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alkej-442
Applying A* Path Planning Algorithm Based on Modified C-Space Analysis
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In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and construction, and then a successful and guaranteed path from a start to goal configuration has been obtained without any collision probability. The results had been achieved by (Matlab R2015a) software, which run on Intel (R) Core (TM) i3-3120M CPU.

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Publication Date
Tue Dec 22 2020
Journal Name
Collaboration And Integration In Construction, Engineering, Management And Technology
A Hybrid Conceptual Model for BIM Adoption in Facilities Management: A Descriptive Analysis for the Collected Data
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Publication Date
Sun Dec 01 2013
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Multi-pages structure for Six Sigma performance matrix based on the technical characteristics of balanced performance and methodology Al-Sigma for measuring corporate performance: Suggestion vision
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Accelerates operating managements in the facilities contemporary business environment toward redefining processes and strategies that you need to perform tasks of guaranteeing them continue in an environment performance dominated by economic globalization and the circumstances of uncertainty attempt the creation of a new structure through multiple pages seek to improve profitability and sustainable growth in performance in a climatefocuses on the development of institutional processes, reduce costs and achieve customer satisfaction to meet their demands and expectations are constantly changing. The research was presented structural matrix performance combines methodology Alsigma in order to improve customer satisfaction significantly bet

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Publication Date
Tue Feb 12 2019
Journal Name
Iraqi Journal Of Laser
Experimental Study of Spatial Self-Phase Modulation (SSPM) Based on Laser Beam and Hybrid Functionalized Carbon Nanotubes/Silver Nanoparticles (F-Mwcnts/Ag-Nps) Acetone Suspensions
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Focusing of Gaussian laser beam through nonlinear media can induce spatial self- phase modulation which forms a far field intensity pattern of concentric rings. The nonlinear refractive index change of material depends on the number of pattern rings. In this paper, a formation of tunable nonlinear refractive index change of hybrid functionalized carbon nanotubes/silver nanoparticles acetone suspensions (F-MWCNTs/Ag-NPs) at weight mixing ratio of 1:3 and volume fraction of 6x10-6 , 9x10-6 , and 18x10-6 using laser beam at wavelength of 473nm was investigated experimentally. The results showed that tunable nonlinear refractive indices were obtained and increasing of incident laser power density led to increase the nonlinear refractive inde

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Publication Date
Wed Sep 01 2010
Journal Name
Al-khwarizmi Engineering Journal
A Study of the Effect of Kaolin as a Fuel Oil Additive on the Corrosion Inhibition of Fireside Superheater Boiler Tubes
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The objective of the present study is to determine the effect of Kaolin as a fuel oil additive to minimize the fireside corrosion of superheater boiler tubes of ASTM designation (A213-T22) by increasing the melting point of the formed slag on the outside tubes surface, through the formation of new compounds with protective properties to the metal surface. The study included measuring corrosion rates at different temperatures with and without additive use with various periods of time, through crucible test method and weight loss technique.

      A mathematical model represents the relation between corrosion rate and the studied variables, is obtained using statistical regression analysis. Using this model,

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Publication Date
Tue Sep 01 2015
Journal Name
2015 7th Computer Science And Electronic Engineering Conference (ceec)
An experimental investigation on PCA based on cosine similarity and correlation for text feature dimensionality reduction
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Publication Date
Mon Jun 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
On Bayesian Estimation of System Reliability in Stress – Strength Model Based on Generalized Inverse Rayleigh Distribution
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Abstract<p>The parameter and system reliability in stress-strength model are estimated in this paper when the system contains several parallel components that have strengths subjects to common stress in case when the stress and strengths follow Generalized Inverse Rayleigh distribution by using different Bayesian estimation methods. Monte Carlo simulation introduced to compare among the proposal methods based on the Mean squared Error criteria.</p>
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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
A linguistic analysis of the speech act of advice in american English proverbs
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Publication Date
Sun Apr 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
مقارنة بين دالة الإنتماء ودالة الأنتروبي في الإنحدار الخطي الضبابي المكيف
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Abstract

       There are many uncertainty sources that may affect the statistical reasoning. However, traditional methods can not deal with all kinds of uncertainty sources, which has led many researchers to develop traditional methods. Studies still exist to this day, making hypotheses to create a common understanding for the purpose of reaching new solutions through the use of new methods that combine traditional and modern theories of sources of uncertainty

       The aim of current study was to develop the adaptive fuzzy linear regression model in the case of using inaccurate data as the source of uncertainty. Specifically, the

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Publication Date
Sun Jan 02 2011
Journal Name
Political Sciences Journal
THE New Iraq – A Study in the Political and Democratic Developments Since 2003
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يسلط هذا البحث الضوءعلى طبيعة النظام السياسي في العراق الجديد الذى اضحى وبموجب الدستور العراقي الدائم لعام 2005 دولة حرة, ديمقراطية,موحدة,وبرلمانية(نيابية) تتمع بنظام فدرالي قائم على اساس الفصل بين السلطات الثلاث التشريعية والتنفيذية والقضائية. فلقد شهد العراق اكبر تظاهرة ديمقراطية في تاريخه المعاصر منذ نشأة الدولة العراقية وحتى 2003 ولحد الان خمسة /4/ السابع من أذار 2010 . فالمسرح السياسي العرا

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Publication Date
Sat Sep 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
Studying and analysis effect level of the Government expenditure and Gross Domestic product in size of the expenditure on the higher education in Iraq (1995 – 2009)
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The education, especially higher education, is an essentially factor in the progress of any society, if we consider the higher education, represents the top  of  the education`s  pyramid which take part in developing the human  resources and provide the human staff to raise the productive efficiency, and improve the social , economic level                                  

In order to face the increasing importance of higher education, great capabilities and expenditures must be available in a continous way, such expe

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