Preferred Language
Articles
/
alkej-76
Path Planning Control for Mobile Robot
...Show More Authors

Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process.

This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.

This work has theoretical part and experimental part.

The theoretical part includes building a MATLAB program which is applied to environment image to find the nearly optimal path .MATLAB - C++.NET interface is accomplished then to supply the path information for C++.NET program which is done for programming the pioneer mobile robot to achieve the desired path.

The experimental part includes using wireless camera that takes an image for the environment and send it to the computer which processes this image and sends ( by wireless connection ) the resulted path information to robot  which programmed in C++.NET program to walk according to this path.

So, the overall system can be represented by:

Wireless camera – computer – wireless connection for the mobile robot .

The experimental work including some experiments shows that the developed mobile robot (pioneer p3-dx ) travels successfully  from the start point and reach the goal point across the optimal path (according to time and power) which is obtained as result of the proposed path planning algorithm introduced in this paper.

 

 

View Publication Preview PDF
Quick Preview PDF
Publication Date
Wed Apr 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
The Impact of Plagiarism on the Quality of Scientific Researches “Empirical Study”
...Show More Authors

The purpose of this research is to study the quality of scientific research at the University of Baghdad in light of scientific piracy and plagiarism of research and results and attribute it to others intentionally or unintentionally. Proactive writing such as stealing ideas or synthesizing the results of one another over others and its negative impact on the quality of scientific outputs and the reputation of educational organizations through an exploratory study in the faculties of the University of Baghdad, scientific and humanitarian. As for the aims of the study, it was determined by determining the negative impact of piracy on scientific research. A Likert five-point scale was used in this research. The research community c

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Dec 02 2007
Journal Name
Political Sciences Journal
عرض كتاب على خط النار مذكرات الرئيس الباكستاني
...Show More Authors

عرض كتاب على خط النار مذكرات الرئيس الباكستاني

View Publication Preview PDF
Crossref
Publication Date
Tue Jun 14 2016
Journal Name
Al-academy
The impact of modern global art movements on Graphic Design
...Show More Authors

The significant shift in the Fine Arts, who led the avant-garde movements and creative which appeared in the modern, specifically in the mid-nineteenth century and early twentieth century era path, embodied in a clear show of new aesthetic value rejects traditional methods put in shape and color qualities She described the movements subjectivity or no formal, was intended to determine the direct function of expression and speech language in the visual arts away from the representation and simulation of reality was accompanied by the appearance of those fine movements directed towards a global approach to design carries features and clear in its organizations formalism of the most important move away from the symmetry and the adoption of

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Jan 11 2021
Journal Name
Journal Of Planner And Development
The impact of recycling abandoned sites on sustainable development
...Show More Authors

In today's cities, it is easy to see large numbers of vacant lands and unused abandoned sites in downtown areas that are not only ugly but also potentially becoming fertile ground for criminal activities that endanger residents and visitors and contribute to the further degradation of neighborhoods,

can provide reuse of spaces Neglected opportunities to reshape the appearance of the city and to improve the city center for its users that the presence of many neglected sites, whether they were abandoned buildings or sites for destroyed buildings in Mosul after the war on ISIS and with large areas amid the urban fabric led to the emergence of the research problem is (lack of urban planning to reactivate abandoned sites within the ci

... Show More
View Publication Preview PDF
Publication Date
Sun Oct 04 2009
Journal Name
Journal Of Educational And Psychological Researches
اثار العولمة الاقتصادية على البيئة والإنسان في العراق
...Show More Authors

مشكلة البحث واهميته:-

          اخذ موضوع العولمة قدراً وافياً من الاهتمام سواء على المستوى الاكاديمي او على مستوى اجهزة الاعلام والرأي العام ومختلف التيارات السياسية والاقتصادية والاجتماعية ، فلا يخلو أي لقاء اقتصادي او سياسي او اجتماعي من الحديث عن العولمة اذ نشرت العديد من الابحاث والدراسات وعقدت الكثير من الندوات والمؤتمرات لدراسة العولمة وبيان اثارها ولعل ذل

... Show More
View Publication Preview PDF
Publication Date
Wed Feb 29 2012
Journal Name
Al-khwarizmi Engineering Journal
Effect of Construction Joints on Performance of Reinforced Concrete Beams
...Show More Authors

Construction joints are stopping places in the process of placing concrete, and they are required because in many structures it is impractical to place concrete in one continuous operation. The amount of concrete that can be placed at one time is governed by the batching and mixing capacity and by the strength of the formwork. A good construction joint should provide adequate flexural and shear continuity through the interface.

In this study, the effect of location of construction joints on the performance of reinforced concrete structural elements is experimentally investigated.

Nineteen beam specimens with dimensions of 200×200×950 mm were tested. The variables investigated are the location of the construction joints

... Show More
View Publication Preview PDF
Publication Date
Thu Dec 13 2018
Journal Name
Arab Science Heritage Journal
اهمية أهمية التوثيق في المحافظة على الموروث البغدادي
...Show More Authors

    Much has been written about Baghdad in the history books and documents ,about the Origin  of its call , Reality ,history ,peoples ,Rulers and  all that have passed since  the beginning of creation and so far...

View Publication Preview PDF
Publication Date
Thu Jun 01 2023
Journal Name
حوليات اداب عين شمس
تطبيق نظم المعلومات الجغرافية على موقع مدينة اشور
...Show More Authors

المستخلص: ساعدت التطورات التقنية الحديثة على تسهيل عمليات المسح والتوثيق ورسم الخرائط الاثرية فقللت بذا كثيراً من الجهد والمال اللازمين لذلك ومن هذا المنطلق اعتمد البحث نظم المعلومات الجغرافية وبرنامج (ARC GIS)، إذ يعد من اهم برامج نظم المعلومات الجغرافية ليكون عوناً، وبخاصة من حيث امكان تطبيق نظم المعلومات على موقع مدينة آشور بتوثيق ومسح موقع المدينة والعاصمة الأولى للآشوريين،و الدليل الحي على عظمة هذه

... Show More
Publication Date
Mon Dec 20 2021
Journal Name
Baghdad Science Journal
Evaluation Method of Mesh Protocol over ESP32 and ESP8266
...Show More Authors

Internet of Things (IoT) is one of the newest matters in both industry and academia of the communication engineering world. On the other hand, wireless mesh networks, a network topology that has been debate for decades that haven’t been put into use in great scale, can make a transformation when it arises to the network in the IoT world nowadays. A Mesh IoT network is a local network architecture in which linked devices cooperate and route data using a specified protocol. Typically, IoT devices exchange sensor data by connecting to an IoT gateway. However, there are certain limitations if it involves to large number of sensors and the data that should be received is difficult to analyze. The aim of the work here is to implement a self-

... Show More
View Publication Preview PDF
Scopus (25)
Crossref (12)
Scopus Clarivate Crossref
Publication Date
Sun Feb 25 2024
Journal Name
Baghdad Science Journal
Research on Emotion Classification Based on Multi-modal Fusion
...Show More Authors

Nowadays, people's expression on the Internet is no longer limited to text, especially with the rise of the short video boom, leading to the emergence of a large number of modal data such as text, pictures, audio, and video. Compared to single mode data ,the multi-modal data always contains massive information. The mining process of multi-modal information can help computers to better understand human emotional characteristics. However, because the multi-modal data show obvious dynamic time series features, it is necessary to solve the dynamic correlation problem within a single mode and between different modes in the same application scene during the fusion process. To solve this problem, in this paper, a feature extraction framework of

... Show More
View Publication Preview PDF
Scopus (7)
Crossref (4)
Scopus Crossref