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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
Mon Jul 04 2022
Journal Name
Journal Of Petroleum Exploration And Production Technology
Effect of acid treatment on the geomechanical properties of rocks: an experimental investigation in Ahdeb oil field
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Acidizing is one of the most used stimulation techniques in the petroleum industry. Several reports have been issued on the difficulties encountered during the stimulation operation of the Ahdeb oil field, particularly in the development of the Mishrif reservoir, including the following: (1) high injection pressures make it difficult to inject acid into the reservoir formation, and (2) only a few acid jobs have been effective in Ahdeb oil wells, while the bulk of the others has been unsuccessful. The significant failure rate of oil well stimulation in this deposit necessitates more investigations. Thus, we carried out this experimental study to systematically investigate the influence of acid treatment on the geomechanical properties of Mi4

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Publication Date
Sun Jul 31 2022
Journal Name
Iraqi Journal Of Science
Effect of Orphenadrine citrate drug on Corrosion of Stainless Steel (316L) in an Acidic Environment (Hydrochloric Acid)
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    The use of varied quantities of orphenadrine to protect stainless steel against corrosion in an acidic media at 298 K has been investigated. It was observed that when the drug's concentration is increased, the drug's speed of corrosion lowers. The data of inhibition efficiency (percent IE) in the presence of orphenadrine drug and corrosion resistance showed that the highest protection efficiency was achieved with the best concentration, and that the corrosion rate decreased with increasing orphenadrine drug concentrations, making it a good inhibitor for stainless steel in an acidic environment. The theoretical investigation proved the efficiency of the drug for inhibition, as the drug is absorbed on the surface of the stainless st

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Publication Date
Mon Dec 20 2021
Journal Name
Baghdad Science Journal
Impact of Denial-of-Service Attack on Directional Compact Geographic Forwarding Routing Protocol in Wireless Sensor Networks
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Directional Compact Geographic Forwarding (DCGF) routing protocol promises a minimal overhead generation by utilizing a smart antenna and Quality of Service (QoS) aware aggregation. However, DCGF was tested only in the attack-free scenario without involving the security elements. Therefore, an investigation was conducted to examine the routing protocol algorithm whether it is secure against attack-based networks in the presence of Denial-of-Service (DoS) attack. This analysis on DoS attack was carried out using a single optimal attacker, A1, to investigate the impact of DoS attack on DCGF in a communication link. The study showed that DCGF does not perform efficiently in terms of packet delivery ratio and energy consumption even on a sin

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Publication Date
Sun Mar 07 2010
Journal Name
Baghdad Science Journal
The Effect of Thickness on Some Optical Properties of Sb2S3 Thin Films Prepared by Chemical Bath Deposition
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Sb2S3 thin films have been prepared by chemical bath deposition on a glas sub Absorbance and transmittance spectra were recorded in the wavelength range (30-900) nm. The effects of thickness on absorption coefficient, reflectance, refractive index, extinction coefficient, real and imaginary parts of dielectric constant were estimated. It was found that the reflectivity, absorption coefficient , extinction coefficient, real part of dielectric constant and refractive index, all these parameters decrease as the thickness increased, while the imaginary part of the dielectric constant increase as the thickness incre

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Publication Date
Fri Sep 15 2017
Journal Name
Journal Of Baghdad College Of Dentistry
The Effect of Artificial Saliva on The Surface Roughness of Different Esthetic Archwires (An in Vitro Study)
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Background:The demand for esthetic orthodontic appliances is increasing so that the esthetic orthodontic archwires were introduced. This in vitro study was designed to evaluate the surface roughness offiber-reinforced polymer composite (FRPC) archwires compared to coated nickel-titanium (NiTi) archwires immersed in artificial saliva. Materials and Methods:Three types of esthetic orthodontic archwires were used: FRPC (Dentaurum), Teflon coated NiTi (Dentaurum) and epoxy coated NiTi (Orthotechnology). They were round (0.018 inch) in cross section and cut into pieces of 15 mm in length.Forty pieces from each type were divided into four groups; one group was left at a dry condition and the other three groups were immersed in artificial saliva (

