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.

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Fri Feb 17 2023
Journal Name
Biomass Conversion And Biorefinery
Effect of green synthesis of Fe3O4 nanomaterial on the removal of cefixime from aqueous solution
...Show More Authors

In this paper, two types of iron oxide nanomaterial (Fe3O4) and nanocomposite (T-Fe3O4) were created from the bio-waste mass of tangerine peel. These two materials were utilized for adsorption tests to remove cefixime (CFX) from an aqueous solution. Before the adsorption application, both adsorbents have been characterized by various characterizations such as XRD, FTIR, VSM, TEM, and FESEM. The mesoporous nano-crystalline structure of Fe3O4 and T-Fe3O4 nanocomposite with less than 100-nm diameter is confirmed. The adsorption of the obtained adsorbents was evaluated for CFX removal by adjusting several operation parameters to optimize the removal. The optimal conditions for CFX removal were found to be an initial concentration of 40 and 50 m

... Show More
View Publication Preview PDF
Crossref (5)
Crossref
Publication Date
Thu Mar 15 2018
Journal Name
Journal Of Baghdad College Of Dentistry
Effect of Topical Application of Flavanoids Extract of Hibiscus Sabdariffa on Experimentally Induced Bone Defect
...Show More Authors

Background: The restoration of bone continuity and bone union are complex processes, and their success is determined by the effectiveness of osteosynthesis. The use of plants for healing purposes predates human history and forms the source of current modern medicine The aim of this study: It was histological evaluation of effect of topical application of flavonoid on healing of induced bone defect in rabbit tibia. Material and method: Twenty-four Adult New Zealand rabbits used in this study, they were divided into four groups for the healing periods (3days, 1,2, and 4weeks) Two holes were induced in rabbit tibia one on the left side and has been left to heal normally as control. While, the other hole made on the right side filled with flavo

... Show More
View Publication
Crossref (2)
Crossref
Publication Date
Thu Dec 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
The impact of financial reporting of earnings per share on the quality of financial reporting
...Show More Authors

This research deals with the case of the Iraqi joint-stock companies listed on the Iraq Stock Exchange study in terms of compliance with the requirements of IAS 33 "Earnings per share" and the research problem Alrtash concentrated in a statement the commitment of those companies the requirements of the International Standard 33, which may adversely affect the quality of financial reporting where and in particular the quality of accounting information and content of the primary and secondary characteristics make them be of interest to the decisions of its users, so the aim of this research to the statement of financial reporting earnings per share on the quality of financial reporting in listed shareholding in Iraq Stock Exchange

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Fri Jun 15 2018
Journal Name
Journal Of Baghdad College Of Dentistry
Evaluation of the effect of local exogenous application of osteopontin on wound healing in rats
...Show More Authors

Background: Wound healing is a complex dynamical interaction between various cell types, the extracellular matrix, cytokines, and growth factors. osteoponetin is a substance that acts as an anti-inflammatory. Aims of study: The study was designed to identify the role of local exogenous applications of osteopontin on wound healing (in cheek skin). Materials and methods: Thirty adult male albino rats weighting an average of (250-300gm) used in this study, incisional wounds were made in the skin of the cheek of rat and they were divided into the following groups: A-Control group: 15 rats treated with 1µ l of normal saline B-Experimental groups: 15 rats treated with topical application of 1µl osteopontin. The scarification of animals we

... Show More
View Publication
Crossref
Publication Date
Sun Jul 02 2006
Journal Name
Journal Of The Faculty Of Medicine Baghdad
alidity of echocardiographic parameters in the diagnosis of chronic effects of hypertension on the heart
...Show More Authors

Background:

View Publication Preview PDF
Crossref
Publication Date
Sun Sep 30 2001
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
The Effect of MFI of High-Density Polyethylene on the Mathematical Modeling of Tensile Characteristic
...Show More Authors

View Publication Preview PDF
Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
Effect of Different Percentages of Titanium Dioxide Additives on the Enamel Protecting of Steel Surface
...Show More Authors

This work involves the development of ceramic coating to steel surfaces (enamel).This enamel high quality consisted of two ceramic layers to ensure excellent bonding with the steel surfaces. The first is called the ground coat which proved bonding between the steel base and the second outer layer called the cover coat. Various concentrations of TiO2 were separately added to the mixture of the cover coat, resulting in to much better densification of the ceramic outer layer, the hardness, thermal shock resistances, and glossiness were improved also .Moreover this addition has raised the corrosion resistances of the ceramic in harsh acidic environment and at higher temperatures Also this enamel was used to protect the surfaces of steels whi

... Show More
View Publication Preview PDF
Publication Date
Sun Jun 01 2014
Journal Name
Baghdad Science Journal
Study of the Effect of Berry Paper Mulberry on Optical Properties of Poly Methyl Methacrylate
...Show More Authors

In this work, study the optical properties of composites consisting of poly Methyl Methacrylate and Berry Paper Mulberry. The samples of composites were prepared using casting method .The Berry Paper Mulberry (BPM) was added by different concentrations are (0, 2, 4 and 6)wt.%. The optical properties of composites have been studied in the wavelength range (200-800)nm. The absorption coefficient ,energy gap, refractive index, extinction coefficient and dielectric constants have been determined. The results show that the optical constants change with increase of BPM concentrations .

View Publication Preview PDF
Crossref
Publication Date
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
Study of the Influence of Different Optical Properties on the Image of Compound light microscope
...Show More Authors

Microscope images are characterized by a number of specific parameters, the influence of such parameters (intensity, magnification, numerical aperture, diaphragms aperture, segmentation, and edge detecting technique) on measurement in optical microscope images have been determined with using a powerful image processing methods. As one of the most widespread techniques in biological investigation and dynamic process, light compound microscopy has used to analyze the optical properties of biological images. The results indicate that a wide aperture allows maximum resolution and depth of field, but decreases the contrast. While a small aperture improve visibility and contrast but decreases the resolution. The results also show the best perf

... Show More
View Publication Preview PDF
Publication Date
Sun Dec 05 2010
Journal Name
Baghdad Science Journal
Effect of temperature on viability of human hydatid cyst & study the volume of hydatid cyst
...Show More Authors

The hydatid materials were collected and studied, so they were contained 50 fertile human hydatid cases {33 (66%) females and 17 (34%) males}. They were collected from Al-Ramadi General Hospital during the period from December, 2003 to July, 2004 .Cysts were observed in 40 (80%) from the liver, 5 (10%) from the lungs, 3 (6%) from the kidney and 2 (4%) cysts from urinary bladder. The specimens were taken from patients of different ages. The in vitro viability of protoscoleces was assessed on the basis of flame cell activity and eosein exclusion, which were considered as criteria to determine the death or viability of protoscoleces. In addition to this movement (flame cell activity), another motility like constriction – relaxatio

... Show More
View Publication Preview PDF