Preferred Language
Articles
/
alkej-501
Guiding Mobile Robot by Applying Fuzzy Approach on Sonar Sensors
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Sep 04 2011
Journal Name
Baghdad Science Journal
Uranium and Plutonium Recovery by Tributylphosphate Solvation and Trioctylamine Ion association Mechanisms
...Show More Authors

In this work a flowsheet has been put for the recovery of uranium and plutonium from 2.5M nitric acid solutions using 17.5% tributyl phosphate (TBP) and 2.5% trioctylamine (TOA) in kerosene diluent . The fission products (resulting from irradiated of uranium samples in nuclear research reactor) were removed from the desired actinides U & Pu .The organic phase TBP/TOA/Kerosene, containing both actinides U&Pu were stripped using 0.1 M HNO3. Trioctylamine (2.5 volume ratio ) in mesitylene , has been used in conditions appropriate for the recovery of Pu . From the experiments done using mixer- settler , the concentration of uranium in the organic phase in such conditions was very low ,not exceeding parts of a million .

View Publication Preview PDF
Crossref
Publication Date
Thu Mar 01 2018
Journal Name
Tribology International
Discriminating gasoline fuel contamination in engine oil by terahertz time-domain spectroscopy
...Show More Authors

View Publication
Scopus (15)
Crossref (14)
Scopus Clarivate Crossref
Publication Date
Sun Mar 17 2019
Journal Name
Baghdad Science Journal
Spectrophotometric Determination of Chlorpromazine Hydrochloride Using 4-Nitroanilline by Oxidative Coupling Reaction
...Show More Authors

A simple, rapid spectrophotometric method has been established for the determination of chlorpromazine hydrochloride (CPZ) in its pure form and in a tablet formulations. The  suggested  method  is  based  on  the  oxidative coupling  reaction  with4-nitroainlline using KIO3 in acidic solution to produce a violet colored product with maximum absorption at λ=526 nm.The  analytical data  obtained  throughout  this  study  could  be  summarid  as  follows:  1ml of 1M HCl (pH=2.2), 1 ml  of  4-nitroanilline (1x10-2M), and 1.5ml  of (1x10-2)KIO3 per 25 ml reaction medium. The order of a

... Show More
View Publication Preview PDF
Scopus (4)
Scopus Clarivate Crossref
Publication Date
Thu Jul 27 2023
Journal Name
Journal Of Optics
Spectroscopic analysis of zinc plasma produced by alternating and direct current jet
...Show More Authors

In this study, a system of nonthermal plasma that was operated under atmospheric pressure and was powered by argon gas was employed. The particular plasma properties are affected by changes in the Ar gas flow ranges from 0.5 to 2.5 l/min, product by stream of the plasma jet that is utilized. By using the aforementioned method generated from AC and DC. After placing Ar gas as the cathode, which represents the negative pole, flows toward the anode, which is represented by a tiny metal plate of Zn measuring 6 × 1 cm2 in size, with a submerged part of 4 cm2 long, with both types of current employed having a high voltage of 13.5 kV and the frequency of AC was 30 kHz, we measured these variable parameters. It has been shown that when argon f

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Wed Aug 01 2018
Journal Name
Journal Of Colloid And Interface Science
Removal of monoethylene glycol from wastewater by using Zr-metal organic frameworks
...Show More Authors

View Publication
Scopus (40)
Crossref (42)
Scopus Clarivate Crossref
Publication Date
Wed Jan 01 2020
Journal Name
International Journal Of Computational Intelligence Systems
Evolutionary Feature Optimization for Plant Leaf Disease Detection by Deep Neural Networks
...Show More Authors

View Publication
Scopus (49)
Crossref (46)
Scopus Clarivate Crossref
Publication Date
Mon Sep 03 2018
Journal Name
Al-khwarizmi Engineering Journal
Recovery of Aluminum from Industrial Waste (Slag) by Melting and Electrorefining Processes
...Show More Authors

Slag of aluminum is a residue which results during the melting process of primary and secondary aluminum production. Salt slag of aluminum is hazardous solid waste according to the European Catalogue for Hazardous Wastes. Hence, recovery of aluminum not only saves the environment, but also has advantages of financial and economic returns. In this research, aluminum was recovered and purified from the industrial wastes generated as waste from both of State Company for Electrical and Electronic Industries (Baghdad/AlWaziriya) and General Company for Mechanical Industries (Babylon/-Al-Escandria). It was found that these wastes contain tiny proportions of other elements such as iron, copper, nickel, titanium, lead, and potassium. Wastes were

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Mon Jan 01 2024
Journal Name
Ieee Access
Enhancing Speed and Imperceptibility in Watermarking Systems by Leveraging Galois Field Tables
...Show More Authors

View Publication
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Fri Mar 01 2024
Journal Name
Journal Of Materials Science: Materials In Electronics
Synthesis of WO3 NPs by pulsed laser ablation: Effect of laser wavelength
...Show More Authors

We have investigated the impact of laser pulse wavelength on the quantity of ablated materials. Specifically, this study investigated the structural, optical, and morphological characteristics of tungsten trioxide (WO3) nanoparticles (NPs) that were synthesized using the technique of pulsed-laser ablation of a tungsten plate. A DD drop of water was used as the ablation environment at a fixed fluence at 76.43 J/cm2 and pulse number was 400 pulses of the laser. The first and second harmonic generation ablations were carried out, corresponding to wavelengths of 1064 and 532 nm, respectively. The Q-switched Nd: YAG laser operates at a repetition rate of 1 Hz and has a pulse width of roughly 15 ns. These parameters are applicable to both wavelen

... Show More
View Publication
Scopus (6)
Crossref (6)
Scopus Clarivate Crossref
Publication Date
Sun Sep 03 2017
Journal Name
Baghdad Science Journal
Photocatalytic degradation of indigo carmine by ZnO photocatalyst under visible light irradiation
...Show More Authors

In this work, the photocatalytic degradation of indigo carmine (IC) using zinc oxide suspension was studied. The effect of influential parameters such as initial indigo carmine concentration and catalyst loading were studied with the effect of Vis irradiation in the presence of reused ZnO was also investigated. The increased in initial dye concentration decreased the photodegradation and the increased catalyst loading increased the degradation percentage and the reused-ZnO exhibits lower photocatalytic activity than the ZnO catalyst. It has been found that the photocatalytic degradation of indigo carmine obeyed the pseudo-first-order kinetic reaction in presence of zinc oxide. This was found from plotting the relationship between ln

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (7)
Scopus Crossref