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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 Feb 01 2015
Journal Name
Journal Of Economics And Administrative Sciences
تخطيط وجدولة تنفيذ مشاريع الخدمات البلدية بأستخدام نظام المعلومات الجغرافية(GIS ) بحث تطبيقي في مدينة الهندية ـ محافظة كربلاء المقدسة
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     The research has handled an important service sector in Iraq which is the municipals sector since it is connected directly and closely with the services presented to the citizens, and because the process of accomplishing the projects needs planning and scheduling for implementing these projects according to the available financial allocating and it was no choice but finding modern methods that help succeeding the processes of planning through making use of  Geographic Information system (GIS) in providing the necessary information in scheduling the projects since it is considered  as one of the tools that conveys the occurred in collecting the huge amount of  the locative d

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Publication Date
Fri May 20 2005
Journal Name
Thesis
Extraction and Description of Urease Enzyme Produced from Staphylococcus saprophyticus and study of its effect on kidney and bladder of white mice
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Extraction and Description of Urease Enzyme Produced from Staphylococcus saprophyticus and study of its effect on kidney and bladder of white mice

Publication Date
Fri Dec 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
المستخلص ان استخدام الموارد الاقتصادية التي يتمتع العراق بها ولاسيما الموارد النفطية ، التي تشكل المصدر الاساس للعوائد المالية ، من شأنه ان يزيد الفائض الاقتصادي خارج القطاع النفطي من خلال تعبئة وتحشيد القوى العاملة وتحويلها الى أصول رأسمالية ، كان
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     The use of economic resources enjoyed Iraq by especially oil resources, which constitute the main source of financial revenue, would the economic surplus outside the oil sector increases by mobilizing and rallying the labor power and turn it into an access capitalism, , was the cause of "the inaction of the productive sectors of the economy, made the investment planning process and even investment in human capital was not rationality with the increasing number of unemployed, particularly certificates and specializations high campaign, direction of the government towards market liberalism after 2003 through the, was focused not follow a clear economic policies, and the absence of planning, and the absence

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Publication Date
Wed Mar 29 2023
Journal Name
Journal Of Robotics
Real-Time SLAM Mobile Robot and Navigation Based on Cloud-Based Implementation
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This study investigates the feasibility of a mobile robot navigating and discovering its location in unknown environments, followed by the creation of maps of these navigated environments for future use. First, a real mobile robot named TurtleBot3 Burger was used to achieve the simultaneous localization and mapping (SLAM) technique for a complex environment with 12 obstacles of different sizes based on the Rviz library, which is built on the robot operating system (ROS) booted in Linux. It is possible to control the robot and perform this process remotely by using an Amazon Elastic Compute Cloud (Amazon EC2) instance service. Then, the map to the Amazon Simple Storage Service (Amazon S3) cloud was uploaded. This provides a database

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Publication Date
Mon Jan 01 2018
Journal Name
Turkish Journal Of Physiotherapy And Rehabilitation; 32(3)
A Reading on India’s and Pakistan’s Nuclear Armamen
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Publication Date
Wed Dec 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
Openness Management by Figures as a Model of Integrity and Transparency
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Competitive advantage is a substantial  strategic objective for organizations. It requires high levels in the quality of products and services provided to customers, continuous improvement of costing , care for creativity and innovative employees, and speed unique to the marketing and financial engineering, and business re-engineering processes. The situation in this area, requires actors to attract and develop human resources, including help in proper implementation of the strategic tasks that targeted by those institutions. According to the opinions and viewpoints of management scholars, the competitive advantage resource is the most important issue for organizations in the third millennium, which can be a

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Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
EFFECT OF SPRAYING ORGANIC EMULSION (APPETIZER) AND NANO NPK WITH UREA ON SOME GROWTH CHARACTERISTICS OF THREE SYNTHETIC CULTIVARS OF MAIZE: EFFECT OF SPRAYING ORGANIC EMULSION (APPETIZER) AND NANO NPK WITH UREA ON SOME GROWTH CHARACTERISTICS OF THREE SYNTHETIC CULTIVARS OF MAIZE
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A field experiment was carried out at the research station of the College of Agriculture - Wasit University / Kut, during the fall season 2021 in soil with texture (sandy mixture) using the RCBD design in the arrangement of splintered plates and with three replications, to study the effect of spraying different combinations of organic emulsion (Appetizer) and NPK nano fertilizer with urea fertilizer on the growth of synthetic cultivars of yellow corn. The main panels included three synthetic varieties of yellow corn (Fajr1, Sumer and Baghdad3), which symbolized by (V1,V2,V3) in sequence, while the secondary panels included five fertilization treatments in which mineral fertilizer (urea) was used 46% nitrogen with the full recomme

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Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
THE USE OF ULTRAVIOLET RAYS TO PRESERVE FERMENTED GREEN OLIVES AND ITS EFFECTS ON CHEMICAL PROPERTIES OF ITS EXTRACTED OIL : THE USE OF ULTRAVIOLET RAYS TO PRESERVE FERMENTED GREEN OLIVES AND ITS EFFECTS ON CHEMICAL PROPERTIES OF ITS EXTRACTED OIL
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The use of ultraviolet rays is one of the methods of treating surface contamination of many foods especially pickles. however, there are some side effects to its use, especially in high percentage oil food products, it is necessary to determine the appropriate doses and time periods to avoid deterioration of its oil physicochemical characteristics. this study was conducted to see the effect of ultraviolet rays 15W on some chemical properties of olive oil when using it to preserve green olive pickles, treated for 5, 10 and 15 min daily. green olive fruits Iraqi variety (al-ashrasi), in season (2020-2021) were pickled using Spanish style, the best time period to pr

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Publication Date
Fri Jun 16 2023
Journal Name
Journal Of Humanities And Social Sciences Researches
The Role and Importance of Electronic Automation in Banking Service Development: A Case Study of the Commercial Bank of Iraq
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Electronic banking services appeared as a result of laying the foundations for the application of electronic automation in the banking field, and despite the clear expansion in its adoption and implementation as an inevitable necessity imposed by international and national developments, its application was not ideal according to the level that was expected to occur after the abandonment of traditional banking services, which produced some risks Which is evident in the absence of a legal system, whether at the level of proving and authoritative electronic banking services such as electronic signature, Or at the level of protecting the confidentiality of these services and ensuring that they are not exp

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Publication Date
Thu Aug 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
تحسين " مقدرات المتغيرات المساعدة بطريقة جاكنايف " باستعمال صنف من أصناف خوارزمية المناعة مع تطبيق عملي
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تستند أغلب الطرائق الحصينة على فكرة التنازل عن جانب معين مقابل تقوية جانب آخر من خلال عدة أساليب أما آليات الذكاء الصناعي تحاول عمل موازنة بين الضعف والقوة للوصول إلى أفضل الحلول بأسلوب بحث عشوائي . في هذا البحث تم تقديم فكرة جديدة لتحسين مقدرات معلمات نماذج المعادلات الآنية الخطية الناتجة من طريقة المتغيرات المساعدة حسب طريقة جاكنايف Jackknife Instrumental Variable Estimation(JIVE) وذل

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