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Self-Localization of Guide Robots Through Image Classification
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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%.

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Mechanical properties of epoxy-polyurethane polymer blends
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Configured binary polymer blends of epoxy and Polyurethane was chosen varying proportions of these materials led to the production of homogeneous mixtures of Althermust Althermust and descent was poured polyurethane models required in the form of 4 mm thick plates

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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
Effect of Ochratoxin-A on Mouse Embryos
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This study sought to determine malformation caused by Ochratoxin-A (OTA) on mouse embryos. Twenty adult female white Swiss mice (mus msculus) were divided into four groups, with five females per group, and with one male placed with two females in a cage. Avaginal plug was observed in the early morning and the day of mating was considered as day of pregnancy followed by the first day of pregnancy. Three sub lethal concentrations of OTA were applied to the respective groups (other than the control), 1mg/kg, 2mg/kg and 4mg/kg. The animals were given 0.1 ml per 10 gm body weight per concentration of OTA once a day during days 7-14 of pregnancy. The control group animals were given distilled water. The pregnant mice were dissected, and the embry

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Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Engineering
Facters affected trends of Contemporary Mosques Architecture
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Recently new trends of mosques’ architecture have appeared. These trends differed from those of traditional ones in charictaristics which include two and three dimentional level. The traditional mosques' architecture are affected by several factors, so the research problem is (lack of knoweledge about factors forming traditional mosques' architecture and its effect on contemporary trends of mosques' architecture).The hypotheses of research is (the functional, aesthetic and symbolic religious factors of style are the most active factors in forming contemporary trends of mosques' architecture than religious and environmental factor).The research conclusion is that the symbolic functional factor is most effective factor i

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Publication Date
Fri Jun 29 2018
Journal Name
Journal Of The College Of Education For Women
Role of Christian Wives in Elijahian Policy
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Role of Christian Wives in Elijahian Policy

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Publication Date
Sun Dec 31 2000
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Removal of Phenol from Water by Adsorption
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Publication Date
Sat Oct 01 2011
Journal Name
Journal Of Engineering
STATIC PERFORMANCE CHARACTERISTICS OF VORTEX RATE SENSOR
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The vortex rate sensor is a fluidic gyroscope with no moving parts and can be used in very difficult
conditions like radiation, high temperature and noise with minimum cost of manufacturing and
maintenance. A vortex rate sensor made of wood has been designed and manufactured to study
theoretically and experimentally its static performance .A rig has been built to carry out the study,
the test carried out with three different air flow rates (100, 150, and 200 l/min).The results show that
the relation between the differential pressure taken from the sensor pickoff points and the angular
velocity of the sensor was linear.The present work involved theoretical and experimental study of
vortex rate sensor static characteri

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Publication Date
Thu May 28 2020
Journal Name
Iraqi Journal Of Science
Semiprime RΓ-Submodules of Multiplication RΓ-Modules
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Let R be a Γ-ring and G be an RΓ-module. A proper RΓ-submodule S of G is said to be semiprime RΓ-submodule if for any ideal I of a Γ-ring R and for any RΓ-submodule A of G such that or which implies that . The purpose of this paper is to introduce interesting results of semiprime RΓ-submodule of RΓ-module which represents a generalization of semiprime submodules.

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Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Science
Synthesis and Dielectric Properties of MgO:ZnO Composites
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      The dielectric properties of the fabricated composites MgO:ZnO with various mixing ratios (100,75:25,50:50,25:75, and 100 wt. %)were investigated. The structure analysis was conducted using X-ray diffraction. The structure phase, crystallite size and purity of the fabricated MgO:ZnO composites were confirmed using X-ray diffraction spectra. The results declared that the diffraction spectrum of 100%MgO composite samples were compatible with cubic structure along the plane (200) while the structures of residual composite's samples were compatible with hexagonal structures. The crystal size of the most pronounced plane (101) for crystal growth was changed from 30.4 nm to 53.2 nm by increasing ZnO ratio from 25 to 100wt%. The diel

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Publication Date
Fri Dec 30 2011
Journal Name
Al-kindy College Medical Journal
Antinociceptive Effect of Silymarin in Experimental Animals
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Background: Silymarin is a polyphenolic flavonoid
derived from milk thistle (Silybum marianum) that has
anti-inflammatory, cytoprotective, anticarcinogenic
and antioxidant effects. It has been used medicinally
to treat liver disorders including acute and chronic
viral hepatitis, toxin/drug induced hepatitis, and
alcoholic liver disease.
Objective: To evaluate the antinociceptive effect of
silymarin in experimental animal model of pain.
Methods: The efficacy and dose response effect of
silymarin (125, 250, and 500mg/kg) were assessed
against control using tail flick test in mice as a model
of nociceptive pain. In this model, all doses of
silymarin were given intraperitoneally 15 min before
immersi

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Publication Date
Sat Mar 11 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Synthesis of New 10-Amido phenoxazine Derivatives
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     This work includes synthesis of new phenoxazine derivatives containing N-substituted phenoxazine starting from phenoxazine (1).10-nitrosyl phenoxazine was prepared through the reaction of phenoxazine with sodium nitrite to give compound (2), which reacted with zinc in acetic acid to give 10-amino phenoxazine (3). Condensation of compound (3) with benzoyl chloride, isovaleryl chloride and 4-bromophenacyl chloride gave 10-amido phenoxazine derivatives (4-6).

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