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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 Jul 21 2023
Journal Name
Journal Of Engineering
Effect of Fire Flame (High Temperature) on the Behaviour of Axially loaded Reinforced SCC Short Columns
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Experimental research was carried out to investigate the effect of fire flame (high temperature) on specimens of short columns manufactured using SCC (Self compacted concrete). To simulate the real practical fire disasters, the specimens were exposed to high
temperature flame, using furnace manufactured for this purpose. The column specimens were cooled in two ways. In the first the specimens were left in the air and suddenly cooled using water, after that the specimens were loaded to study the effect of degree of
temperature, steel reinforcement ratio and cooling rate, on the load carrying capacity of the reinforced concrete column specimens. The results will be compared with behaviour of columns without burning (control specime

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Publication Date
Fri Jun 17 2022
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Evaluation the Effectiveness of Phenolic Compound of Salvia Frigida on Induced Atopic Dermatitis in Experimental Mice
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Abstract

To evaluate the effectiveness of Phenolic Compound of Salvia Frigida on induced atopic dermatitis (AD) of mice. Forty mice were included in the study, divided in to four groups (10 mice/group): apparently healthy, induced AD without treatment, induced AD treated with tacrolimus 0.1% ointment, and induced AD treated with Phenolic Compound of Salvia Frigida cream 5%. Examination of histopathology was done and skin homogenates levels also measured. Levels of WBC, Eosinophil, skin tissue homogenate of IL-13 and IL-4, serum IgE, and histopathological scores were significantly increased among induced non treated AD group in comparison with control group. Comparisons of non-treated induced AD

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Publication Date
Sun Jul 28 2024
Journal Name
Lecture Notes In Networks And Systems
The Effect of the Audit Value on the Value Relevance of Accounting Information for Economic Units
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Abstract The study aims to clarify the value of auditing economic units and how it can be measured, which is one of the most important challenges to matching the Value Relevance of Accounting Information. The problem of the study was identified with questions that revolve around the extent to which it is possible to measure the value of auditing in Iraqi economic units and the extent to which the value of auditing affects the adequacy of accounting information. Through reviewing the studies discussing this topic, it was found that auditing can provide value through the performance of the auditor and adding value to the economic unit subject to audit. The study recommended the need to study the situational factors of auditing, whether exter

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Publication Date
Wed May 01 2019
Journal Name
Iop Conf. Series: Materials Science And Engineering
Fire flame effect on the compressive strength of reactive powder concrete using different methods of cooling
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This research foxed on the effect of fire flame of different burning temperatures (300, 400 and 500)oC on the compressive strength of reactive powder concrete (RPC).The steady state duration of the burning test was (60)min. Local consuming material were used to mixed a RPC of compressive strength around (100) MPa. The tested specimens were reinforced by (3.0) cm hooked end steel fiber of (1100) MPa yield strength. Three steel fiber volume fraction were adopted in this study (0, 1.0and 1.5)% and two cooling process were included, gradual and sudden. It was concluding that increasing burning temperature decreases the residual compressive strength for RPC specimens of(0%) steel fiber volume fraction by (12.16, 19.46&24.49) and (18.20, 27.77 &3

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Publication Date
Fri Jan 10 2020
Journal Name
Polymers
Influence of Polyphosphates on the Physicochemical Properties of Poly (Vinyl Chloride) after Irradiation with Ultraviolet Light
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Three new polyphosphates were synthesized in good yields by reacting diethylenetriamine with the appropriate phosphate ester in ethanol under acidic conditions. The polyphosphate structures were determined using FT-IR and 1H-NMR spectroscopies, and their elemental compositions were confirmed by EDX spectroscopy. Polyphosphates were added to poly(vinyl chloride) (PVC) at low concentrations to fabricate thin films. The PVC films were irradiated with ultraviolet light for long periods, and the effect of polyphosphates as the photostabilizer was investigated by determining changes in the infrared spectra (intensity of specific functional group peaks), reduction in molecular weight, weight loss, and surface morphology. Minimal changes we

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Publication Date
Thu Jan 02 2020
Journal Name
Journal Of The College Of Languages (jcl)
Iranian Jews’ Customs and Traditions in The Works of Dorrit Rabinyan (A Study in The Alley of Almond Bushes in Omerijan ): מסורת ומנהגים יהודי אירן ביצירותה של דורית רביניאן " עיון ברומן סמטת השקדות בעומריג'אן "
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The orient culture and heritage has directly influenced ,in a way or another , the literary works which recently have been noted by the oriental  Jews inside and outside of Israel. Several Jewish writers, who came from the orient  (especially from Iran ), have written their works while influenced by traditions and customs of the Iranian society, in which they were born , lived , and raised, and by the writers who were born in that society and then moved to Israel and lived there as a result of the Zionism and its notorious promises to gather Jewish people from all over the world to establish their national home at the expense of the Palestinian   land and people.

       That final

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Publication Date
Mon Feb 28 2022
Journal Name
Journal Of Educational And Psychological Researches
The Effectiveness of a Proposed Unite in Voluntary Work in Enhancing Critical Thinking Skills and The Attitudes towards Responsible Citizenship among Eighth Grade Female Students in the Governorate in Sultanate of Oman North Batinah
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The aim of the present study is to examine the effectiveness of a proposed unite in voluntary work in enhancing critical thinking skills and the attitudes towards responsible citizenship among eighth grade female students in the Sultanate of Oman. In order to collect the study data, the researchers employed a quasi-experimental research design with twenty female students from Al-Sideeqah bint Al-Sideeq for basic education school. The research data were collected via a critical thinking test that consisted of twenty-five items and a scale of twenty items under three different dimensions, which aimed to measure students' attitudes towards responsible citizenship. The researchers implemented these two instruments as pre- and post the experi

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Publication Date
Tue Jan 21 2025
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
A comparison between the hierarchical clustering methods for postgraduate students in Iraqi universities for the year 2019-2020 using the cophenetic and delta correlation coefficients
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The educational sector is one of the important sectors in the world, and it is considered one of the means of community development. In addition, it is one of the means of making the country’s renaissance and devel-opment because it represents the factory of thinking minds that make change. There is no doubt that this sector is the same as any other sector. The deficit in the studied scientific planning has been prolonged, which led to its deterioration, and the problems of education remain diverse and inherited from previous time periods, where the hierarchical cluster analysis was used on postgraduate students in universities in Iraq, except for Kurdistan region, and the number of universities that were included in the study was

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Publication Date
Fri Sep 15 2023
Journal Name
Journal Of College Of Education For Women / Al-iraqiya University
Black-on-Black Bullying in Roy Williams' Fallout
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Racism is a serious issue that impacts a lot of people around the world. Since slavery days, racial discrimination has been increasing to abhorrent levels in relation to black people. The aim of individual psychology by Alfred Adler is to study human behaviour by situating it in the social context which makes his writing ideal to explanation of racism. This paper aims to study racism in Roy Williams’ Fallout from the perspective of Alfred Adler’s theory. Alfred Adler's individual psychology emphasizes the importance of social factors in shaping individual behavior, including the ways in which individuals form their sense of self and identity. This makes it a valuable framework for understanding the complex social and psychological facto

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Publication Date
Sun Jun 03 2012
Journal Name
Baghdad Science Journal
On The Queuing System M/Er/1/N
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In this paper the queuing system (M/Er/1/N) has been considered in equilibrium. The method of stages introduced by Erlang has been used. The system of equations which governs the equilibrium probabilities of various stages has been given. For general N the probability of j stages of service are left in the system, has been introduced. And the probability for the empty system has been calculated in the explicit form.

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