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Robot Arm Path Planning Using Modified Particle Swarm Optimization based on D* algorithm

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
Thu Jan 30 2020
Journal Name
Al-kindy College Medical Journal
The Impact of Prophylactic Dexamethasone, Metoclopramide or both on Nausea and Vomiting After Laparoscopic Cholecystectomy

Background: Postoperative nausea and vomiting (PONV) are one of the most common complaints following laparoscopic cholecystectomy.

Objective: This study was designed to compare the effects of dexamethasone, metoclopramide, and their combination on preventing PONV in patients undergoing laparoscopic cholecystectomy.

Methods: A total of 135 patients enrolled in the study. American Society of Anesthesiologists (ASA) physical status I and II patients were included in this randomized, double blind, placebo-controlled study. Patients were randomly assigned to group A administered 8mg iv dexamethasone, group B received metoclopramide 10 mg, group C received combination of 8mg de

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Publication Date
Sun Jun 01 2014
Journal Name
Baghdad Science Journal
Study of the Effect of Berry Paper Mulberry on Optical Properties of Poly Methyl Methacrylate

In this work, study the optical properties of composites consisting of poly Methyl Methacrylate and Berry Paper Mulberry. The samples of composites were prepared using casting method .The Berry Paper Mulberry (BPM) was added by different concentrations are (0, 2, 4 and 6)wt.%. The optical properties of composites have been studied in the wavelength range (200-800)nm. The absorption coefficient ,energy gap, refractive index, extinction coefficient and dielectric constants have been determined. The results show that the optical constants change with increase of BPM concentrations .

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Publication Date
Sat Jul 22 2023
Journal Name
Journal Of Engineering
Effect of Fire Flame (High Temperature) on the Self Compacted Concrete (SCC) One Way Slabs

Experimental work was carried out to investigate the effect of fire flame (high temperature) on specimens of one way slabs using Self Compacted Concrete (SCC). By using furnace manufactured for this purpose, twenty one reinforced concrete slab specimens were exposed to direct fire flame. All of specimens have the same dimensions. The slab specimens were cooled in two types, gradually by left them in the air and suddenly by using water. After that the specimens were tested under two point loads, to study, the effect of
different: temperature levels (300ºC, 500ºC and 700ºC), and cooling rate (gradually and sudden cooling conditions) on the concrete compressive strength, modulus of rupture, flexural strength and the behavior of reinf

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Publication Date
Tue Oct 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Stock Exchange and its Impact on Economic Development In the Kingdom of Saudi Arabia (KSA)

this research paper aims at measuring and analyzing the influence of the stock exchange on the economic development in the Kingdom. This is done through comparing the Gross Domestic Product (GDP) as a changeable factor affiliated with some independent variables in the KSA stock exchange. These variables are (All Share Index {TASI}, Market Value, Trade Volume Index, number of companies and number of shares). The study covers the period from 2003 to 2017 and adapts the measuring method in analyzing this relation using the Multiple Linear Regression (Stepwise) and (SPSS). The study affirmed the validity of the

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Publication Date
Sun Mar 04 2018
Journal Name
Iraqi Journal Of Science
Alcoholic extract effect of Withania somnifera roots on cholesterol diet induced hyperlipidemia in male rabbits

     The current study was used 20 male rabbits that divided into four groups (consist of five rabbits in each group), The first group was considered as control and fed normal diet and given tap water, The second group was consisted of rabbits that fed on high cholesterol diet for six weeks, The third group was consisted of rabbits that fed on high cholesterol diet and 50mg root extract for six weeks, The forth group was consisted of rabbits that fed on high cholesterol diet and 100mg root extract for six weeks. The male rabbits that feeding on high cholesterol diet showed significant increased (P < 0.05) the levels of cholesterol, triglyceride, LDL, VLDL, MDA and HMG-CoA reductase while HDL and GSH levels were sig

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Publication Date
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
Study of the Influence of Different Optical Properties on the Image of Compound light microscope

Microscope images are characterized by a number of specific parameters, the influence of such parameters (intensity, magnification, numerical aperture, diaphragms aperture, segmentation, and edge detecting technique) on measurement in optical microscope images have been determined with using a powerful image processing methods. As one of the most widespread techniques in biological investigation and dynamic process, light compound microscopy has used to analyze the optical properties of biological images. The results indicate that a wide aperture allows maximum resolution and depth of field, but decreases the contrast. While a small aperture improve visibility and contrast but decreases the resolution. The results also show the best perf

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Publication Date
Tue Apr 20 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Effect of Individuals Asymptomatic (Carrier) on The Dynamical Behavior Of a COVID-19 Virus

     In this paper, a novel coronavirus (COVID-19) model is proposed and investigated. In fact, the pandemic spread through a close contact between infected people and other people but sometimes the infected people could show two cases; the first is symptomatic and the other is asymptomatic (carrier) as the source of the risk. The outbreak of Covid-19 virus is described by a mathematical model dividing the population into four classes. The first class represents the susceptible people who are unaware of the disease. The second class refers to the susceptible people who are aware of the epidemic by media coverage. The third class is the carrier individuals (asymptomatic) and the fourth class represents the infected ind

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Publication Date
Mon Apr 10 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Biological Effect of Anthocyanin Extracted From the orange Fruit on Some Types of Pathological Bacteria

        This research includes study of the effect of two kinds of Anthocyanin  extracted  , from  extracted  orange  fruit ( Anthocyanin  Evolvulus ,Methiola  Violet ) on  two  types of pathological  bacteria  E.coli , staphylococcus aureus.     The result shows that two kinds of extraction have nearly similar effect , and  there is Inhibition zone  of  no  growth  between 10-12mm  ,and the extraction (1) that has concentration of 10-3 mol./L is more effective..

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Publication Date
Sun Dec 05 2010
Journal Name
Baghdad Science Journal
Effect of temperature on viability of human hydatid cyst & study the volume of hydatid cyst

The hydatid materials were collected and studied, so they were contained 50 fertile human hydatid cases {33 (66%) females and 17 (34%) males}. They were collected from Al-Ramadi General Hospital during the period from December, 2003 to July, 2004 .Cysts were observed in 40 (80%) from the liver, 5 (10%) from the lungs, 3 (6%) from the kidney and 2 (4%) cysts from urinary bladder. The specimens were taken from patients of different ages. The in vitro viability of protoscoleces was assessed on the basis of flame cell activity and eosein exclusion, which were considered as criteria to determine the death or viability of protoscoleces. In addition to this movement (flame cell activity), another motility like constriction – relaxatio

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Publication Date
Thu Mar 16 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Influence of Annealing and Doping by Copper on Electrical Conductivity of CdTe Thin Films

In this research CdTe and CdTe: Cu thin films with different doping ratios (1, 2, 3, 4 and 5) %, were deposited by thermal evaporation technique under vacuum on glass substrates at room temperature in thickness 450 nm.      The measurements of electrical conductivity (σ), and activation energies (Ea1, Ea2),  have been investigated on (CdTe) thin films as a function of doping ratios, as well as the effect of the heat treatment at (373, 423, and 473) K° for one hour on these measurements were calculated and all results are discussed.     The electrical conductivity measurements show all films prepared contain two types of transport mechanisms, and the electrical conductivity (σ) increases where

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