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
Sat Dec 05 2020
Journal Name
Iop Conference Series: Materials Science And Engineering, Volume 1067
The effect of cyclic loading on the nonlinear response of structural concrete members with arbitrary cross-sectional shapes
...Show More Authors

View Publication
Publication Date
Sat Aug 22 2020
Journal Name
Multicultural Education
Effect Of Using Webinar Technique On The Digital Culture Of Chemistry Students In Ibin Haitham Pure Science College
...Show More Authors

The aim of this research is to identify the effect of Webinar technique on digital culture in the College of Education for pure sciences at Ibin Haitham, University of Baghdad. The research samples consisted of (68) male and female students from the Chemistry Department who are following classes during the (2019- 2020) academic year. The samples represent (42%) of the total number of (162) students split into control and experimental groups. For this purpose, the scientific contents for testing were determined. The experimental part is based on analysis of the results from experiments in (preliminary standard solutions, refractive index, Beer-Lambert law). To achieve the aim of the research in testing the measure of student's digital cultur

... Show More
Publication Date
Tue Feb 09 2021
Journal Name
Palarch’s Journal Of Archaeology Of Egypt/egyptology
The effect of Five-Finger strategy on the holistic thinking of chemistry student in the second intermediate grade
...Show More Authors

The objective of the research is to identify the effect of the five-finger strategy on the holistic thinking of chemistry students in the second intermediate grade, where the sample consisted of 60 female students in a second classfrom one of the intermediate schools in Baghdad city, divided into two groups: control and experimental. The experimental design was based on the partial control; the scientific course was defined in the third and fourth chapters of the science book of the second intermediate grade.The two research tools were prepared: the attainment test with the scientific course and the holistic thinking scale paragraph (36) of multiple-choice pre- and posttest. The results showed a statistically significant difference between

... Show More
Publication Date
Mon May 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Antigenotoxicity of Eruca sativa Mill Extract on Bone marrow Cells of Male Albino Mice Treated With Vincristine
...Show More Authors

Chemotherapy drugs have a major role in fighting cancer but, that doesn’t mean they are clear
from side effect on human health. One of these drugs is vincristine this study, the
chemopreventive potency of the crude extract ofIn Eruca Sativa Mill Which have a good
reputation as antioxidant and anticancer against chromosomal aberration and suppressed
mitotic index in bonemarrow cells of male albino mice treated with 50µ1 of vincristine
intrapritoneally(ip) have been detected.
Results Showed a Significant increasing in the percentage of the mitotic index nearly to the
control group and a significant decrease in chromosomal aberration after (35) days of
treatment with 250 mg/kg crude extract of Erucas

... Show More
View Publication Preview PDF
Publication Date
Sat Feb 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
The impact of green strategy formulation processes on the adoption of green strategy areas at the functional level
...Show More Authors

The research aims at demonstrating the role of the formulation of the green strategy in adopting the areas of the green strategy at the level of jobs in the municipal institutions in the province of Babylon, specifically the Directorate of the municipality of Hilla. The most important areas related to the green strategy were highlighted directly or indirectly, after the indicators of environmental damage emerged from the actions of companies and institutions. The research included a sample size of 222 individual of municipal institutions with different job titles and specializations between the technical and administrative and different levels of academic achievement within the institutions within the Ministry of Construction, Ho

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Jan 18 2025
Journal Name
Journal Of Physical Education
The Effect of Proposed Exercises Using Sponge Mat On the Level of Performing Offensive Skills in Sitting Volleyball
...Show More Authors

View Publication
Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Engineering
Effect of Seismic Loading on Variation of Pore Water Pressure During Pile Pull-Out Tests in Sandy Soils
...Show More Authors

Experimental model was done for pile model of L / D = 25 installed into a laminar shear box contains different saturation soil densities (loose and dense sand) to evaluate the variation of pore water pressure before and after apply seismic loading. Two pore water pressure transducers placed at position near the middle and bottom of pile model to evaluate the pore water pressure during pullout tests. Seismic loading applied by uniaxial shaking table device, while the pullout tests were conducted through pullout device. The results of changing pore water pressure showed that the variation of pore water pressure near the bottom of pile is more than variation near the middle of pile in all tests. The variation of pore water

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Oct 31 2018
Journal Name
Iraqi Journal Of Science
The effect of Enalapril drug on some histological aspects of testes tissue in the mature albino male mice
...Show More Authors

The study aimed to evaluate whether Enalapril has any effects on the testicular tissue of the albino male mice which received or did not receive treatment with Enalapril.

Mature mice were divided into three groups: control group which fed with 0.1mg of normal saline, the second group was orally fed with 10 mg/Kg of Enalapril drug while the third group was fed with 20 mg/Kg of drug, one time a day for 30 successive days by using gavage tube (0.1ml).  The histological sections were performed and the slides were examined using the light microscope.

 The present study result of light microscopic images of mice testes cross sections which treated with 20 mg/Kg of Enalapril showed coagulated necrosis on spermatogonia

... Show More
View Publication Preview PDF
Publication Date
Wed Jun 30 2010
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Effect of the Forming Conditions in the Production of Gamma Alumina Catalyst Support on the Crushing Strength Property
...Show More Authors

An investigation was conducted for the determination of the effects of the forming conditions in the production of Gamma Alumina catalyst support on the crushing strength property. Eight variables were studied , they are ;binder content which is the sodium silicate , Solvent content which is the water, speed of mixing , time of mixing, drying temperature , drying time , calcinations temperature and the calcinations time
Design of the experiments was made by using the response Surface method in Minitab 15 software which supply us 90 experiments .
The results of this investigation show that the crushing strength for the dried Gamma alumina extrudate was affected by the drying temperature and the drying time only and there is no inter

... Show More
View Publication Preview PDF
Publication Date
Sun Oct 09 2022
Journal Name
Journal Of Research In Medical And Dental Science
Efficacy of Locally Applied K-Carrageenan on the Healing of Thermal Burn in Rat-Experimental Model: Histological Study
...Show More Authors

ABSTRACT Wound is damage or disruption to the normal anatomical structure and function. Carrageenan is sulphated polysaccharide found in Gigartina, Chondrus and Eucheuma species in the red algal family. Having anticancer, anti-inflammatory and renewal of tissues. Our study aimed to detect the role of kappa carrageenan in the burned skin wound repair. Skin burn were performed in the right and left cheek of 20 male rats (aged 7-8 weeks weighing 300-350 g). Burned skin rats were categorized into two equal groups. Burned areas of right side were treated with a local application of 1 ml of kappa carrageenan solution once daily (treatment group) and the left side receive no treatment (control group). After 5, and 10 days, 5 rats from each

... Show More