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Publication Date
Sat Dec 30 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
• The Effect Of Brodifacoum On The Reproduction Of Male Wild House Mouse Mus musculus ( Muridae : Rodentia)
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The study  dealt  with the effect  o r the anticoagu l ant  rodentici de Brcidi facom on the reproduction of  male mus musculus trapped from d i ftcrent loculitieo of Uagltdad prov ince and ted with different doses (50

,75 ,100  mg) of  pellets of  this  rodenticide. The  results showed n significant  decrease  (p<  0.0 I )   in   testicular  weight  and   volume, epididymal ( head and tail) weight and numbers of different spermatogenic cells. The rodenticide caused a significant decrease in sperms concentration and a significant increase in dead and abnormal sperms in testes and epididymis.

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Publication Date
Sat Jan 30 2021
Journal Name
Iraqi Journal Of Science
The Effects of Psi Morphology on the Detection Efficiency of the Au-Nps Hot Spot SERS Sensors
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This work is related to the investigation of the effects of porous silicon (PSi) morphologies on the performance of plasmonic gold nanoparticles (Au-NPs) hot spot SERS sensors for the detection of amoxicillin molecules. Two Si wafers with different resistivity values of 10 and 100 Ω.cm were used to synthesize a PSi layer of pores- and mud-like structures, respectively, by pulsed photo chemical etching process. The hot spot SERS sensors were synthesized by incorporating the Au-NPs within the PSi morphologies of pores- and mud- like structures which are characterized by high density of nucleation sites. Plasmonic Au- NPs with different sizes and hot spot regions were incorporated into the porous structures by the ion reduction proces

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Publication Date
Sun Jun 11 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Impact of Al-Rasheed Power Plant Effluents on Biodiversity of Benthic Fauna in Tigris River, Southern Baghdad
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  Quantitative and qualitative composition of benthic invertebrate communities was studied during the period from January to December2012 at four stations that were selected on the Tigris River at Baghdad Province. One of the stations S2 located near Al-Rasheed Power Plant (RPP) to represent the ecological features of the plant site, whereas other stations, S1 were located at  the upstream of the RPP as a control station to investigate the ecological characters of the Tigris River.  Moreover, the two other stations S3 and S4 were located down to the impact of RPP to reflect the possible effects of the plant on the ecology of the river by comparison with the control stations. The present study recorded 44 taxa belong to 4 o

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Publication Date
Sun Apr 08 2018
Journal Name
Al-khwarizmi Engineering Journal
Experimental Investigation of the Effect of Curvature Ratio on Heat Transfer in Double Pipe Helical Heat Exchanger
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Different parameters of double pipe helical coil were investigation experimentally. Four coils were used; three with a curvature ratio (0.037, 0.031, and 0.028) and 11mm diameter of the inner tube while the fourth with 0.033 curvature ratio and 13 mm diameter of the inner tube. The hot water flow in the inner tube whereas the cold water flows in the annulus. The inlet temperatures of hot and cold water are 50 0C and 18 0C respectively. The inner mass flow rate ranges from 0.0167 to 0.0583 kg/s. The results show the Nusselt number increase with increase curvature ratio. The Nusselt number of the coil with 0.037 curvature ratio increases by approximately 12.3 % as compare with 0.028 curvature ratio. The results also r

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Types of Vinegar Available in Local Markets on Bacterial spp. Isolased from Rectal Fistula Abscess
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  The current study was conducted to study some certain quantities of dates , apple and white vinegar.      It was noticed that the percentage of acetic acid was (3.6%, 4.5%, 2.7%), for each and respectively, it was found that vinegar has an inhibiter biological activity against bacteria isolated from rectal fistula inflammation cases.     It was also noticed that vinger types have ability to increase healing anus fistula and show no toxicity on laboratory mice.

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