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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
Fri Jun 01 2018
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The tax planning and its effect on the investment: On sample of Iraqi Contribution Company
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The importance of the current study  lies in the  importance of the  Tax policy that  being considered one of the most important tools working on fulfilling  the  social,  financial  and economic  goals  and improving  the investment environment  in the country  to become  having the ability to  activate the  national economy. The current study  has  referred  that  (  Has  the  tax planning  practiced by  the Iraqi  contribution  companies  led to increase  the  far-term tax  outcome through  getting  benefit of   the monetary  funds  and expansion in&nbs

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Publication Date
Sat Dec 17 2022
Journal Name
Iraqi Journal Of Laser
PDF S and U shape offset studying of the refractive index sensor based on coreless fiber: Aya R. Mejble* Hanan J.Taher
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Abstract:  Two different shapes of offset optical fiber was studied based on coreless fiber for refractive index (RI)/concentration (con.) measurement, and compare them. These shapes are U and S-shapes, both shapes structures were formed by one segment of coreless fiber (CF) was joined between two single mode (SMF) lead in /lead out with the same displacement (12.268µm) at both sides, the results shows the high sensitive was achieved in a novel S-shape equal 98.768nm/RIU, to our knowledge, no one has ever mentioned or experienced it, it’s the best shape rather than the U-shape which equal 85.628nm/RIU. In this research, it was proved that the offset form has a significant effect on the sensitivity of the sensor. Addi

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Publication Date
Sun Jan 01 2017
Journal Name
مجلة جامعة الانبار للعلوم الاقتصادية والادارية
Estimation impact of internal public debt on the monetary basis in the Iraqi economy for the period (2006-2015 )
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The public debt is the difference between the classical economic schools and the classical Keynesian schools and each public debt looks at a different perspective in terms of the impact of public debt on the economic and social balance, and the effects of internal public debt on external public debt on the general economy in terms of transfer of economic surplus between the sons of one generation or Between the state and another state, and internal public debt of the economic variables affecting the movement of the cash market through the impact of internal public debt on interest rates and cash reserves that constitute the basis of cash, so the study focused on studying the impact of public debt on The monetary basis is due to the

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Publication Date
Sun Jan 01 2023
Journal Name
1st International Conference On Achieving The Sustainable Development Goals
Empowerment and its impact on affordable housing sustainable planning : A case study of Al-Sultan housing complex in Al-Najaf
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The past decades of the last century and until now have witnessed many crises in the housing sector, and these crises were the result of many problems that led to a weak quality and quantity of housing stock, especially for lowincome people, and Goal 11 of the Sustainable Development Goals states, "Make cities and human settlements inclusive, safe, and capable of enduring and being sustainable, we have prepared this research that attempts to answer the following question: Is the current empowerment in the housing sector real and efficient support for people with limited income? The research assumes that empowerment in the housing sector has an important and effective role in reducing housing problems, the research aims to reach the most imp

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Publication Date
Thu Jun 01 2023
Journal Name
Journal Of Engineering
A Modified Vigenère Cipher based on Time and Biometrics features
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Biometrics is widely used with security systems nowadays; each biometric modality can be useful and has distinctive properties that provide uniqueness and ambiguity for security systems especially in communication and network technologies. This paper is about using biometric features of fingerprint, which is called (minutiae) to cipher a text message and ensure safe arrival of data at receiver end. The classical cryptosystems (Caesar, Vigenère, etc.) became obsolete methods for encryption because of the high-performance machines which focusing on repetition of the key in their attacks to break the cipher. Several Researchers of cryptography give efforts to modify and develop Vigenère cipher by enhancing its weaknesses.

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Publication Date
Sun Mar 17 2019
Journal Name
Baghdad Science Journal
A New Cipher Based on Feistel Structure and Chaotic Maps
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Chaotic systems have been proved to be useful and effective for cryptography. Through this work, a new Feistel cipher depend upon chaos systems and Feistel network structure with dynamic secret key size according to the message size have been proposed. Compared with the classical traditional ciphers like Feistel-based structure ciphers, Data Encryption Standards (DES), is the common example of Feistel-based ciphers, the process of confusion and diffusion, will contains the dynamical permutation choice boxes, dynamical substitution choice boxes, which will be generated once and hence, considered static,

            While using chaotic maps, in the suggested system, called

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Publication Date
Tue Jun 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
التحليل الفني لاتجاهات اسعار الاسهم باستخدام خارطة تحليل القوة النسبية - دراسة تحليلية في عينة من الشركات المدرجة في سوق العراق للاوراق المالية-
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يتناول البحث الحالي احد الاساليب المعروفة والمستخدمة في تحليل الاسهم بصورة منفردة او ضمن (قطاعاتها الصناعية) الا وهو اسلوب تحليل القوة النسبية.

ولاثبات فرضية البحث تم اختيار سوق العراق للاوراق المالية لكي يكون مجتمعا للبحث، ومن ثم اختيار عينة عمدية مؤلفة من ثلاثة عشر سهما من اسهم الشركات المدرجة في هذه السوق لتكون ميدانا للبحث.

توصل البحث الى عدد من الاستنتاجات، الا ان اكثر

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Publication Date
Thu Mar 01 2018
Journal Name
Ieee Systems Journal
A Comprehensive Survey of the Current Trends and Extensions for the Proxy Mobile IPv6 Protocol
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Scopus (19)
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Publication Date
Fri Feb 14 2014
Journal Name
International Journal Of Computer Applications
Parallelizing RSA Algorithm on Multicore CPU and GPU
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Publication Date
Thu Dec 30 2021
Journal Name
College Of Islamic Sciences
The path and its nodal purposes: The concept of the path, the purposes of divine mercy, and the purposes of divine education in favor of obedience
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The path and its nodal purposes
Abstract
This study has come to indicate the doctrinal purposes of faith in this path، It was composed of an introduction and four demands، as follows:
The first requirement: the intentions of distinguishing between the ranks of people according to divine justice، as those who pass by him are different. Some of them are safe by his work، surviving from the fire، and some of them are not peace، he falls into the fire of Hell، and all of them are different in their ranks in a manner consistent with the justice of God Almighty and the works they have given themselves.
The second requirement: the purposes of divine mercy in honoring the Prophet and his nation on the path and embodying their

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