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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
Tue Jul 01 2014
Journal Name
Int. J. Eng. Ra
Pressure Gradient Influence on MHD Flow for Generalized Burgers’ Fluid with Slip Condition
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This paper presents a research for magnetohydrodynamic (MHD) flow of an incompressible generalized Burgers’ fluid including by an accelerating plate and flowing under the action of pressure gradient. Where the no – slip assumption between the wall and the fluid is no longer valid. The fractional calculus approach is introduced to establish the constitutive relationship of the generalized Burgers’ fluid. By using the discrete Laplace transform of the sequential fractional derivatives, a closed form solutions for the velocity and shear stress are obtained in terms of Fox H- function for the following two problems: (i) flow due to a constant pressure gradient, and (ii) flow due to due to a sinusoidal pressure gradient. The solutions for

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Publication Date
Thu Apr 18 2019
Journal Name
Iraqi Journal Of Science
Using natural materials as corrosion inhibitors for carbon-steel on phosphoric acid medium
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The inhibitive action of pomegranate peel as a plant source the corrosion of carbon-steel in phosphoric acid solutions was studied using the weight-loss method. Organic compounds present in natural materials are successfully used to reduce the rate of corrosion because they are cheap, renewable and effective. The results showed that the inhibition potency was enhanced with increasing increasing the amount of the inhibitor and the immersion time but it decreased with the increase of the concentration of the acid solution. The results also revealed a gradual increase in the corrosion rate with the increase of temperature, while the corrosion protection efficiency and surface coverage decreased.

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Publication Date
Fri Jun 30 2023
Journal Name
Iraqi Journal Of Science
On Г-n- (Anti ) Generalized Strong Commutativity Preserving Maps for Semiprime Γ-Rings
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      In this study, we prove that let N be a fixed positive integer and R be a semiprime -ring with extended centroid . Suppose that additive maps  such that  is onto,  satisfy one of the following conditions  belong to Г-N- generalized strong commutativity preserving for short; (Γ-N-GSCP) on R   belong to Г-N-anti-generalized strong commutativity preserving for short; (Γ-N-AGSCP)  Then there exists an element  and  additive maps  such that  is of the form  and   when condition (i) is satisfied, and     when condition (ii) is satisfied   

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Publication Date
Mon Jun 01 2015
Journal Name
Journal Of Economics And Administrative Sciences
Strategic leadership according to the outstanding banking performance analystical study on private banks
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This research aimd to analyze the role of strategic entreprenenial on according to the external performance of a sample of Iraqi private banks, namely, (National Islamic Bank, Iraqi Ahli Bank, Baghdad Bank , Middle East Iraqi Investment Bank) has launched research in fundamental problem stems from the question seeking his response to the characterization of the problem which is improve banking performance through strategic entreprenenial and to achieve the goal of the research was to prepare a questionnaire included a number of questions about the independent research and approved variables accounting for the independent variable strategic entreprenenial and included four dimensions (entreprenenial culture), entreprenenial leader

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Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
Gabbroic Rocks in Mawat Ophiolite Complex, NE Iraq: Geochemical Constraints on their Tectonogenesis
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    The Mawat Ophiolite Complex located in north-eastern Iraq represents part of the Iraqi Zagros Suture Zone, located at the border between the Arabian-Iranian plates. It consists of peridotite, gabbro, subvolcanic sheeted dykes and volcanic pillow lava. The geochemical signatures of the gabbro show a significant variation in major elements concentration, low concentrations of TiO2 (0.06-0.36 wt.%), Na2O (0.44-0.98 wt.%), K2O (0.024-0.48 wt.%), P2O5 (0.002-0.009 wt.%) and moderate variations in SiO2 (46.13-53.77 wt.%) with wide ranges and high concentration of Al2O3 (13.87-22.18 wt.%), Fe2O3 (0.04-2.95 wt.%), FeO (2.68-8.76 w

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Publication Date
Sun Jul 31 2022
Journal Name
Iraqi Journal Of Science
On Fixed Point Theorems by Using Rational Expressions in Partially Ordered Metric Space
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The main purpose of this paper is to introduce and prove some fixed point theorems for two maps that

satisfy -contractive conditions with rational expression in partially ordered metric spaces, our results improve and unify a multitude of fixed point theorems and generalize some recent results in ordered partially metric space.

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Publication Date
Wed Feb 05 2025
Journal Name
Al–bahith Al–a'alami
The public's reliance on satellite channels to get information about human rights issues
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The research aimed to study the role that the media play in shaping the public knowledge of human rights issues among the people of Kirkuk, which will be the focus of the study. The research was conducted by applying a survey panel to a random sample of the city's audience. The research dealt with the theoretical aspect of a theory that relied on the media, and the loans provided by the theory, on the basis of which the research was conducted and the research problem was determined based on a major question: What is the role that the mass media play in developing the knowledge of members of the public on human rights and the relationship between the intensity of view in that, as well as the identification of the effect of two variables G

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Publication Date
Tue Feb 28 2023
Journal Name
Iraqi Journal Of Science
Artemisinin Efficacy on iNOS Production in U937 Cell-line Infected with Leishmania donovani
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      Visceral leishmaniasis (VL), the second-most-serious parasitic illness after malaria, is currently endemic in more than 88 countries. Need for new anti-leishmanial compounds is currently being taken into consideration by researchers due to resistance and lack of effective vaccinations. This research was conducted to find out more about the effect of artemisinin (ART). ART was examined in vitro promastigotes stages and ex vivo amastigotes stages of the Iraqi strain of Leishmania donovani in U937 cell line after 24, 48 and 27 hours using MTT assay. In addition, the level of macrophage nitric oxide (NO) was measured using Griess assay in U937 cell line. The results of promastigotes viability percentage

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Publication Date
Wed Jul 01 2015
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
FIRST OBSERVATIONS ON Phrynocephalus maculatus longicaudatus Haas, 1957 (SQUAMATA: SAURIA: AGAMIDAE) IN IRAQ
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    The present paper confirmed the presence of Phrynocephalus maculatus longicaudatus Haas, 1957 in Iraq and recorded the first observations of this taxon in Al-Muthanna province southwestern of Iraq. The existence of the species is yet uncertain in Iraq. The habitat and morphological characteristics of this species were reviewed.

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Publication Date
Fri Mar 31 2017
Journal Name
Al-khwarizmi Engineering Journal
Big-data Management using Map Reduce on Cloud: Case study, EEG Images' Data
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Database is characterized as an arrangement of data that is sorted out and disseminated in a way that allows the client to get to the data being put away in a simple and more helpful way. However, in the era of big-data the traditional methods of data analytics may not be able to manage and process the large amount of data. In order to develop an efficient way of handling big-data, this work studies the use of Map-Reduce technique to handle big-data distributed on the cloud. This approach was evaluated using Hadoop server and applied on EEG Big-data as a case study. The proposed approach showed clear enhancement for managing and processing the EEG Big-data with average of 50% reduction on response time. The obtained results provide EEG r

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