Preferred Language
Articles
/
alkej-775
Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
...Show More Authors

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.

 

Scopus Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Fri Feb 09 2001
Journal Name
Molecular Crystals And Liquid Crysta
Synthesis and characterization of symmetrical liquid crystalline compounds based on oxazole and thaizole rings
...Show More Authors

Twelve compounds containing a sulphur- or oxygen-based heterocyclic core, 1,3- oxazole or 1,3-thiazole ring with hydroxy, methoxy and methyl terminal substituent, were synthesized and characterized. The molecular structures of these compounds were performed by elemental analysis and different spectroscopic tequniques. The liquid crystalline behaviors were studied by using hot-stage optical polarizing microscopy and differential scanning calorimetry. All compounds of 1,4- disubstituted benzene core with oxazole ring display liquid crystalline smectic A (SmA) mesophase. The compounds of 1,3- and 1,4-disubstituted benzene core with thiazole ring exhibit exclusively enantiotropic nematic liquid crystal phases.

Scopus (9)
Scopus
Publication Date
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
mathematical model for segmentation of the overall planning of puplic redemption company- ministry of industry and minerals
...Show More Authors

Abstract

The study presents a mathematical model with a disaggregating approach to the problem of production planning of a fida Company; which belongs to the ministry of Industry. The study considers disaggregating the entire production into 3 productive families of (hydraulic cylinders, Aldblatt (dampers), connections hydraulics with each holds similar characteristics in terms of the installation cost, production time and stock cost. The Consequences are an ultimate use of the available production capacity as well as meeting the requirements of these families at a minimal cost using linear programming. Moreover, the study considers developing a Master production schedule that drives detailed material and production requi

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Oct 01 2025
Journal Name
Theory And Practice In Language Studies
A Socio-Pragmatic Study of Profanity and Derogatory Words in Doja Cat’s Songs: A Corpus-Based Study
...Show More Authors

Rap songs often feature artists who utilize explicit language to convey feelings such as happiness, sorrow, and anger, reflecting audience expectations and trends within the music industry. This study intends to conduct a socio-pragmatic analysis of explicit, derogatory, and offensive language in the songs of the American artist Doja Cat, employing Hughes’ (1996) Swearing Word Theory, Jay’s (1996) Taboo Words Theory, Luhr’s (2002) classification of social factors for sociolinguistic examination, Salager’s (1997) categories of hedges for pragmatic assessment, and Austin’s (1965, 1989) theory of speech acts. The researchers collected the data using the AntConc corpus analysis tool. The data shows the singer’s frequent use

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Mon Mar 23 2020
Journal Name
Baghdad Science Journal
A Assessment of long distance chasing photometer (NAG-ADF-300-2) by estimating the drug atenolol with ammonium molybdate via continuous flow injection analysis: drug atenolol a
...Show More Authors

     Atenolol was used with ammonium molybdate to prove the efficiency, reliability and repeatability of the long distance chasing photometer (NAG-ADF-300-2) using continuous flow injection analysis. The method is based on reaction between atenolol and ammonium molybdate in an aqueous medium to obtain a dark brown precipitate. Optimum parameters was studied to increase the sensitivity for developed method. A linear range for calibration graph was 0.1-3.5 mmol/L for cell A and 0.3-3.5 mmol/L for cell B, and LOD 133.1680 ng/100 µL and 532.6720 ng/100 µL for cell A and cell B respectively with correlation coefficient (r) 0.9910 for cell A and 0.9901 for cell B, RSD% was lower than 1%, (n=8) for the determination of ate

... Show More
View Publication Preview PDF
Scopus (10)
Crossref (4)
Scopus Clarivate Crossref
Publication Date
Thu Jun 20 2024
Journal Name
Frontiers In Microbiology
Removal of mobile genetic elements from the genome of Clostridioides difficile and the implications for the organism’s biology
...Show More Authors

Clostridioides difficile is an emerging pathogen of One Health significance. Its highly variable genome contains mobile genetic elements (MGEs) such as transposons and prophages that influence its biology. Systematic deletion of each genetic element is required to determine their precise role in C. difficile biology and contribution to the wider mobilome. Here, Tn5397 (21 kb) and ϕ027 (56 kb) were deleted from C. difficile 630 and R20291, respectively, using allele replacement facilitated by CRISPR-Cas9. The 630 Tn5397 deletant transferred PaLoc at the same frequency (1 × 10−7

