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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
Wed Sep 02 2020
Journal Name
Iraqi Journal Of Applied Physics
Heterojunction Solar Cell Based on Highly-Pure Nanopowders Prepared by DC Reactive Magnetron Sputtering
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In this work, a novel design for the NiO/TiO2 heterojunction solar cells is presented. Highly-pure nanopowders prepared by dc reactive magnetron sputtering technique were used to form the heterojunctions. The electrical characteristics of the proposed design were compared to those of a conventional thin film heterojunction design prepared by the same technique. A higher efficiency of 300% was achieved by the proposed design. This attempt can be considered as the first to fabricate solar cells from highly-pure nanopowders of two different semiconductors.

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Publication Date
Fri Jul 01 2016
Journal Name
International Journal Of Modern Trends In Engineering And Research (ijmter)
An image processing oriented optical mark reader based on modify multi-connect architecture (MMCA)
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Optical Mark Recognition (OMR) is the technology of electronically extracting intended data from marked fields, such as squareand bubbles fields, on printed forms. OMR technology is particularly useful for applications in which large numbers of hand-filled forms need to be processed quickly and with a great degree of accuracy. The technique is particularly popular with schools and universities for the reading in of multiple choice exam papers. This paper proposed OMRbased on Modify Multi-Connect Architecture (MMCA) associative memory, its work in two phases: training phase and recognition phase. The proposed method was also able to detect more than one or no selected choice. Among 800 test samples with 8 types of grid answer sheets and tota

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Publication Date
Fri Dec 01 2023
Journal Name
Iraqi Journal Of Physics
Gas Sensor for Hazardous Nitrogen Dioxide Based on TiO2 Nanotube Synthesis via Electrochemical Method
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Because of the quick growth of electrical instruments used in noxious gas detection, the importance of gas sensors has increased. X-ray diffraction (XRD) can be used to examine the crystal phase structure of sensing materials, which affects the properties of gas sensing. This contributes to the study of the effect of electrochemical synthesis of titanium dioxide (TiO2) materials with various crystal phase shapes, such as rutile TiO2 (R-TiO2NTs) and anatase TiO2 (A-TiO2NTs). In this work, we have studied the effect of voltage on preparing TiO2 nanotube arrays via the anodization technique for gas sensor applications. The results acquired from XRD, energy dispersion spectro

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Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Hartha Formation divisions Based on Well Logs Analysis in Majnoon Oil Field, Southern Iraq
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This study aims to evaluate reservoir characteristics of Hartha Formation in Majnoon oil field based on well logs data for three wells (Mj-1, Mj-3 and Mj-11). Log interpretation was carried out by using a full set of logs to calculate main petrophysical properties such as effective porosity and water saturation, as well as to find the volume of shale. The evaluation of the formation included computer processes interpretation (CPI) using Interactive Petrophysics (IP) software.  Based on the results of CPI, Hartha Formation is divided into five reservoir units (A1, A2, A3, B1, B2), deposited in a ramp setting. Facies associations is added to well logs interpretation of Hartha Formation, and was inferred by a microfacies analysis of th

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Microgrid Integration Based on Deep Learning NARMA-L2 Controller for Maximum Power Point Tracking
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This paper presents a hybrid energy resources (HER) system consisting of solar PV, storage, and utility grid. It is a challenge in real time to extract maximum power point (MPP) from the PV solar under variations of the irradiance strength.  This work addresses challenges in identifying global MPP, dynamic algorithm behavior, tracking speed, adaptability to changing conditions, and accuracy. Shallow Neural Networks using the deep learning NARMA-L2 controller have been proposed. It is modeled to predict the reference voltage under different irradiance. The dynamic PV solar and nonlinearity have been trained to track the maximum power drawn from the PV solar systems in real time.

Moreover, the proposed controller i

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Publication Date
Tue Sep 25 2018
Journal Name
Iraqi Journal Of Science
Refractive Index Sensor Based on Micro- Structured Optical Fibers with Using Finite Element Method
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In this paper a refractive index sensor based on micro-structured optical fiber has been proposed using Finite Element Method (FEM). The designed fiber has a hexagonal cladding structure with six air holes rings running around its solid core.  The air holes of fiber has been infiltrated  with different liquids such as water , ethanol, methanol, and toluene then sensor characteristics like ; effective refractive index , confinement loss, beam profile of the fundamental mode, and sensor resolution are investigated by employing the FEM. This designed sensor characterized by its low confinement loss and high resolution so a small change in the analyte refractive index could be detect which is could be useful to detect the change of

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Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
Monthly Carbone Monoxide (CO) Distribution Based on the 2010 MOPITT Satellite Data in Iraq
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Carbon monoxide (CO) plays an important indirect greenhouse gases due to its influences on the budgets of hydroxyl radicals (OH) and Ozone (O3). The atmospheric carbon monoxide (CO) observations can only be made on global and continental scales by remote sensing instruments situated in space. One of instrument is the Measurements of Pollution in the Troposphere (MOPITT), which is designed to measure troposphere CO and CH4 by use of a nadir-viewing geometry and was launched aboard the Earth Observing System (EOS) Terra spacecraft on 18 December 1999. Results from the analysis of the retrieved monthly (1ºх1º) spatial grid resolution, from the MOPITT data were utilized to analyze the distribution of CO surface mixing ratio in Iraq for th

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Publication Date
Sat Sep 21 2013
Journal Name
Nonlinear Dynamics
BER performance enhancement for secure wireless optical communication systems based on chaotic MIMO techniques
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Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Computational And Theoretical Nanoscience
Solution for Multi-Objective Optimisation Master Production Scheduling Problems Based on Swarm Intelligence Algorithms
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The emphasis of Master Production Scheduling (MPS) or tactic planning is on time and spatial disintegration of the cumulative planning targets and forecasts, along with the provision and forecast of the required resources. This procedure eventually becomes considerably difficult and slow as the number of resources, products and periods considered increases. A number of studies have been carried out to understand these impediments and formulate algorithms to optimise the production planning problem, or more specifically the master production scheduling (MPS) problem. These algorithms include an Evolutionary Algorithm called Genetic Algorithm, a Swarm Intelligence methodology called Gravitational Search Algorithm (GSA), Bat Algorithm (BAT), T

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Publication Date
Fri Dec 31 2021
Journal Name
International Journal Of Intelligent Engineering And Systems
Performance Analysis for Hybrid Massive MIMO FSO/RF Links Based on Efficient Channel Codes
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