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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
Fri Dec 01 2023
Journal Name
Baghdad Science Journal
Effect of Chromium (VI) on the Oxidation of Methylene Blue Dye by Fe3O4/ Chitosan Composite
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     Heavy metal ion removal from industrial wastewater treatment systems is still difficult because it contains organic contaminants. In this study, functional composite hydrogels with photo Fenton reaction activity were used to decompose organic contaminants. Fe3O4 Nanoparticle, chitosan (CS), and other materials make up the hydrogel. There are different factors that affected Photo-Fenton activity including (pH, H2O2 conc., temp., and exposure period). Atomic force microscopy was used to examine the morphology of the composite and its average diameter (AFM). After 60 minutes of exposure to UV radiation, CS/ Fe3O4 hydrogel composite had degraded methylene blue (M.B.)

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Publication Date
Tue May 05 2015
Journal Name
International Journal Of Research In Pharmacy And Chemistry
NEW APPROACH FOR DETERMINATION OF MEBEVERINE BY QUENCHED FLUORESCENCE OF ANALYTICALLY INTERESTED SPECIES USING CONTINUOUS FLOW INJECTION LASER DIODE FLUORIMETER ANALYSER
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The proposed method is sensitive, simple , fast for the determination of mebeverine hydrochloride in pure form or in pharmaceutical dosage . Using Homemade instrument fluorimeter continuous flow injection analyser with solid state laser (405 nm) as a source. Where it is based upon the fluorescence of fluorescein sodium salt and quenching effect of fluorescence by mebeverine in aqueous medium. The calibration graph was linear in the concentration range 0.05 to10 mMol.L-1 (r= 0.9629) with relative standard deviation (RSD%) for 1 mMol.L-1mebeverine solution was lower than 3% (n=6). Three pharmaceutical drugs were used as an application for the determination of mebeverine. A comparison was made between the newly developed method of analysis wit

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
A New Approach for the Turbidimetric Determination of Hydronium ion by Using Homemade Linear Array Ayah 5SX1-T-1D-CFI Analyser
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A new Turbidimetric method characterized by simplicity, accuracy and speed for determination of Hydronium ion by continuous flow injection analysis. The method was based on the formation of complex Zn3[Fe(CN)6] for Zinc(II) that was eluted by Hydronium ion from cation exchanger column with Potassium hexacyanoferrate(III) for the formation of a pale yellow precipitate and this precipitate was determined using homemade Linear Array Ayah-5SX1-T-1D continuous flow injection analyser. The optimum parameters were 2.7 mL.min-1 flow rate using H2O as a carrier stream, 1.7 mL.min-1 reagent stream, 110 L sample volume and open valve for the purge of the sample segment. Data treatment shows that linear range 0.01-0.1 mol.L-1 for each acids (HClO

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Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
A New Approach for the Turbidimetric Determination of Hydronium ion by Using Homemade Linear Array Ayah 5SX1-T-1D-CFI Analyser
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A new Turbidimetric method characterized by simplicity, accuracy and speed for determination of Hydronium ion by continuous flow injection analysis. The method was based on the formation of complex Zn3[Fe(CN)6] for Zinc(II) that was eluted by Hydronium ion from cation exchanger column with Potassium hexacyanoferrate(III) for the formation of a pale yellow precipitate and this precipitate was determined using homemade Linear Array Ayah-5SX1-T-1D continuous flow injection analyser. The optimum parameters were 2.7 mL.min-1 flow rate using H2O as a carrier stream, 1.7 mL.min-1 reagent stream, 110 L sample volume and open valve for the purge of the sample segment. Data treatment shows that linear range 0.01-0.1 mol.L-1 for each acids (HClO

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Publication Date
Wed Mar 28 2018
Journal Name
Iraqi Journal Of Science
Hybrid Approach of Prediction Daily Maximum and Minimum Air Temperature for Baghdad City by Used Artificial Neural Network and Simulated Annealing
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     Temperature predicting is the utilization to forecast the condition of the temperature for an upcoming date for a given area. Temperature predictions are done by gathering quantitative data in regard to the current state of the atmosphere. In this study, a proposed hybrid method to predication the daily maximum and minimum air temperature of Baghdad city which combines standard backpropagation with simulated annealing (SA). Simulated Annealing Algorithm are used for weights optimization for recurrent multi-layer neural network system. Experimental tests had been implemented using the data of maximum and minimum air temperature for month of July of Baghdad city that got from local records of Iraqi Meteorological O

