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
Tue Dec 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
The Impact Of Knowledge Innovation On Strategic Empowerment (Comparative Field Research)
...Show More Authors

The Innovation Of Knowledge Is An Important And A Key Element In The Progress And Business Excellence Organizations, Therefore Requires Several Elements To Help Create And Implement And Move The Innovation Process Of Knowledge, Including The Strategic Empowerment Associated With The Element Of The Process Of Strategic Momentum Engine Driven Wheel Continuous Dynamic Innovation, And Focused Research Problem By Measuring The Availability Of Strategic Empowerment When Individuals From By Senior Departments And Ways To Help Organizations To Provide Empowerment Commensurate With The Requirements Of Achieving The Goals Of Time And Place Appropriate For The Individual, And The Importance Of Research Stems From The Importance Of The Varia

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Mon Nov 19 2018
Journal Name
Arab Science Heritage Journal
اقدام إقدام الخلفاء العباسيين وأولادهم على انتهال العلم والتعلم
...Show More Authors

The theme of the Abbasid Caliph and their children great interest in the knowledge and effective not only in the history of civilization but in the history of the humanity and the sublime values. Their interest and care for the scholar ulamaa and rendering help and encouragement by their caliphs were keen for science and knowledge because whatever the scholars have a status they cannot give help without and knowledge and the practice of their role in the interest and the care

View Publication Preview PDF
Publication Date
Mon May 11 2020
Journal Name
Baghdad Science Journal
Moving Objects Detection Based on Frequency Domain: image processing
...Show More Authors

In this research a proposed technique is used to enhance the frame difference technique performance for extracting moving objects in video file. One of the most effective factors in performance dropping is noise existence, which may cause incorrect moving objects identification. Therefore it was necessary to find a way to diminish this noise effect. Traditional Average and Median spatial filters can be used to handle such situations. But here in this work the focus is on utilizing spectral domain through using Fourier and Wavelet transformations in order to decrease this noise effect. Experiments and statistical features (Entropy, Standard deviation) proved that these transformations can stand to overcome such problems in an elegant way.

... Show More
View Publication Preview PDF
Scopus (4)
Scopus Clarivate Crossref
Publication Date
Tue Aug 15 2023
Journal Name
Al-academy
Reading the visual discourse according to the design structures of the internal environments
...Show More Authors

The current research dealt with contrastive structures and the culture of reception in the design of interior spaces as embodying a rhetorical aspect that reveals formal values related to the meanings of beauty through the mechanisms of symbolism and interpretation that drives mental behavior and is in harmony with intellectual data and its performance function.
Hence, the research in the first chapter dealt with the research problem, the need for it, and the extent of the necessity that calls for studying contrastive structures in interior design and architecture, and touching and searching for what is the paradox and its representations for the recipient, in which the interior designer plays an active role in presenting the best cre

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Sep 08 2024
Journal Name
مجلة الدراسات التربوية والعلمية
موقف جريدة الاهرام من الحصار الاقتصادي على العراق١٩٩٢-١٩٩٩
...Show More Authors

ان حـق التنميـة والتطـور مـن احلقـوق التـي طالبـت هبـا املجتمعـات الدوليـة كافـة السـيام بعـد احلــرب العامليــة الثانيــة، ولكــن العقوبــات االقتصاديــة التــي فرضــت عــى العــراق مل تراعــي حقــه يف التنميــة فبعــد ان كان العــراق يتجــه نحــو التقــدم والتطــور يف منطقــة الــرق االوســط عــاد إىل التدهـور والضعـف بسـبب فـرض العقوبـات االقتصاديـة عليـه مـن قبـل املجتمـع الـدويل ، ونظـرا المهي

... Show More
View Publication
Publication Date
Sat Mar 30 2013
Journal Name
College Of Islamic Sciences
 The responses of the army overseer to the grammarians in the preposition section
...Show More Authors

This is a contextual study in face and isotope science, and I have made it in one of the terms faces and isotopes, which is the word (bad). Quranic also, and that is at every aspect they mentioned.
The nature of the research required that it be divided into three sections:
The first topic: I singled it out to show the types of contextual connotations.
- The second topic: I singled it out to define the word bad and its meaning.
- The third topic: I devoted it to the study of the word bad and explaining the significance of the Quranic context on the additional meaning and the original meaning.
Conclusion: It mentioned the most important results, which are:
1- The significance of the Quranic context is one of the most impo

... Show More
View Publication Preview PDF
Publication Date
Wed Oct 14 2026
Journal Name
Al–bahith Al–a'alami
THE ROLE OF PRESS ADVERTISING IN ENCOURAGING THE PUBLIC TO PURCHASE
...Show More Authors

This research sheds light on how press advertising affects consumer behavior and draws attention to it by identifying the factors that influence the intellectual perception process or attention to it. The aim of the research was to identify the factors that help achieve the objectives of the press announcement. The aim of the research was to identify the factors that help to achieve the objectives of the press announcement. The research problem was identified in four questions that were answered through a questionnaire distributed to a sample of students of College of Mass Communication, University of Baghdad. Do newspaper advertisements meet the readers’ need to search for the req

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Oct 28 2022
Journal Name
Political Sciences Journal
The political and economic repercussions of the Chinese Marshall Plan on the Arab world
...Show More Authors

China is moving towards building the largest economic power in the world, so what does this mean economically and politically for Europe, America, the Middle East and the Arab world? This project is called the expansionist Chinese Marshall Plan which is a revival of the old Silk Road in a new way. It represents the aspirations of the Chinese people and their president, Xi Jinping, to build a transport route from Asia to Europe and a railway plan to transport goods. The purpose of this is to develop the economic growth model, expand into new markets, promote the Chinese currency, and expand economic and political influence in the areas covered by the Chinese initiative. Equal opportunities in distributing investments to these countries, a

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Mar 01 2019
Journal Name
Al-khwarizmi Engineering Journal
The Effect of Micro and Nano Material on Critical Heat Flux (CHF) Enhancement
...Show More Authors

The Nano materials play a very important role in the heat transfer enhancement. An experimental investigation has been done to understand the behaviors of nano and micro materials on critical heat flux. Pool boiling experiments have used for several concentrations of nano and micro particles on a 0.4 mm diameter nickel chrome (Ni-Cr) wire heater which is heated electrically at atmospheric pressure. Zinc oxide(ZnO) and silica(SiO2) were used as a nano and micro fluids with concentrations (0.01,0.05,0.1,0.3,0.5,1 g/L), a marked enhancement in CHF have been shown in the results for nano and micro fluids for different concentrations compared to distilled water. The deposition of the nano particles on the heater surface was the rea

... Show More
View Publication Preview PDF
Publication Date
Sun Mar 01 2015
Journal Name
مجلة كلية التربية للبنات
الابعاد الجيوبوليتكية لميناء مبارك على العراق تحليل جغرافي سياسي
...Show More Authors

تتمثل الأبعاد الجيوبوليتكية لميناء مبارك الكويتي على العراق في تأثيره على الموقع البحري والمصالح الاقتصادية والاستراتيجية للعراق. فالميناء يقع قرب الممرات البحرية العراقية، مما يثير مخاوف بشأن حرية الملاحة والوصول إلى الخليج العربي. كما قد يؤثر اقتصاديًا في حركة التجارة وكفاءة الموانئ العراقية، خاصة مشروع ميناء الفاو الكبير. سياسيًا، أثار المشروع نقاشات حول الحدود البحرية والعلاقات العراقية–الكويتية،

... Show More