Preferred Language
Articles
/
alkej-775
Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
...Show More Authors

planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the performance of the proposed algorithm. Simulations results showed that the proposed path planning algorithm effective performance by finding the shortest and free-collision path in different collide environments. Furthermore, the superiority of the proposed algorithm was proved through comparisons with other famous path planning algorithms with different static environments.

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Thu Jan 14 2021
Journal Name
Iraqi Journal Of Science
Influence of the School Orientation of the High School Students on Their School Career
...Show More Authors

The orientation allows the individual to develop the capacity to become aware of his personal characteristics and to develop them in order to choose his studies, his training and his professional activities, in all the conjunctures of his existence, with the joint concern for the collective future of solidarity and the fulfillment of one's personality and responsibility». (Danvers, 1992,p. 190). This advice states that: orientation is a process closely associated with education and formation. It becomes effective if the steps include broad information on education and trades, and focuses on the social development and moral construction of the individual. The objective of this survey is to show the influence of the orientation of the p

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Thu Dec 23 2021
Journal Name
Iraqi Journal Of Science
Effect of Spheroidization Treatment on Friction Stir Processing of Al- 14 wt.% Si Alloy
...Show More Authors

    Three different rotational speeds (800, 1000 and 1250 rpm) and traverse speeds of (0.42 mm/sec) at a constant taped pin have been employed to produce the stir zones generated from friction stir processing (FSP) of near eutectic Al- 14 wt.% Si alloy. The processed samples were thoroughly analyzed macroscopically and microscopically. The as-cast microstructure of eutectic (α Al+ Si) and primary Si were fragmented to produce spheroidization of small size of Si and deformed matrix. The stir zones showed an increase in hardness from around 45-50 Hv for as-cast to 40-65 depending on the variables applied. All the processed samples were characterized by advanced and retreated regions with large single piping defects formed m

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Histological Effect of Aspirin on the Stomach of Male Albino Swiss Mice (Mus musculus)
...Show More Authors

The present study aimed to determine the impacts of Aspirin drug on the stomach of albino Swiss mice. The study sample included 10 male mice divided into 2 groups. The first group was orally administered with 0.1 mL of 0.75 mg/kg aspirin once daily, whereas the second group, the control, was treated with similar doses of distilled water. Following 60 days of successive treatment, a number of parameters was studied including difference in body weight and histopathological changes in the  stomach as diagnosed after histological preparation. The results showed a significant decrease (p<0.05) in body weight average of the treated mice compared with the control group. The results also revealed the occurrence of several histopathologic

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Sat Oct 01 2011
Journal Name
Iraqi Journal Of Physics
The Role of Annealing Temperature on the Optical Properties of Thermally Deposited CdTe Films
...Show More Authors

A polycrystalline CdTe film has been prepared by thermal evaporation technique on glass substrate at substrate temperature 423 K with 1.0 m thicknesses. The film was heated at various annealing temperature under vacuum (Ta =473, 523 and K). Some of physical properties of prepared films such as structural and optical properties were investigated. The patterns of X-ray diffraction analysis showed that the structure of CdTe powder and all films were polycrystalline and consist of a mixture of cubic and hexagonal phases and preferred orientation at (111) direction.
The optical measurements showed that un annealed and annealed CdTe films had direct energy gap (Eg). The Eg increased with increasing Ta. The refractive index and the real p

... Show More
View Publication Preview PDF
Publication Date
Tue Dec 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Effect of Adding Chopped Carbon Fiber (CCF) on the Improvement of Gypsum Plaster Characteristicssss
...Show More Authors
Abstract<p>The current work studies the effect of adding chopped carbon fiber (CCF) on gypsum plaster properties (precisely the compressive strength and the modulus of rupture). The research plan consists of using six mixes of gypsum plaster; these mixes are divided into two groups according to the (Water/Gypsum) ratios (0.5 & 0.6). Each group was divided into three subgroups according to CCF volume fraction (Vf): 0.0%, 0.2% and 0.4%. Three cubic (50×50×50) mm and three prismatic (40×40×160) mm samples were performed for each mix. It was found that, the addition of CCF to the gypsum plaster mixes increases both the compressive strength and the modulus of rupture for both (W/G) ratios, an</p> ... Show More
View Publication
Scopus (9)
Crossref (12)
Scopus Crossref
Publication Date
Tue May 01 2018
Journal Name
Journal Of Physics: Conference Series
Cytotoxic effects of new synthesis heterocyclic derivatives of Amoxicillin on some cancer cell lines
...Show More Authors

