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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
Sun Oct 20 2024
Journal Name
Engineering Reports
A Theoretical and Experimental Investigation of the Effects of Inverted Wings Modifications on the Stability and Aerodynamic Performance of a Sedan Car at Cornering
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ABSTRACT<p>This research examines the impact of cornering on the aerodynamic forces and stability of a Nissan Versa (Almera) passenger sedan car by introducing novel modifications. These modifications included single inverted wings with end plates as a front spoiler, double‐element inverted wings with end plates as a rear spoiler, and incorporating the ground as a diffuser under the car trunk. The goal is to enhance the performance and stability of conventional passenger cars. To ensure the accuracy of the numerical data, the study utilized multiple methodologies to model the turbulence model, ultimately selecting the most suitable option. This involved comparing numerical data with wind tunnel experimental d</p> ... Show More
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Publication Date
Wed Nov 23 2022
Journal Name
Dental Hypotheses
Remineralization of Dentine Caries Using Moringa Oleifera Based Nano-Silver Fluoride: A Single-Blinded, Randomized, Active-Controlled Clinical Trial
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Publication Date
Tue Aug 27 2024
Journal Name
Tem Journal
Preparing the Electrical Signal Data of the Heart by Performing Segmentation Based on the Neural Network U-Net
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Research on the automated extraction of essential data from an electrocardiography (ECG) recording has been a significant topic for a long time. The main focus of digital processing processes is to measure fiducial points that determine the beginning and end of the P, QRS, and T waves based on their waveform properties. The presence of unavoidable noise during ECG data collection and inherent physiological differences among individuals make it challenging to accurately identify these reference points, resulting in suboptimal performance. This is done through several primary stages that rely on the idea of preliminary processing of the ECG electrical signal through a set of steps (preparing raw data and converting them into files tha

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Publication Date
Fri Oct 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
نظام الادارة البيئية على وفق الادارة الخضراء للموارد البشرية بحث ميداني في الشركة العامة للصناعات الكهربائية – معمل المحولات
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The current research dealt with "the role of green management of human resources in strengthening the environmental management system" where the topics of the organization's environmental management system and green management of human resources receive increased attention at the global level، because they are among the important and relatively recent issues، and for those who have a significant impact on the future of organizations، and this study aims To reveal the extent of the researched organization's application of the dimensions of green management of human resources، and whether it was sufficient in strengthening the organization's environmental management system، and for this purpose two main assumptions were formul

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Publication Date
Sun Jan 13 2019
Journal Name
Arab Science Heritage Journal
Antibacterial activity of Bacteriocins isolated from infant Lactobacillus against Listeria monocytogenes
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تم الحصول على ثلاث عزلات من بكتريا Lactobacillus  من عينات براز لأطفال ألرضاعه ألطبيعيه ، والعزلات صنفت للأنواع :   (Lf)L. fermentum ،و   (La)L. acidophilus، و . (Lr)  L. reuteri أظهرت العزلات الثلاث ألقدره على أ نتاج البكتريوسينات ضد بكتريا الأختبار Listeria monocytogenes  

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Publication Date
Mon Jun 02 2025
Journal Name
Ivy Lee For Public Relations
Contents of social marketing campaign advertisements )for community police analytical study)
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The research aims to achieve several goals، which are to reveal the issues that the social marketing campaigns organized by the community police in the Iraqi Ministry of Interior focus on، and to identify the communication methods that are used in the social marketing campaigns، as well as to reveal the audience groups that are targeted by the social marketing campaigns organized by them. Community police، as well as identifying the slogans that community police used in their campaigns، and revealing the extent to which community police use new ideas in social marketing campaigns ،The researcher adopted the survey method، relying on content analysis in form and content، to analyze the publications related to social marke

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Publication Date
Mon Feb 06 2023
Journal Name
Journal Of The College Of Basic Education
تحديد الذكاءات المتعددة لمدرسي اللغة الإنكليزية العراقيين لغة اجنبية على مستوى الكلية
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Teachers should have acceptable ratios of multiple intelligences. Knowing their most dominate intelligence, teachers will be capable of understanding and considering the multiple intelligences of their students. Accordingly, they will be able to use Gardner’s theory as an effective approach of teaching for all kinds of learners and not limited to a specific type of students especially those who have high ratios of verbal-linguistic and logic-mathematical intelligences

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Publication Date
Wed May 01 2019
Journal Name
Iop Conference Series: Materials Science And Engineering
Application of Variable Pulsed Irrigation Algorithm (VPIA) for Runoff Losses Reduction: Case Study of Different Soil Types
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Abstract<p>The low-pressure sprinklers have been widely used to replace the high-pressure impact sprinklers in the lateral move sprinkler irrigation system due to its low operating cost and high efficiency. However, runoff losses under the low-pressure sprinkler irrigation machine can be significant. This study aims to evaluate the performance of the variable pulsed irrigation algorithm (VPIA) in reducing the runoff losses under low-pressure lateral move sprinkler irrigation machine for three different soil types. The VPIA uses the ON-OFF pulsing technique to reduce the runoff losses by controlling the number and width of the pulses considering the soil and the irrigation machine properties. Als</p> ... Show More
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Publication Date
Sun Feb 28 2021
Journal Name
Journal Of Economics And Administrative Sciences
The use of the genetic algorithm to estimate the parameters function of the hypoexponential distribution by simulation
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In this research, the focus was placed on estimating the parameters of the Hypoexponential distribution function using the maximum likelihood method and genetic algorithm. More than one standard, including MSE, has been adopted for comparison by Using the simulation method

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Publication Date
Fri Jun 01 2018
Journal Name
Journal Of Engineering
Compensation of the Nonlinear Power Amplifier by Using SCPWL Predistorter with Genetic Algorithm in OFDM technique
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The High Power Amplifiers (HPAs), which are used in wireless communication, are distinctly characterized by nonlinear properties. The linearity of the HPA can be accomplished by retreating an HPA to put it in a linear region on account of power performance loss. Meanwhile the Orthogonal Frequency Division Multiplex signal is very rough. Therefore, it will be required a large undo to the linear action area that leads to a vital loss in power efficiency. Thereby, back-off is not a positive solution. A Simplicial Canonical Piecewise-Linear (SCPWL) model based digital predistorters are widely employed to compensating the nonlinear distortion that introduced by a HPA component in OFDM technology. In this paper, the genetic al

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