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Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
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This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA). The software program  uses the Advanced Robotics Interface for Applications (ARIA), it is programmed with C++ package ( Visual C++.Net ), and Networking software is used for setup Wireless TCP/IP Ethernet-to-Serial connection between robot and PC. The results show that the developed mobile robot travels successfully from one location to another and reaches its goal after avoiding all obstacles that are located in its way. The platform mobile robot is a Pioneer 3 DX that is equipped with Sonar sensors.

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Publication Date
Mon May 22 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
On Fuzzy Internal Direct Product
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The main aim of this paper is to introduce the concept of a Fuzzy Internal Direct Product of fuzzy subgroups of group . We study some properties and prove some theorems about this concept ,which is very important and interesting of fuzzy groups and very useful in applications of fuzzy mathematics in general and especially in fuzzy groups.

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Publication Date
Tue Sep 04 2018
Journal Name
Al-khwarizmi Engineering Journal
Effect of Carburization Parameters on Hardness of Carburized Steel Using MOORA Approach
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In this research, (MOORA) approach based– Taguchi design was used to convert the multi-performance problem into a single-performance problem for nine experiments which built (Taguchi (L9) orthogonal array) for carburization operation. The main variables that had a great effect on carburizing operation are carburization temperature (oC), carburization time (hrs.) and tempering temperature (oC). This study was also focused on calculating the amount of carbon penetration, the value of hardness and optimal values obtained during the optimization by Taguchi approach and MOORA method for multiple parameters. In this study, the carburization process was done in temperature between (850 to 950 ᵒC) for 2 to 6

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Publication Date
Sat Oct 30 2021
Journal Name
Iraqi Journal Of Science
Retrieving Mobile Phone Information Based on Digital Search Tree
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     The current study primarily aims to develop a dictionary system for tracing mobile phone numbers for call centers of mobile communication companies. This system tries to save the numbers using a digital search tree in order to make the processes of searching and retrieving customers’ information easier and faster. Several shrubs that represent digits of the total phone numbers will be built through following the phone number digits to be added to the dictionary, with the owner name being at the last node in the tree. Thus, by such searching process, every phone number can be tracked digit-by-digit according to a required path inside its tree, until reaching the leaf. Then, the value stored in the node, that rep

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Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
The Effect of Temporal Resolution of Climatic Factors on Agriculture Degradation in Southern Baghdad by Applying Remote Sensing Data
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       The climate changes had been recognized as one of the major factors responsible for land degradation, which has a significant impact on diverse aspects. The present study aims to estimate how the climate change can influence land degradation in the south areas of Baghdad province (Al-Rasheed, Al-Mahmudiyah, Al-Yusufiyah, Al-Madaen, and Al-Latifiyah). The Satellite Landsat-8 OLI and satellite Landsat-5 TM sensor imagery were used to extent land degradation for the period (2010-2019). ArcGIS V.10.4 was applied to manage and analysis the satellite image dataset, including the use of climate factors data from the European Center for Climate Forecasts (ECMWF) by reanalyzes and extraction datasets. To achieve work objectives, many

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Publication Date
Fri May 25 2018
Journal Name
Drug Invention Today
Effect of uricol® and food with different samafurantin® doses on secondary pharmacokinetic parameters by applying urinary data
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Introduction: Nitrofurantoin (NFT) is abroad spectrum bactericidal antibiotic. The bioavailability of NFT is affected by many factors. Samafurantin® tablets containing 50 mg NFT were manufactured by Samarra drug industry. Urinary excretion studies were employed since; the urinary tract is the main site of NFT action and excretion. Objective: The objective of the study was to investigate the effect of Uricol® and food on secondary pharmacokinetic parameters of Samafurantin® tablets with different doses by applying urinary data. Methods: Twelve healthy male volunteers participated in this study. Urine samples were collected from each volunteer after overnight fasting at a specified time intervals which considered as a blank sample for meas

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Scopus
Publication Date
Wed Jan 13 2021
Journal Name
Iraqi Journal Of Science
Applying a Risk Management Approach in Controlling QMS Processes and Interactions with the Relevant Interested Parties: The Case of an Airport
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Fes Airport, run by the National Airports‟ Office in Morocco, aspires to be certified by the ISO 9001: 2015 standard; Hereby, it has to meet the needs of the stakeholders‟ expectations in an attempt to promote the airport activities, it has also to take into consideration the risks that are related to the various actors who have well-set priorities and expectations.
The aim of this article is to shed light on the interconnection between the various participants in an attempts to meet the new requirement 4.2 of the ISO 9001: 2015 and to examine the dangers of the integrated management system (QSE) taking into consideration the proposal of an action plan to monitor interfaces, and to promote the application of an integrated

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Publication Date
Tue Mar 30 2021
Journal Name
Iraqi Journal Of Science
Some Results on Fuzzy ω-Covering Dimension Function in Fuzzy Topological Space
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     The purpose of this paper is to study a new class of fuzzy covering dimension functions, called fuzzy

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Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
The impact of not applying justice career empowerment in Jordanian government institutions on the performance of working women
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The study aimed to identify the reality of the application of the organizational equity empowerment at the Jordanian government institutions from the viewpoint of women employees in terms of each of the (delegation equity, training equity, appraisal equity, join in committees equity, participation in decision-making equity), and the impact of non-application of equity empowerment on performance.

Population of the study amounted (986) women employee, while the researcher distributed (340) questionnaire through a randomly sample method.

The study used the questionnaire as a tool to collect the data. And to ensure the reliability of the questionnaire has been calculated Cronbach's co

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Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
تداعیات ظاھرة الفساد المالي والاداري على حقوق الانسان في العراق
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The kinds of financial and administrational corruption have an important
dimensions and affects on human rights because of all events which happened in the world
made tackles concerning with this phenomena.
This article has been researched about an impacts of it to the nature of structural
social system especially its scopes items in institutionally and politically and economically
and culturally to be an obvious in all fields.
This phenomena should be studied carefully in order to put all remedies required
for set up with measures and procedures such as following :
1-the dependency on respecting all laws in the country.
2-the work with principles of accountability transparency in pro-active cooperation level.<

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Publication Date
Sun May 12 2019
Journal Name
Al-khwarizmi Engineering Journal
Motion Control of Three Links Robot Manipulator (Open Chain) with Spherical Wrist
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Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC

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