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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 Oct 01 2018
Journal Name
Journal Of Educational And Psychological Researches
PROPOSED STANDARDS FOR EVALUATING THE EDUCATIONAL VIDEO ON THE SOCIAL MEDIA
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In the spreading of the Internet, mobile smart devices, and interactive websites such as YouTube, the educational video becomes more widespread and deliberative among users. The reasons for its spread are the prevalence of technologies, cheap cost, and easy to use. However, these products often lack to the distinction in video production. By following videos of an educational channel on YouTube, some comments found to discuss the lack of the content presented to motivate the learners, which lead to reduce the viewers of the videos. Therefore, there is an important decision to find general standards for the design and production of educational videos. A list of standards has been drawn up to help those interested in producing educational

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Publication Date
Tue Jun 30 2015
Journal Name
Al-khwarizmi Engineering Journal
Laser Peening on Aluminum Alloy 7049 Using Black Paint Surface Coating
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Abstract

Black paint laser peening (bPLP) technique is currently applied for many engineering materials , especially for aluminum alloys due to high improvement in fatigue life and strength . Constant and variable   bending fatigue tests have been performed at RT and stress ratio R= -1 . The results of the present  work observed that the significance of the surface work hardening which generated high negative residual stresses in bPLP specimens .The fatigue life  improvement factor (FLIF)  for bPLP constant fatigue behavior was from 2.543 to 3.3 compared to untreated  fatigue and the increase in fatigue strength at 107 cycle was 21% . The bPLP cumulative fatigue life behav

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Publication Date
Mon May 08 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Study to the Main Effects on the Auger de-excitation Transition
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  An Eigen-state expansion method is applied to the transition of the Auger de-excitation charge transfer (AD) process in the interaction between clean Cu,Al and Na surfaces and excited incident gases H and He .We use this method to describe the effective surfaces electronic structure. It's shown that the AD efficiency is deeply influenced by the presence of the energy band for the surfaces and the potential energy stored within the excited incident atom, thus for long interaction time we use a slowly atom's about 1KeV to scatter from metals surfaces where the electron couldn't probe the metal band structure and Za the surface - projectile distance. Also we drive a new formula for AD interaction Matrix element

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Chewing Lice (Mallophaga) Parasitic on Pycnonotus leucotis in Al- Diwaniya city
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    This study done was carried out identify the species of parasitical lice on.   White cheeked bulbul(Pycnonotus leucotis).For this purpose 24 birds were collected from AlDiwaniya city and examined externally for the lice.The results showed that  P. leucotis  was infested with five species of chewing lice with a total infestation ratio of 87.5% .These species were:- Menacanthus sp., Columbicola columbae , Bonomiella columba , Coloceras damicorne and  Alcedoecus sp.       The result of this study represents the first isolation of these species from white cheeked bulbul in Iraq.The species were recorded from P. leucotis as a new host for such parasites. Menacanthus sp.

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Publication Date
Tue Mar 01 2016
Journal Name
Journal Of Engineering
Energy Dissipation on the Ogee Spillways by Using Direction Diverting Blocks
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The purpose of this study is to evaluate the hydraulic performance and efficiency of using direction diverting blocks, DDBs, fixed on the surface on an Ogee spillway in reducing the acceleration and dissipating the energy of the incoming supercritical flow. Fifteen types of DDB models were made from wood with a triangulate shape and different sizes were used. Investigation tests on pressure distribution at the DDBs boundaries were curried out to insure there is no negative pressures is developed that cause cavitation. In these tests, thirty six test runs were accomplished by using six types of blocks with the same size but differ in apex angle. Results of these test showed no negative pressures developed at the boundarie

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Publication Date
Thu Mar 01 2012
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Predicting changes on budget expenditures using Markov chains with practical application
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The researchers have a special interest in studying  Markov  chains as one of the probability samples which has many applications in different fields. This study comes to deal with the changes issue that happen on budget expenditures by using statistical methods, and Markov chains is the best expression about that as they are regarded reliable  samples in the prediction process. A transitional matrix is built for three expenditure cases (increase ,decrease ,stability) for one of budget expenditure items (base salary) for three directorates (Baghdad ,Nineveh , Diyala) of one  of the ministries. Results are analyzed by applying  Maximum likelihood estimation  and Ordinary least squares  methods resulting

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Publication Date
Sun Jun 12 2011
Journal Name
Baghdad Science Journal
The MR affect on optical properties for poly (Vinyl alcohol) films
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optical properties of pure poly(vinyl Alcohol) films and poly(vinyl Alcohol) doped with methyl red were study, different percentage prepared with constant thickness using casting technique. Absorption, Transmission spectra have been recorded in order to study the optical parameters such as absorption coefficient, energy gap, refractive index, Extinction coefficient and dispersion parameters were measured in the wavelength range (200-800)nm. This study reveals that the optical properties of PVA affect by increasing the impurity concentration.

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Publication Date
Fri Jan 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
α-Sumudu Transformation Homotopy Perturbation Technique on Fractional Gas Dynamical Equation
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     Transformation and many other substitution methods have been used to solve non-linear differential fractional equations. In this present work, the homotopy perturbation method to solve the non-linear differential fractional equation with the help of He’s Polynomials is provided as the transformation plays an essential role in solving differential linear and non-linear equations. Here is the α-Sumudu technique to find the relevant results of the gas dynamics equation in fractional order. To calculate the non-linear fractional gas dynamical problem, a consumer method created on the new homotopy perturbation a-Sumudu transformation method (HP TM) is suggested. In the Caputo type, the derivative is evaluated. a-Sumudu homotopy pe

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Publication Date
Wed Feb 22 2023
Journal Name
Iraqi Journal Of Science
On Solving Singular Multi Point Boundary Value Problems with Nonlocal Condition
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In this paper Hermite interpolation method is used for solving linear and non-linear second order singular multi point boundary value problems with nonlocal condition. The approximate solution is found in the form of a rapidly convergent polynomial. We discuss behavior of the solution in the neighborhood of the singularity point which appears to perform satisfactorily for singular problems. The examples to demonstrate the applicability and efficiency of the method have been given.

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Publication Date
Thu Apr 08 2021
Journal Name
Journal Of Interdisciplinary Mathematics
The F-composition operator on Hardy space ℍ<sup>2</sup>
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