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
Wed May 10 2023
Journal Name
Journal Of Planner And Development
The effect of urban obsolescence on the quality of the built environment for historical quarters
...Show More Authors

             The centers of cities and historical quarter are exposed to a severe threat to the values of the physical and legal urban environment as a result of the value deterioration and the emergence, emergence and spread of new values on the intellectual and urban context, which generates the loss of the urban environment for its spatio-temporal continuity, flexibility, adaptation and continuity, and thus urban obsolescence, Hence the problem of the research in “the lack of comprehensiveness of studies on the phenomenon of urban obsolescence and its impact on the decline in the values of the quality of the built environment in historic

... Show More
View Publication Preview PDF
Publication Date
Thu Jun 23 2022
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Effect of Curcumin at Various Doses on the Pharmacokinetic Profile of Tacrolimus in Healthy Rabbits
...Show More Authors

The purpose of present study is to evaluate the effect of co-administration of curcumin (CUR) at various doses on the pharmacokinetic (PK) profile of tacrolimus (TAC), a CYP 3A4 substrate in healthy male rabbits. Healthy male rabbits (n=18) were employed in an in vivo, parallel-randomized study. Three groups of rabbits were selected and separated: The rabbits in the first group (control group) received 1 mg/kg TAC orally. Blood samples (1.5-2 mL) were drawn from rabbits' ear marginal veins at the following time frames:  15.0, 30.0, 45.0, 60.0, 90.0, 120.0, 150.0, 180.0 and 300 minutes after TAC administration post dosing and analyzed by using a TAC chemiluminescent enzyme immunoassay (CLIA) detection kit. In the second and third gro

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Thu Nov 30 2023
Journal Name
Iraqi Journal Of Science
Effects of Land Uses on Soil Quality of Shwan Sub-basin, Kirkuk Governorate, Northern Iraq
...Show More Authors

     Thirty-two soil samples were collected from the study area in October 2020 for geochemical and pollutants investigation of Shwan Sub-basin soil. All soil samples were analysed for different geochemical analyses. The analysis results revealed that the pH values in soil samples ranged from 7.12 to 7.56 with a mean of 7.327. According to the pH values detected in the soil samples, the soil is classified as neutral soil. The electrical conductivity ranged from 0.92 mmhos/cm to 7.8 mmhos/cm with a mean of 1.53 mmhos/cm. Thus, according to the detected electrical conductivity values, the soil was classified as non-saline to slightly saline. The organic matter ranged from 1.14% to 1.45% with a mean value of 1.326 %, while total organic

... Show More
View Publication
Scopus Crossref
Publication Date
Wed Dec 30 2020
Journal Name
Iraqi Journal Of Science
The Effect of Axial Magnetic Field on The Breakdown Voltage of Air at Low Pressure
...Show More Authors

To add more details about the effect of the axial magnetic field on the plasma profile, the breakdown voltage of air was investigated at low pressure (9-15 Pa) in the presence of axial magnetic field (0.01-0.04T). The air was ignited by a DC voltage between two plain electrodes of aluminum separated by a distance (8.5cm). The measurements showed that the discharge voltage decreases to a minimum value, then returns to increase over the minimum with increasing the magnetic field strength, at all pressures in the range. It was also observed that a maximum decrease in the discharge voltage is obtained near the minimum of  Paschen curve from the right side. The decrease in the discharge voltage was caused mainly by the effect of magnetic

... Show More
View Publication Preview PDF
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Wed Feb 20 2019
Journal Name
Iraqi Journal Of Physics
The effect of volume fraction on the fatigue strength of unsaturated polyester / glass fiber composite
...Show More Authors

 In this work polymeric composites were done from unsaturated polyester as a matrix reinforced with glass fiber type (E-glass) with two different volume fraction 20% & 40%. Fatigue tests showed that the number of fatigue cycles to failure limit for samples reinforced with uniform (woven Roving 0-90°) E-glass fiber and random (continuous fibers) with volume fraction 40% more than that for the same samples with volume fraction 20%. Also the fatigue results showed that the uniform samples failed with fatigue cycles more than that of random.

View Publication Preview PDF
Crossref
Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
Investigating the Influence of the Solar activity on the Electron Density of Mars's Ionospheric Layer
...Show More Authors

The study of Mars's ionosphere was made by investigating the measurements of the electron density (Ne) depending of the variation of the solar activities through different local time, different seasons, and different altitudes. The datasets has been taken from MARSIS on board the Mars Express spacecraft, the investigation for the solar indices and the electron density (Ne) have been made for two period of time depending on the strength of the geomagnetic storms, the first one was taken when the geomagnetic storms was low as in years (1998 & 2005), the data was chosen for three seasons of these years, Winter (December), Summer (June) and Spring (April). The second period was taken for the years (2001 & 2002) when the geomagnetic s

... Show More
View Publication Preview PDF
Publication Date
Sun Sep 04 2011
Journal Name
Baghdad Science Journal
The effect of Sodium deoxycholate on the production of Newcastle virus inoculated in chorioallantoic membrane
...Show More Authors

Newcastle Disease is one of the most important disease world wide distributions which invade the flock in different age resulting in large economic losses. This study aimed to evaluate the effect of treatment with 4 different concentrations (0.25, 0.5, 1.0 and 2.0 %) of Sodium deoxycholate (SDC) on the vaccinal virus (La Sota) using inoculation in the fragments of Chorioallantoic membrane. The treatment with each of the above 4 concentrations of SDC resulted in an increase in the Hemagglutination titer (HA) of the virus (28, 29.6, 211.6, 214.6) respectively as compared to the HA titer value for the untreated virus (26.6). No significant differences were noticed among all concentrations with regard to their effect on the HA titer, except

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Jan 01 2011
Journal Name
Iraqi Journal Of Physics
Study of annealing effect on some Optical Properties of CuIn(SexTe1-x)2 Thin Films
...Show More Authors

The optical properties for the components CuIn(SexTe1-x)2 thin films with both values of selenium content (x) [0.4 and 0.6] are studied. The films have been prepared by the vacuum thermal evaporation method with thickness of (250±5nm) on glass substrates. From the transmittance and absorbance spectra within the range of wavelength (400-900)nm, we determined the forbidden optical energy gap (Egopt) and the constant (B). From the studyingthe relation between absorption coefficient (α) photon energy, we determined the tails width inside the energy gap.
The results showed that the optical transition is direct; we also found that the optical energy gap increases with annealing temperature and selenium content (x). However, the width of l

... Show More
View Publication Preview PDF
Publication Date
Sun Sep 29 2019
Journal Name
Iraqi Journal Of Science
Effect of Temperature on the Working Parameters of Negative Corona Discharge with Coaxial Electrodes Configuration
...Show More Authors

     The influence of ambient temperature on the various parameters of negative corona discharge in atmospheric dry air with coaxial cylindrical electrodes is investigated. The calculations are achieved using the finite element method by COMSOL Multiphysics software. The investigation aims to notice the effect many of working temperatures on the I-V characteristic curve of negative corona discharge in the air. The calculations of several parameters (electron density, temperature, ...) are presented visually and discussed. The results of the work are compared with theoretical and experimental data and they are in a good agreement.

View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Crossref
Publication Date
Sun Jul 02 2006
Journal Name
Journal Of The Faculty Of Medicine Baghdad
effect of some adenosine componunds on smooth muscles of the sheep bladder osteius ovis L
...Show More Authors

Background:

View Publication Preview PDF
Crossref