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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
Thu Dec 31 2015
Journal Name
Kerbala Journal Of Pharmaceutical Sciences
Investigation the Factors Affecting on Gatifloxacin Eye Drop Stability
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This research included the study of different factors that may effect on gatifloxacin stability (anew quinolone synthetic antibacterial agent) in its aqueous solution in order to develop and optimize the best delivary of the drug to the eye (as eye drop) with maximum local concentration and minimum systemic absorption and toxicity.Different formulas of gatifloxacin solution for ophthalmic use (0.3%)w/v were prepared in citrate, acetate,citrate/phosphate and phosphate buffers,their tonicity adjusted with suitable quantity of sodium chloride.The effect of different factors that might affectthe stability of gatifloxacin in its prepared ophthalmic solution was studied and determined spectrophotometrically at 287 nm. The results showed t

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Publication Date
Thu Feb 02 2012
Journal Name
Education College Journal/al-mustansiriyah University
On Significance Testimator in Pareto Distribution Via Shrinkage Technique
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In this paper, preliminary test Shrinkage estimator have been considered for estimating the shape parameter α of pareto distribution when the scale parameter equal to the smallest loss and when a prior estimate α0 of α is available as initial value from the past experiences or from quaintance cases. The proposed estimator is shown to have a smaller mean squared error in a region around α0 when comparison with usual and existing estimators.

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Publication Date
Wed May 31 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Histological Study on Optic Tectum in Hemida ctylus Flaviviridis
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  A histological study was conducted to examine the structure of optic tectum in Hemidactylus flaviviridis. The results showed that the optic tectum consists of fourteen strata organized in three zones. The deep zone which extends from the first stratum (around optic ventricle) to the fifth stratum. The medium zone comprises the sixth & seventh strata, which represent the center of optic tectum. The superficial zone which extends from the eighth stratum to the fourteenth stratum and forms the retino recipient region.         The strata of deep zone are called the Stratum Griseum et Periventricular ( SGAP ) , the sixth stratum  is  called the Stratum Album Central ( SAC ) and&nbsp

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Publication Date
Thu Sep 30 2021
Journal Name
College Of Islamic Sciences
Islam's position on freedom according to John Stuart Mill
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The issue of freedom is the most prominent and distinctive issue of Western thought, which it reached after a long struggle. The English thinker John Stuart Mill is considered the most prominent Western thinker who elaborated on the issue of freedom, until his ideas on the issue of freedom became the semi-final formula for issues of freedom in Western thought, which revolve in their entirety on The individual has complete freedom as long as it does not harm others, and this freedom is controlled by law.

And if the freedoms he offered were not considered an achievement in Western thought; Freedom in Islam is a central and fundamental issue, and the details of freedoms in Islam have not been accomplished by anyone, but rather came

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
On Complete Intuitionistic Fuzzy Roh-Ideals in Roh-Algebras
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     In this paper, we shall investigate and study some kinds of ideals in an intuitionistic fuzzy setting, they are called complete intuitionistic fuzzy subalgebra, complete intuitionistic fuzzy ideal, and complete intuitionistic fuzzy ideal. In this study, we have also proposed some hypotheses to explain some of the relationships between these kinds of intuitionistic fuzzy ideals.

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Publication Date
Thu Jan 14 2021
Journal Name
Iraqi Journal Of Science
On-line Analytical Processing (OLAP) Operation for Outpatient Healthcare
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This paper presents an architecture for the data warehouse of outpatient healthcare (DWOP) as a data repository collects data from two different sources (Databases of outpatient healthcare and Excel files from hospitals) and provides storage, functionality and responsiveness to queries to meet decision makers requirements.
Successfully supporting managerial decision-making is critically dependent upon the availability of integrated, high quality information organized and presented in a timely and easily understood manner. “On-Line Analytical Processing (OLAP) is utilized for decision support to get interesting information” from the data warehouse with a rapid execution time. OLAP is considered one of Business Intelligence

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Publication Date
Thu Nov 17 2022
Journal Name
Journal Of Interdisciplinary Mathematics
Study on approximate analytical methods for nonlinear differential equations
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In this work, an analytical approximation solution is presented, as well as a comparison of the Variational Iteration Adomian Decomposition Method (VIADM) and the Modified Sumudu Transform Adomian Decomposition Method (M STADM), both of which are capable of solving nonlinear partial differential equations (NPDEs) such as nonhomogeneous Kertewege-de Vries (kdv) problems and the nonlinear Klein-Gordon. The results demonstrate the solution’s dependability and excellent accuracy.

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Publication Date
Sun Dec 01 2013
Journal Name
Journal Of Economics And Administrative Sciences
Assets Valuation Approaches & its Reflects on Financial Reporting Quality
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Abstract

   The model of financial reporting in  Iraq  Based on a specific set of accounting objectives & concepts, which require the application of the historical cost valuation approach due to the nature of the objectives of financial reporting in Iraq, established under the unified accounting system , which focuses on serving the needs of the state because it the most influential user in setting accounting objectives and concepts, which stems mainly from the nature of the economic system in Iraq, which focuses on the public sector versus the private sector as well as the nature of the ownership business that focuses on partnership versus corpor

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Publication Date
Wed Oct 28 2020
Journal Name
Iraqi Journal Of Science
Jordan Triple Higher (σ,τ)-Homomorphisms on Prime Rings
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In this paper, the concept of Jordan triple higher -homomorphisms on prime

rings is introduced.  A result of Herstein is extended on this concept from the ring  into the prime ring .  We prove that every Jordan triple higher -homomorphism of ring  into prime ring  is either triple higher -homomorphism  or triple higher -anti-homomorphism of  into .

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Publication Date
Fri Jul 19 2019
Journal Name
Iraqi Journal Of Science
Mann Iteration Processes on Uniform Convex n-Banach Space
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Let Y be a"uniformly convex n-Banach space, M be a nonempty closed convex subset of Y, and S:M→M be adnonexpansive mapping. The purpose of this paper is to study some properties of uniform convex set that help us to develop iteration techniques for1approximationjof"fixed point of nonlinear mapping by using the Mann iteration processes in n-Banachlspace.

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