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Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
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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.

 

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Publication Date
Sun Dec 29 2019
Journal Name
Iraqi Journal Of Science
On Lie Structure in Semiprime Inverse Semirings
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In this paper we introduce the definition of  Lie ideal on inverse semiring and we generalize some results of Herstein about Lie structure of an associative rings to inverse semirings.

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Publication Date
Tue Nov 30 2021
Journal Name
Iraqi Journal Of Science
(α, β) – Derivations on Prime Inverse Semirings
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Let S be a prime inverse semiring with center Z(S). The aim of this research is to prove some results on the prime inverse semiring with (α, β) – derivation that acts as a homomorphism or as an anti- homomorphism, where α, β are automorphisms on S.

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Publication Date
Mon Apr 01 2013
Journal Name
Journal Of The Faculty Of Medicine Baghdad
QTc Prolongation in Patients on Antipsychotic Drugs
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Background: There is a recognized association between prolongation of the heart rate corrected QT interval (QTc) and antipsychotic drugs. QTc prolongation may increase the risk of ventricular tachyarrhythmias, especially torsade de pointes, and therefore, sudden cardiac death.

Objective: This study assess the effect of antipsychotics and prolongation of the heart rate corrected QT interval (QTC), and QTC prolongation may increase the risk of ventricular tachyarrhythmias, especially torsade de pointes and sudden cardiac death.

Results: Abnormal QTc was defined as an interval of more than 440 ms (0.44 second) and was present in 21.7% (43 patients of 198). Benzhexol (-0.333

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Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
On Nano Generalized Semi Generalized Closed Sets
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In this paper we introduced a new class of - called - and study their basic properties in nano topological spaces. We also introduce -closure and -interior and study some of their fundamental properties.

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Publication Date
Thu Apr 06 2017
Journal Name
Global Journal Of Engineering Science And Researches 4(2348-8034):48-52
ON SEMI-STRONG (WEAK)CJ-TOPLOGICAL SPACES
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Publication Date
Sat Feb 27 2021
Journal Name
Iraqi Journal Of Science
Some Results on mX-N-connected Space
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In this essay, we utilize m - space to specify mX-N-connected, mX-N-hyper connected and mX-N-locally connected spaces and some functions by exploiting the intelligible mX-N-open set. Some instances and outcomes have been granted to boost our tasks.

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Publication Date
Sun May 17 2020
Journal Name
Iraqi Journal Of Science
Generalized Higher Derivations on ΓM-Modules
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The concepts of generalized higher derivations, Jordan generalized higher derivations, and Jordan generalized triple higher derivations on Γ-ring M into ΓM-modules X are presented. We prove that every Jordan generalized higher derivation of Γ-ring M into 2-torsion free ΓM-module X, such that aαbβc=aβbαc, for all a, b, c M and α,βΓ, is Jordan generalized triple higher derivation of M into X.

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
(,)- Strongly Derivations Pairs on Rings
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        Let R be an associative ring. In this paper we present the definition of (s,t)- Strongly derivation pair and Jordan (s,t)- strongly derivation pair on a ring R, and study the relation between them. Also, we study prime rings, semiprime rings, and rings that have commutator left nonzero divisior with (s,t)- strongly derivation pair, to obtain a (s,t)- derivation. Where s,t: R®R are two mappings of R.

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Publication Date
Wed Aug 17 2022
Journal Name
Aip Conference Proceedings
Remove phenolic pollutant on Bentonite surface nanopowder
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Publication Date
Sun Feb 01 2015
Journal Name
Journal Of Engineering
Effect of Saturation of Sandy Soil on the Displacement Amplitude of Soil Foundation System under Vibration
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In this study, the response and behavior of machine foundations resting on dry and saturated sand was investigated experimentally. A physical model was manufactured to simulate steady state harmonic load at different operating frequencies. The effect of relative density, depth of embedment, foundation area as well as the imposed harmonic load was investigated. It was found that the amplitude of displacement of the foundation increases with increasing the amplitude of dynamic force and operating frequency meanwhile it decreases with increasing the relative density of sand, degree of saturation, depth of embedment and contact area of footing. The maximum displacement was noticed at 33.34 to 41.67 Hz. The maximum displacement amplitude respons

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