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
Fri Apr 21 2023
Journal Name
Technologies And Materials For Renewable Energy, Environment And Sustainability: Tmrees22fr
Study of the x-ray diffraction lines of calcium titanate nanoparticle using SSP method and Scherrer method
...Show More Authors

In this study, the modified size-strain plot (SSP) method was used to analyze the x-ray diffraction lines pattern of diffraction lines (1 0 1), (1 2 1), (2 0 2), (0 4 2), (2 4 2) for the calcium titanate(CaTiO3) nanoparticles, and to calculate lattice strain, crystallite size, stress, and energy density, using three models: uniform (USDM). With a lattice strain of (2.147201889), a stress of (0.267452615X10), and an energy density of (2.900651X10-3 KJ/m3), the crystallite was 32.29477611 nm in size, and to calculate lattice strain of Scherrer (4.1644598X10−3), and (1.509066023X10−6 KJ/m3), a stress of(6.403949183X10−4MPa) and (26.019894 nm).

View Publication
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Sat Jun 01 2024
Journal Name
Materials And Structures
Exploring the efficacy of sawdust ash as a mineral filler substitute for the production of asphalt mixtures
...Show More Authors

Many waste materials can be repurposed effectively within asphalt concrete to enhance the performance and sustainability of pavement. One of these waste materials is sawdust ash (SDA). This study explores the beneficial use of SDA as a substitute for limestone dust (LD) mineral filler in asphalt concrete. The replacement rate was 0%, 15%, 30%, 45%, and 60% by weight of total mineral filler. Scanning electron microscopy (SEM) was employed to assess the surface morphology of Sawdust (SD), SDA, and LD. In addition, a series of tests, including Marshall stability and flow, indirect tensile strength,moisture susceptibility, and repeated uniaxial loading tests, were conducted to examine the performance characteristics of asphalt mixtures of diffe

... Show More
View Publication
Scopus Clarivate Crossref
Publication Date
Sun Jan 30 2022
Journal Name
Iraqi Journal Of Science
Evaluation of Zinc, Copper, and Lead Levels in The Blood of Breast Cancer Women in Baghdad City
...Show More Authors

     The current study was conducted on 100 females who were divided into two main groups; 60 with breast cancer and 40 healthy controls. Blood samples were collected from both premenopausal and postmenopausal breast cancer and healthy women. The samples were appropriately processed for the analysis of trace elements (zinc, copper, and lead) by using flame atomic absorption spectrophotometry (FAAS). The results showed a highly significant decrease (p< 0.01) in the mean serum level of zinc of in both pre- and postmenopausal breast cancer women (71.7 + 5.1 and 70.4 + 5.4 µg/dL, respectively) compared with healthy controls (89.7 + 10.2 and 97.5 + 13.2 µg/dL,  respectively) . Also, a highly significant

... Show More
View Publication Preview PDF
Scopus (6)
Scopus Crossref
Publication Date
Wed Mar 01 2023
Journal Name
Iraqi Journal Of Physics
Evaluation of Resonance Strengths and Reaction Rates of 22Ne (p, gamma) 23Na Nuclear Reaction at Thermonuclear Energies
...Show More Authors

At thermal energies near stellar conditions, nuclear reactions are sensitive to resonance strengths of the nuclear reaction cross-section. In this paper, the resonance strengths of  nuclear reaction were evaluated numerically by means of nuclear reaction rate calculations using a written Matlab code, at the energies of interest in stellar nuclear reactions. The results were compared with standard reaction before and after application of a statistical analyses, to select the best parameters that made theoretical results as close as possible to the standard values. Fitting was made for different temperature ranges up to 10 GK, 0.6 GK and 0.25 GK. The evaluated results showed that as the temperature range becomes narrower, more error is ad

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Apr 29 2010
Journal Name
Journal Of The First Specialized National Conference In Chemistry 29-30 April 2010 University Of Thi-qar College Of Science
Preparation and Characterization of Mixed ligand complexes of Lanthanum (III) with 8- hydroxyqinoline and some amino acids
...Show More Authors

Publication Date
Wed Oct 23 2013
Journal Name
Journal Of Microbiology And Biotechnology Research
Optimization of flocculation conditions of exopolysaccharide biofloculant from Azotobacter chrococcum and its potential for river water treatment
...Show More Authors

Bacteria strain H8, which produces high amount of exopolysaccharide (EPS), was isolated from soil, and identified as strain of Azotobacter chrococcum by its biochemical /physiological characteristics, EPS was extracted, partially purified and used as bioflocculant. The biochemical analysis of the partially purified EPS revealed that it was an alginate. analysis of EPS by Fourier transform infrared spectrometry (FTIR) show that the -OH groups present in bioflocculant are clearly seen at 3433.06 cm-1, the peaks attributed to the -CH3 groups present at 2916.17 cm-1 , and some distinct peaks such as carboxyl group showed strong absorption bands at 1604.66 cm-1, 1411.80 cm-1 and 1303.79 cm-1 indicate the chemical structure of alginate. The effe

... Show More
Publication Date
Fri Oct 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
Comparison of some of reliability and Hazard estimation methods for Rayleigh logarithmic distribution using simulation with application
...Show More Authors

The question of estimation took a great interest in some engineering, statistical applications, various applied, human sciences, the methods provided by it helped to identify and accurately the many random processes.

In this paper, methods were used through which the reliability function, risk function, and estimation of the distribution parameters were used, and the methods are (Moment Method, Maximum Likelihood Method), where an experimental study was conducted using a simulation method for the purpose of comparing the methods to show which of these methods are competent in practical application This is based on the observations generated from the Rayleigh logarithmic distribution (RL) with sample sizes

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Engineering
Assessing the Influence of Moisture Damage under Repeated Load on Multilayer Interface Bond Strength of Asphalt Concrete
...Show More Authors

The performance and durability of the asphalt pavement structure mainly depend on the strength of the bonding between the layers. Such a bond is achieved through the use of an adhesive material (tack coat) to bond the asphalt layers. The main objective of this study is to evaluate the effect of moisture in conjunction with repeated traffic loads on the strength of the bonding between asphalt layers using two types of tack coats with different application rates. Using the nominal maximum size of aggregate (NMAS), the layers were graded (25/19) and (19/9.5) mm. The slabs of multilayer asphalt concrete were prepared using a roller compactor using two types of tack coats to bond between layers, namely rapid curing cut back a

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Fri Mar 30 2018
Journal Name
Journal Of Pure And Applied Microbiology
The Effect of Polyester Fibers Addition on Some Mechanical Properties of Room Temperature Vulcanized Maxillofacial Silicon Elastomers
...Show More Authors

View Publication
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Thu Sep 01 2016
Journal Name
Journal Of Engineering
Demulsification of Remaining Waste (Water In Oil Emulsions) After Removal Of Phenol In Emulsion Liquid Membrane Process
...Show More Authors

The aim of present work is to study the removal of phenol present in aqueous feed solution by the emulsion liquid membrane technique using kerosene as a diluent, sodium hydroxide as a stripping agent, and sorbitan monooleate (Span 80) as a surfactant. The parameters studied were: surfactant concentration, volume ratio of membrane phase to internal phase, and stirring speed. It was found that more than 98% of phenol can be removed at the conditions were surfactant concentration 2% (v/v), volume ratio of membrane phase to internal phase 5:1 and stirring speed 400 rpm. Maximum phenol extraction efficiency at 7 minutes of process time was observed. It was found that there was a good agreement between the standard kerosene an

... Show More
View Publication Preview PDF