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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
Sat Jul 01 2017
Journal Name
Al–bahith Al–a'alami
The effects of Internet use on university’s students: “A Study on a Sample of Jordanian University’s students "
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The effects of Internet use on university’s students:The effects of Internet use on university’s students:“A Study on a Sample of Jordanian University’s students "This survey aims to identify the most important effects of Internet use on Jordanian public and private universities’ students by monitoring and analyzing a set of indicators that show the quality of the effects on specific fields such as  cultural, social, psychological, moral and political effects .To achieve these goals, the study attempts to answer the following questions:1.   What are the effects of Internet’s use on students?2. What is   the relationship between the effects and demographic variables such as  gender, age, family size an

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Publication Date
Mon Jul 11 2022
Journal Name
International Journal Of Online And Biomedical Engineering (ijoe)
Dynamic Background Subtraction in Video Surveillance Using Color-Histogram and Fuzzy C-Means Algorithm with Cosine Similarity
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The background subtraction is a leading technique adopted for detecting the moving objects in video surveillance systems. Various background subtraction models have been applied to tackle different challenges in many surveillance environments. In this paper, we propose a model of pixel-based color-histogram and Fuzzy C-means (FCM) to obtain the background model using cosine similarity (CS) to measure the closeness between the current pixel and the background model and eventually determine the background and foreground pixel according to a tuned threshold. The performance of this model is benchmarked on CDnet2014 dynamic scenes dataset using statistical metrics. The results show a better performance against the state-of the art

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Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Economics And Administrative Sciences
The efficiency of Using Attribute and Performance- Based Activity Methods to Raise the Level of Control Deviation A field study in Jaber Bin Hayyan Factory
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Cost is the essence of any production process for it is one of the requirements for the continuity of activities so as to increase the profitability of the economic unit and to support the competitive situation in the market. Therefore, there should be an overall control to reduce the cost without compromising the product quality; to achieve this, the management should have detailed credible and reliable information about the cost to be measured, collected, understood and to analyze the causes for the spread of deviations and obstacles the management faces, and to search for the factors that trigger the emergence of these deviations and obstacles

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Publication Date
Wed Feb 12 2020
Journal Name
Journal Of Material Cycles And Waste Management
New application of eco-friendly biosorbent giant reed for removal of reactive dyes from water followed by sustainable path for recycling the dyes-loaded sludge in concrete mixes
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Publication Date
Sun May 30 2021
Journal Name
Iraqi Journal Of Science
Identification of Vulnerable Zones for Groundwater Using a GIS-based DRASTIC Technique in Shwan Sub-basin/North-Iraq
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Groundwater is considered as one of the most important sources of fresh-water, on which many regions around the world depend, especially in semi-arid and arid regions. Protecting and maintaining groundwater is a difficult process, but it is very important to maintain an important source of water. The current study aims to assess the susceptibility of groundwater to pollution using the DRASTIC model along with the GIS environments and its tool boxes. A vulnerability map was created by relying on data collected from 55 wells surveyed by the researchers as well as archived records from governmental institutions and some international organizations. The results indicate that the region falls into three vulnerability functional zones , namely

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Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Science
Determination of the Origin of Mukdadiya Formation’s Gravels in Al-Teeb Region, East of Maysan Governorate, Southern Iraq, Based on Sedimentological and Paleontological Evidence
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      Mukdadiya Formation represents one of the formations that cover a huge area of Iraq. It contains several clastic deposits, such as sandstone, siltstone, and a noticeable amount of gravels. The gravels are considered as the hallmark to differentiate between Injana and Mukdadiya formations. Therefore, the current study focused on these facies to determine the petrography, paleontology , and origin of Mukdadiya deposits. The results of SEM-EDX and XRD analyses showed two types of gravels, namely the siliceous and lime gravels. The highest percentage of gravels belonged to the sedimentary origin (limestone). The elements of Si, Ca, and Fe represented the common elements that formed the studied gravels. The pale

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Publication Date
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Science
Depositional Conditions and Nature of Source Rocks of the Upper Part of the Balambo Formation in Northeastern Iraq Based on Rare Earth Elements Data
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The sequence in the upper part of the Balambo Formation is composed mainly of limestone alternating with marly limestones and dark grey shale in the Bosheen section (eastern Sulaymaniyah, northeastern Iraq) and has been studied in terms of its rare earth element (REE) content. The REEs are very low compared to modern marine sediments. They are depletion in LREEs, and enrichment in HREEs and (La/Yb)N in the studied rocks, indicating that these sediments retained the REEs pattern of marine waters. The negative Ce anomaly reflects direct sedimentation from marine waters under anoxic conditions with the contribution of terrigenous clays. The positive correlation of ∑REEs with Al, Ti, and Y, and the negative correlation of ∑REE

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Publication Date
Thu Apr 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
اصلاح واقع الموازنة العامة في العراق وفق معايير الكفاءة التخصيصية دراسة تحليلية للفترة 2004-2018
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الموازنة العراقية قبل عام 2003 تعاني من مشكله العجز فعلي بسبب انخفاض كمية تصدير النفط وانخفاض ايرادات الدولة ولكن بعد عام 2003 وبعد تحسن الوضع المالي للبلد (زيادة ايرادات الدولة) بسبب فك الحصار عن العراق وزيادة كميات النفط المصدرة اصبحت المشكلة التي تعاني منها الموازنة العامة هي العجز المخطط من عام (2004- 2018) .وبسبب الاعتماد على الايرادات النفطية نلاحظ في حالة زيادة اسعار النفط تزداد ايرادات الدولة فيزداد الت

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Publication Date
Sat Feb 01 2025
Journal Name
Арабистика Евразии
“I LOVED YOU TO BREAK”, A READING IN THE NOVEL “LIVING WALL” BY DORIT RABINYAN
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Publication Date
Sun Nov 12 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
A Study on the Influence of Induced Water Stress on Seeds Germination and Seedlings Growth of Silybum marianum
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The effect of water stress induced by using polyethylene glycol (PEG-6000) on germination of seeds and growth of seedlings of Silybum marianum was studied.  Two  concentrations  of PEG  were used to get two water stresses (-0.4 & -0.8 bar) as well as the control for comparison. The results showed a significant decrease (P<0.05) in germination  ratio compared  with  the control.  The ratio did  not slow down to less than 50% which indicates the ability of the seeds to resist water stress to some extent. Also, a significant decrease (P<0.05)  in the  length  of  shoot  and  root was  observed  compared with the control. This plant showed

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