A new Schiff base [I] was prepared by refluxing Amoxicillin trihydrate and 4-Hydroxy- 3,5-dimethoxybenzaldehyde in aqueous methanol solution using glacial acetic acid as a catalyst. The new 1,3-oxazepine derivative [II] was obtained by Diels- Alder reaction of Schiff base [I] with phthalic anhydride in dry benzene. The reaction of Schiff base [I] with thioglycolic acid in dry benzene led to the formation of thiazolidin-4-one derivative [III]. While the imidazolidin-4-one [IV] derivative was produced by reacting the mentioned Schiff base [I] with glycine and triethylamine in ethanol for 9 hrs. Tetrazole derivative [V] was synthesized by refluxing Schiff base [I] with sodium azide in dimethylformamid DMF. The structure of synthesized compound

... Show More
Scopus (16)
Crossref (5)
Scopus Clarivate Crossref
Publication Date
Tue Sep 15 2020
Journal Name
Journal Of Baghdad College Of Dentistry
The impact of caries experience on quality of life among dental students in Iraq
...Show More Authors

Background: Dental caries is generally given the highest priority in national oral health services for adult populations. Yet, there is no study which has explored the impact on quality of life specifically related to dental caries in samples of dental students. The purpose of the current study was to assess the impact of caries experience on quality of life among dental students in three governorates in Iraq. Materials and Methods: This observational study included 1364 dental students aged 18–22 years old, from three governorates. Information on quality of life was obtained from a structured, self-administered questionnaire from the students who were willing to participate in the study. The data was collected, summarized and sta

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Mon Mar 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Influence of Aluminum Doping on Structural Films)Thin 3O2and Optical Properties of (Bi
...Show More Authors

      In this research, the structural and optical properties were studied for Bi2O3 and Bi2O3: Al  thin  films  with   different  doping   ratios  ( 1, 2, 3 ) %  ,  which  were  prepared  by  thermal evaporation  technique under  vacuum , with  thickness  ( 450 ± 20 ) nm  deposited  on  glass substrates  at  room  temperature ( 300 ) K , Structural   measurements by ( XRD)  techniques demonstrated   that  all   samples  prepared   have  polycrystalline  structure   with  tetragonal structure and  a preferred orientation  [ 201 ]   the &n

... Show More
View Publication Preview PDF
Publication Date
Mon Jun 30 2014
Journal Name
Al-kindy College Medical Journal
The effect of cigarette smoking on the clinical outcome of pulmonary tuberculosis in Iraq
...Show More Authors

Background: Tobacco smoking and tuberculosis (TB) are two major public health problems; Associations between smoking and tuberculosis including death from tuberculosis have been reported , A reduction in smoking could be expected to have a significant impact on TB incidence and prevalence .
Objectives: to assess the effect of smoking on tuberculosis.
Methods: This study was conducted from June 2011 to June 2012 in 200 patients, adult ( aged 17 years and more), newly diagnosed patients of pulmonary tuberculosis, at the chest and Respiratory Disease Specialized Center in Baghdad. Demographic data, presenting symptoms, data on smoking, and recurrence of disease were compared. Information on smoking status, tobacco smoking was collecte

... Show More
View Publication Preview PDF
Publication Date
Tue Mar 14 2023
Journal Name
Iraqi Journal Of Science
Effect of Chemical Mutagens on Some Morphological Traits of Vicia faba L. Cv. Aqadulce
...Show More Authors

To investigate the effect of chemical mutagens: sodium azide (SA), hydrazine hydrate (HZ) and maleic hydrazine (MH) on morphological variations of faba bean traits. Seeds were soaked in distilled water for six hours, then in different concentrations of the above mentioned mutagens (0.01, 0.03, 0.05%) represented by (C1,C2 and C3 respectively) for six hours and planted in the field in winter 2013-2014. Factorial Experiment was arranged in Randomized Complete Block Design (RCBD) with three replications to each treatment. The results of statistical analysis showed significant differences among studied treatments. All mutagens showed significant reduction in plan height and number of branches per plant compared with control plants which gave

... Show More
View Publication Preview PDF