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.
Under major developments in the field of business environment, the use of traditional budgets do not fit into these developments and adversely affect the future performance of the enterprises, which requires the transition to modern systems in the preparation of the budgets of activity based budgeting ABB because they provide a more accurate and objective estimates based on scientific foundations and practical avoided arising from the use of traditional budgeting problems, Where ABB is working better allocation of resources based on the activities of an enterprise and this positively affects the performance of the administration for the purpose of evaluating their performance according to responsibility centers and decision-making govern
... Show Moreتهدف الدراسة إلى معالجة مشكلة تداعيات الأزمة المالية العالمية على أداء الاستثمار الأجنبي المباشر لكل من تونس والجزائر، ومن خلال ما يفرضه النظام العالمي المعولم فانه من المؤكد أن الاستثمارات الأجنبية المباشرة لدول الدراسة ستتأثر سلبا بهذه الأزمة لكن بدراجات متفاوتة نظرا لخصوصية كل اقتصاد ودرجة ارتباطه بالاقتصاد العالمي . وقد خلصت الدراسة إلى أن الأزمة المالية العالمية غيرت خارطة توزيع الاستثمارات الأجنب
... Show Moreالخلاصة ر ة التبخي رة بطريق ة المحض الرقيق ZnSe درس تأثير التلدين الحراري في بعض الخواص التركيبية والبصرية لأغشية ود ة حي لال تقني ن خ اعتين م دة س 373,473 ) م )K راوح رارة تت درجات ح ة ب 550±20 ) والملدن ) nm مك راري بس الح ة الاشعة السينية درست الخواص التركيبية واظھرت بأن الاغشية تمتلك طبيعة بلورية (تركيب مكعب). وبعد اجراء المعامل واص ا ا
... Show MoreThe paper deals with claims in construction projects in Iraq and studies their types, causes, impacts, resolution methods and then proposes a management system to control the impacts of claims. Two parts have been done to achieve the research objective (theoretical part and practical part). The findings showed that the main types of the claims are extra work claims, different site condition claims, delay claims and the main causes of the claims are variation of the orders, design errors and omission, delay in payments by owner, variation in quantities and scheduling errors. The claims have bad impacts on the cost by increasing (10% to 25%) and also on the duration of the project by increasing from (25% to 50%).The negotiation is the main
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This Action research aimed at Assisting Students of Faculty of Educational Sciences at Al-Quds Open University to design computerized lessons using the Power Point software and according to ADDIE model. The study sample consisted of 40 students who were taking a course titled Technology of Education during the second semester of the 2014-2015 academic year and three academic instructors . To collect the required date , the researchers used focus group technique and structured interviews to get information from the 40 students and the three academic instructors involved in the course Technology of Education in QOU /Nablus Branch. In addition to these methods, a workshop with a guiding checklist was employed t
... Show MoreIn this paper we report the use of supersonic jet laser induced fluorescence (LIF) spectroscopy to facilitate the study of the spectra of some organometallic sandwich compounds particularly the metallocenes. The charge-transfer processes within these compounds, especially ligand to metal charge transfer within decamethylrhenocene ( - C5 Me5)2 Re were of particular interest. The spectrum shows a high degree of structures, indicating that there are several levels populated and these molecules are able to undergo many possible transitions
Objective: To identified the relationship between general and spinal Anesthesia upon breastfeeding and (demographic &reproductive) : Comparative Study. Methodology: The present study employs a descriptive comparative design held at the labor and delivery room , operational room for cesarean section and maternity word in maternity department at Al Emamain Al Kadhamain Medical City in Baghdad city. Data collection was initiated on 2nd January to end of March /2014. Purposive sample consisted of (150) mother and her neonate, The study sample divided into three groups:(50) under general anesthesia , (50) under
Artificial pancreas is simulated to handle Type I diabetic patients under intensive care by automatically controlling the insulin infusion rate. A Backstepping technique is used to apply the effect of PID controller to blood glucose level since there is no direct relation between insulin infusion (the manipulated variable) and glucose level in Bergman’s system model subjected to an oral glucose tolerance test by applying a meal translated into a disturbance. Backstepping technique is usually recommended to stabilize and control the states of Bergman's class of nonlinear systems. The results showed a very satisfactory behavior of glucose deviation to a sudden rise represented by the meal that increase the blood glucose
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