Preferred Language
Articles
/
bsj-9648
Self-Localization of Guide Robots Through Image Classification
...Show More Authors

The field of autonomous robotic systems has advanced tremendously in the last few years, allowing them to perform complicated tasks in various contexts. One of the most important and useful applications of guide robots is the support of the blind. The successful implementation of this study requires a more accurate and powerful self-localization system for guide robots in indoor environments. This paper proposes a self-localization system for guide robots.  To successfully implement this study, images were collected from the perspective of a robot inside a room, and a deep learning system such as a convolutional neural network (CNN) was used. An image-based self-localization guide robot image-classification system delivers a more accurate solution for indoor robot navigation. The more accurate solution of the guide robotic system opens a new window of the self-localization system and solves the more complex problem of indoor robot navigation. It makes a reliable interface between humans and robots. This study successfully demonstrated how a robot finds its initial position inside a room. A deep learning system, such as a convolutional neural network, trains the self-localization system as an image classification problem.  The robot was placed inside the room to collect images using a panoramic camera. Two datasets were created from the room images based on the height above and below the chest. The above-mentioned method achieved a localization accuracy of 98.98%.

Scopus Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Tue Dec 01 2020
Journal Name
Baghdad Science Journal
Effect of Electrolyte Composition on Structural and Photoelectrochemical Properties of Titanium Dioxide Nanotube Arrays Synthesized by Anodization Technique
...Show More Authors

The present work involves studying the effect of electrolyte composition [@1= 0.5 wt.%  NH4F / 5% H2O / 5% Glycerol (GLY)/ 90%  Ethylene Glycol (EG)] and [ @2= 0.5 wt. % NH4F / 5% H2O / 95%  Ethylene Glycol (EG)]  on the structural and photoelectrochemical properties of titania nanotubes arrays (TNTAs). TNTAs substrates were successfully carried out via anodization technique and were carried out in 40 V for one hour in different electrolytes (@1, and @2). The properties of physicochemical of TNTAs were distinguished via an X-ray Diffractometer (XRD), Field Emission Scanning Electron Microscope (FESEM), an Energy Dispersive X-ray (EDX), and UV–visible diffuse reflectance. T

... Show More
View Publication Preview PDF
Scopus (13)
Crossref (10)
Scopus Clarivate Crossref
Publication Date
Mon Jan 13 2025
Journal Name
Modern Sport
Administrative Skills and Their Role in Distinguishing the Institutional Performance of Directors of Sports Activity in Iraqi Universities
...Show More Authors

The research aims to identify the administrative skills and their role in institutional performance, and used the descriptive approach in a survey style and correlational relations to suit the nature of the problem to be studied.The research community was identified with the directors of sports activity in the Iraqi universities in a deliberate manner, and their number is (134) directors, where two scales (administrative skills and institutional performance) were used and the two scales were distributed to the above-mentioned sample in order to obtain answers that meet the required and representative sample of the community on the day 3/12/2021. The answers to all the statements were completed and after processing the results statistically

... Show More
View Publication
Publication Date
Tue Jun 01 2021
Journal Name
Food Chemistry
Development of cellulose Nanofiber-based substrates for rapid detection of ferbam in kale by Surface-enhanced Raman spectroscopy
...Show More Authors

View Publication
Scopus (24)
Crossref (21)
Scopus Clarivate Crossref
Publication Date
Sat Jan 01 2022
Journal Name
Communications In Mathematical Biology And Neuroscience
The effect of fear on the dynamics of two competing prey-one predator system involving intra-specific competition
...Show More Authors

View Publication
Scopus (5)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Thu Jun 23 2022
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
In silico, In vitro studies of Anti-Oxidant and Anthelminthic Abilities of Phytoconstituents from Rhynchosia cana (Wild.) DC.
...Show More Authors

Helminthiasis is a significant economic burden on grazing cattle. Increased resistance to currently available synthetic anthelmintics used to treat helminthiasis, and anthelmintic residues in meat and dairy products pose a significant worldwide health threat. These obstacles require the development of new anthelmintics capable of combating drug resistance while also exhibiting improved safety profiles. Rhynchosia cana (Fabaceae) is a herb that has historically been used as a worm expeller. To evaluate the phytochemical profile and explore the anti-oxidant and anthelmintic effects of different extracts of Rhynchosia cana (R. cana) by In silico and In vitro methods. Using standardised chemical t