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Publication Date
Fri Jul 01 2022
Journal Name
Iraqi Journal Of Science
New Approach for Determination of Ciprofloxacin by Quenched Fluorescence of Analytically Interested Species Using Continuous Flow Injection Laser Diode Fluorimeter Analyser
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The objective of this study was to establish an accurate, precise, sensitive, simple, fast and reliable method for the determination of ciprofloxacin hydrochloride in pure or in pharmaceutical dosage forms using Homemade instrument fluorimeter continuous flow injection analyser with solid state laser (405 nm) as a source. The method is based upon the fluorescence fluorescein sodium salt and its quenching by ciprofloxacin hydrochloride in aqueous medium. The solutions of standard and the sample were prepared in distilled water. The calibration graph was linear in the concentration range of using (10 - 100) mMol.L-1 ciprofloxacin hydrochloride (r= 0.9891) with relative standard deviation (RSD%) for 3 mMol.L-1 ciprofloxacin HCl solution is

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Publication Date
Sun Sep 01 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The impact of applying international financial reporting standards to SMEs On optimizing the utility of financial reports between Palestinian and Libyan business environmen
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The main aim of the research is to identify the impact of the application of IFRS for SMEs on optimizing the utility of information for financial reports. To answer the questions and test the hypotheses of the research, researchers relied on the descriptive analytical approach. First, the researchers clarified the theoretical aspect through previous studies, and then they analyses d the results of the applied study by testing the hypothesis using the SPSS.

A questionnaire was distributed after evaluation and arbitration by a number of specialists on selected sample. The sample of 120 respondents consists of general managers, department directors, head of departments, accountants, auditors and financial controllers working in the

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Publication Date
Thu Oct 01 2020
Journal Name
Journal Of Engineering Science And Technology
Automatic voice activity detection using fuzzy-neuro classifier
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Voice Activity Detection (VAD) is considered as an important pre-processing step in speech processing systems such as speech enhancement, speech recognition, gender and age identification. VAD helps in reducing the time required to process speech data and to improve final system accuracy by focusing the work on the voiced part of the speech. An automatic technique for VAD using Fuzzy-Neuro technique (FN-AVAD) is presented in this paper. The aim of this work is to alleviate the problem of choosing the best threshold value in traditional VAD methods and achieves automaticity by combining fuzzy clustering and machine learning techniques. Four features are extracted from each speech segment, which are short term energy, zero-crossing rate, auto

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Publication Date
Tue Feb 13 2024
Journal Name
Iraqi Journal Of Science
Fuzzy Linear Discriminant Analysis Clustering With Its Application
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Many fuzzy clustering are based on within-cluster scatter with a compactness measure , but in this paper explaining new fuzzy clustering method which depend on within-cluster scatter with a compactness measure and between-cluster scatter with a separation measure called the fuzzy compactness and separation (FCS). The fuzzy linear discriminant analysis (FLDA) based on within-cluster scatter matrix and between-cluster scatter matrix . Then two fuzzy scattering matrices in the objective function assure the compactness between data elements and cluster centers .To test the optimal number of clusters using validation clustering method is discuss .After that an illustrate example are applied.

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Publication Date
Fri Jul 19 2019
Journal Name
Iraqi Journal Of Science
Comparative Study of Ranking Methods for Fuzzy Transportation
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There are several methods that are used to solve the traditional transportation problems whose units of supply, demand quantities, and cost transportation are known exactly. These methods obtain basic solution, and develop it to the best solution through a series of consecutive calculations to obtain the optimal solution.
The steps are more complex with fuzzy variables, so this paper presents the disadvantages of solutions of the traditional ways with existence of variables in the fuzzy form.
This paper also presents a comparison between the results that emerged after using different conversion ranking formulas to convert from fuzzy form to crisp form on the same numerical example with a full fuzz

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