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
SUBSTITUTION OF ANIMAL PROTEIN BY DIFFERENT ATION OF DRIED RUMEN MEAL IN COMMON CARP Cyprinus carpio DIETS: SUBSTITUTION OF ANIMAL PROTEIN BY DIFFERENT ATION OF DRIED RUMEN MEAL IN COMMON CARP Cyprinus carpio DIETS
...Show More Authors

The study was conducted to show the effect of using dried rumen powder as a source of animal protein in the diets of common carp (Cyprinus carpio L.) on its performance, in the fish laboratory/College of Agricultural Engineering Sciences/University of Baghdad/ for a period of 70 d, 70 fingerlings were used with an average starting weight of 30±3 g, with a live mass rate of 202±2 g, randomly distributed among five treatments, two replicates for each treatment and seven fish for each replicate. Five diets of almost identical protein content and different percentages of addition of dried rumen powder were added. 25% was added to treatment T2 and 50% to treatment T3 and 75% of the treatment T4 and 100% of the treatment T5

... Show More
View Publication Preview PDF
Publication Date
Sat Mar 30 2024
Journal Name
Wasit Journal For Pure Sciences
Arabic and English Texts Encryption Using Modified Playfair Algorithm
...Show More Authors

To maintain the security and integrity of data, with the growth of the Internet and the increasing prevalence of transmission channels, it is necessary to strengthen security and develop several algorithms. The substitution scheme is the Playfair cipher. The traditional Playfair scheme uses a small 5*5 matrix containing only uppercase letters, making it vulnerable to hackers and cryptanalysis. In this study, a new encryption and decryption approach is proposed to enhance the resistance of the Playfair cipher. For this purpose, the development of symmetric cryptography based on shared secrets is desired. The proposed Playfair method uses a 5*5 keyword matrix for English and a 6*6 keyword matrix for Arabic to encrypt the alphabets of

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Oct 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Scheduling projects using dynamic programming style and smart algorithm
...Show More Authors

The aim of this research is to compare traditional and modern methods to obtain the optimal solution using dynamic programming and intelligent algorithms to solve the problems of project management.

It shows the possible ways in which these problems can be addressed, drawing on a schedule of interrelated and sequential activities And clarifies the relationships between the activities to determine the beginning and end of each activity and determine the duration and cost of the total project and estimate the times used by each activity and determine the objectives sought by the project through planning, implementation and monitoring to maintain the budget assessed 

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Dec 05 2022
Journal Name
Baghdad Science Journal
Cloud Data Security through BB84 Protocol and Genetic Algorithm
...Show More Authors

In the current digitalized world, cloud computing becomes a feasible solution for the virtualization of cloud computing resources.  Though cloud computing has many advantages to outsourcing an organization’s information, but the strong security is the main aspect of cloud computing. Identity authentication theft becomes a vital part of the protection of cloud computing data. In this process, the intruders violate the security protocols and perform attacks on the organizations or user’s data. The situation of cloud data disclosure leads to the cloud user feeling insecure while using the cloud platform. The different traditional cryptographic techniques are not able to stop such kinds of attacks. BB84 protocol is the first quantum cry

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (6)
Scopus Crossref
Publication Date
Thu Feb 25 2016
Journal Name
Research Journal Of Applied Sciences, Engineering And Technology
Block Matching Algorithm Using Mean and Low Order Moments
...Show More Authors

In this study, a fast block matching search algorithm based on blocks' descriptors and multilevel blocks filtering is introduced. The used descriptors are the mean and a set of centralized low order moments. Hierarchal filtering and MAE similarity measure were adopted to nominate the best similar blocks lay within the pool of neighbor blocks. As next step to blocks nomination the similarity of the mean and moments is used to classify the nominated blocks and put them in one of three sub-pools, each one represents certain nomination priority level (i.e., most, less & least level). The main reason of the introducing nomination and classification steps is a significant reduction in the number of matching instances of the pixels belong to the c

... Show More
View Publication Preview PDF
Crossref