים על פסוקים מה

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Publication Date
Sat Aug 10 2013
Journal Name
Journal Of Accounting And Financial Studies (jafs)
التهرب الضريبي واثره على التنمية الاقتصادية في العراق
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Highlights the role of taxes in being a major source of funding sources internal economic and social development, and then, any decrease in tax revenue caused by tax evasion, for example, would weaken the government's ability to finance their investments and core financing private sector investment as a result of reduced ability to increase their reserves's cash banks, as well as the weakening of the effectiveness of tax evasion taxes as a tool to guide economic activity in the framework of service for development, and to achieve justice. And the statement of the reasons for and methods of evasion mandated to pay the tax due on them, whether legitimately or illegal with the statement of the proposed methods to tackle tax evasion and elimina

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Publication Date
Mon Feb 13 2023
Journal Name
Journal Of Educational And Psychological Researches
Empathy of University Students with Gender and Specialization Variables
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Abstract

This study aims to identify the empathy of University Students, as well as the significant differences in sympathy in terms of gender and specialization. To achieve the aims of the study, a scale of empathy was administered to a sample of (450) students collected randomly from Baghdad university. The results showed that the study sample has a level of empathy. There is a significant difference between males and females in empathy, in favor of the female students. There is no significant difference in empathy in terms of specialization (scientific, humanities), and the interaction between males and females. The study came out with a number of recommendations and suggestions. 

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Publication Date
Fri Mar 19 2004
Journal Name
Association Of Arab Universities Journal Of Engineering
تأثير وجود المحرمات على تنامي الفشل في المنحدرات
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Publication Date
Sun Apr 01 2007
Journal Name
Journal Of Educational And Psychological Researches
العولمة وانعكاسها على التذوق الفني لطلبة المرحلة الاعدادية
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مشكلة البحث

              وتعد مرحلة المراهقة من اصعب المراحل التي يمر بها الفرد واخطرها اذ يطلق عليها بمرحلة التفكير المجرد ، وهي مرحلة حاسمة في حياته اذ تتكون لديه معالم الشخصية .أنهم خزين الامة الحقيقي من الطاقات الحيوية التي لا تنضب لذا يجب الاهتمام بهذه الشريحة من المجتمع وتطويرهم وتوجيههم لاسلم الطرق للحفاظ على مستقبلهم ومستقبل الا

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Publication Date
Thu Jul 01 2010
Journal Name
Political Sciences Journal
اضاءات على الانتخابات الشريعية في العراق عام 2010
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اضاءات على الانتخابات الشريعية في العراق عام 2010

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Publication Date
Thu Sep 15 2022
Journal Name
Al-academy
Production mechanisms and their implications for Iraqi theater techniques
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Theatrical production mechanisms were determined according to the extents of the theatrical performance, the directing plan, and the ideas that the theatrical performance seeks to convey to the audience. Accordingly, theatrical production mechanisms differ between one theatrical performance and another according to the requirements of each of them and the surrounding circumstances that accompany the production of theatrical performance, and in order to search for production mechanisms and their repercussions on the show. Theatrical The current research was divided into four chapters, namely (Chapter One - Methodology), which identified the research problem in the following question: What are the production mechanisms and their implicatio

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