... Show More
View Publication Preview PDF
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Fri Jun 30 2023
Journal Name
Iraqi Journal Of Science
Effect of Annealing Times on the Structural and Optical Properties of PbO Thin Films Prepared by D.C Sputtering
...Show More Authors

     In this work, lead oxide (PbO) thin films were deposited using D.C. sputtering method on a surface of glass substrates and then thermally annealed at a temperature of 473K with annealing times of (1,2 and 3) hours. The structural, morphological, and optical properties of films were determined using X-ray diffraction (XRD), atomic force microscopy (AFM), FT-IR, and UV-Visible spectroscopy. The structure studies confirmed that PbO films are polycrystalline structures in an orthorhombic phase with average grain size (24.51, 29.64, 46.49, 16) nm with increasing annealing time. From AFM, the roughness of the film surface  (3.26, 1.76, 1.61, 1.79) nm as the film annealing time increases. The optical band gap values of the PbO thin fi

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (3)
Scopus Crossref
Publication Date
Mon May 11 2020
Journal Name
Baghdad Science Journal
Estimating Lipoxygenase and Gamma-glutamyl Transferase Activities in Sera of Colon Cancer Patients with Partial Purification of Lipoxygenase
...Show More Authors

            Colon cancer is an abnormal growth of cells that occurs in the large intestine. Sometimes growth remains restricted for a relatively long time before it becomes a malignant tumor and then spreads through the intestinal wall to the lymph nodes and other parts of the body. The study aims to estimate the effectiveness and partial purification of lipoxygenase (LOX) enzyme and measure gamma-glutamyle transferase (GGT) activity in serum patients of colon cancer in Baghdad. The study included (80) case male patients with colon cancer with (50) samples of apparently healthy males (control) as comparison group. The result displayed a noteworthy increase in lipoxygenase effectivene

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Thu Apr 29 2021
Journal Name
Iraqi Journal Of Science
Synthesis and Characterization of Silver Nanoparticles Using Prodigiosin Pigment and Evaluation of Their Antibacterial and Anti-Inflammatory Activities
...Show More Authors

This study focused on the biological synthesis of silver nanoparticles (AgNPs), using prodigiosin pigment produced by Serratia marcescens. The effect of parameters such as pH, temperature, time, with various concentrations of silver nitrate (AgNO3) and prodigiosin on the synthesis of AgNPs were also studied.  Optimized results of the biosynthesis process revealed an increase in the intensity of Surface Plasmon Resonance (SPR) bands of nanoparticles with shifting at the wavelength of 400 nm. In addition, optimum synthesis of AgNPs was achieved at pH 12, temperature 55℃, and reaction time 24 h, with concentrations of prodigiosin, as a reducing agent, of 12.5 µg/ml and silver ion concentration of 1 mM. Measuremen

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (2)
Scopus Crossref
Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Evaluate the Effect of Relative Humidity in the Atmosphere of Baghdad City urban expansion Using Remote Sensing Data
...Show More Authors

The effects of land use/cover change are recognized as one of the challenges facing humans in the twenty-first century. In contrast to less developed regions, its characteristics are characterized by a variety of climatic conditions. The changes result in “Urban Heat Island”, in which the temperature in cities is higher than the temperature in the rest of the country. By monitoring the city of Baghdad for a short period, Baghdad's urbanization progressed quickly, which negatively affected the region’s climate through the decreasing of agricultural lands surrounding the area. Understanding the extent of effects on the environment is critical for long-term development. Climate change and environmental cleanup include making the right

... Show More
View Publication Preview PDF
Scopus (7)
Crossref (3)
Scopus Crossref
Publication Date
Fri Mar 15 2019
Journal Name
Journal Of Baghdad College Of Dentistry
Effects of Oral Supplementation of Pomegranate Peel Extract on Some serum biochemical Parameters Related with Bone in Rabbit
...Show More Authors

Background and aim: Pomegranate is a medicinal herb that can promote healing of periodontal tissue through differentiation of mesenchymal cells both in vivo and in vitro. Therefore, this study is to investigate the effect of oral supplementation of Punicagranatum L. peel extract on bone defect in rabbit. Methods: Forty five male rabbits were divided into 3 groups; group 1; baseline group(5 rabbits) left without bone defect. Group 2; study group (20 rabbits) with bone defect model that received daily 1ml of oral supplementation of pomegranate peel extract (PoPx). Group 3; control group (20 rabbits) with bone defect model that received distilled water. Bone defect was done into facial plate of lower right central incisor. Blood biopsies by

... Show More
View Publication
Scopus (3)
Crossref (1)
Scopus Crossref