This research is concerned with designing and simulating an auto control system for a car provided with obstacle avoidance sensors. This car is able to pass through predefined path an around the detected obstacles, and then come back to the intended path. The IR sensor detects the existence of the obstacle through an assumed range of detection, while the visual sensor (camera) feeds back an image including the path that contains an obstacle, which can be useful for determining the obstacle's length, speed, and direction. According to such information, the controller creates transient away point along the longitudinal axis of the obstacle which is the same as the transverse axis of the simulator path at an assumed distance from the obstacle. The robotic car will direct toward the transient point for avoiding the obstacle, which directly comeback into the original rout once when reaching the transient point. This strategy enables the car to move far away from the obstacle and then return it into planned path.
There are many reasons made Basra a good defense, first of all was the
establishment of the famous Arab tribes, like Bakir bn. Wail and Tamim. Besides there were
A lot the armed forces. In addition to that the strategic place of Basra. All these reasons
played a good part when the war broke out.
The Arabic tribes played a good part in the war to engaged Persians, and prevent
them from sending any helps to their armies against the Kufain who were fighting Persians in
the North of Iraq. While the Basrain army aiming to Conquer the south of Iraq.
Basra become the first strategic place for the Islamic movement of the conquers.
Latter on Kufa and Bahrain were the second and third.
The Muslims guranted the pupils of
Abstract:
Rabi’a tribe lived on the land of Euphrates since the first century of the
Christ. Then that land becomes her homeland. The Persians tried many times
to drive her away from that land, but with out result.
In the course of time Rabi’a become more knowledgeable of Persia.
This tribe proved her love and sanctification to the land of Euphrates, in the
battle of Dhyqar.
Rabi’a converted to Islam quickly and helped the Muslims to conquer
Iraq with a big number of fighters in many battles like al- Qadisyyah. That
influenced the anger of Mudriat Arab tribes who were their old enemies.
Mudriat tribes did their efforts to reduce the importance of Rabi’a because of
some its branches were among of t
A gracious invitation was extended to us on 9/11/2002 AD, by the University of Tikrit / the Preparatory Committee, for a symposium (Sheikh Daoud Al-Tikriti, and his Scientific Effects), to participate in it.
The symposium was scheduled to be held on the 25th and 26th of March 2003 AD, but God Almighty decreed that our country be occupied, so the Preparatory Committee set another date for the symposium on 10/21/2003 AD.
It was not possible for the symposium to be held until 25-26/4/2004 AD, and many researchers attended, who were assigned to investigate some manuscripts of Sheikh Dawood (may God have mercy on him) or to write about his personal and scientific biography.
And God (Glory be to Him) did not enable us to attend, becau
A three-stage learning algorithm for deep multilayer perceptron (DMLP) with effective weight initialisation based on sparse auto-encoder is proposed in this paper, which aims to overcome difficulties in training deep neural networks with limited training data in high-dimensional feature space. At the first stage, unsupervised learning is adopted using sparse auto-encoder to obtain the initial weights of the feature extraction layers of the DMLP. At the second stage, error back-propagation is used to train the DMLP by fixing the weights obtained at the first stage for its feature extraction layers. At the third stage, all the weights of the DMLP obtained at the second stage are refined by error back-propagation. Network structures an
... Show MoreThe alluvial fan of Mandali located between latitude 30˚45’00” N longitude 45˚30’00” E in east of Diyala Governorate, Iraq. Thirty-five wells were identified in the study area with average depth of 84 m and estimated area of 21550 ha. A three-dimensional conceptual model was prepared by using GMS program. From wells cross sections, four geological layers have been identified. The hydraulic conductivity of these layers was calculated for steady state condition, where the water levels for nine wells distributed over the study area were observed at same time. Afterward, PEST facility in the GMS was used to estimate the aquifer hydraulic characteristics. Other characteristics such as storage coefficient and specific yield have
... Show MoreIn this paper a two dimensional numerical simulation have been applied using
MATLAB program for generating Fraunhofer diffraction pattern from different
apertures. This pattern is applied for three types of apertures, including, circular,
square, and rectangular functions, and it's could be generated any wavelength in the
visible light. The studying demonstrated the capability and the efficiency of optical
imaging systems to observe a point source at very long distance. The circular
aperture shows better results across the shape of Fraunhofer pattern and optical
transfer function (otf). Also, the minimum values of the normalized irradiance of
different diffracted apertures have been computed at different dimension
This study compared and classified of land use and land cover changes by using Remote Sensing (RS) and Geographic Information Systems (GIS) on two cities (Al-Saydiya city and Al-Hurriya) in Baghdad province, capital of Iraq. In this study, Landsat satellite image for 2020 were used for (Land Use/Land Cover) classification. The change in the size of the surface area of each class in the Al-Saydiya city and Al-Hurriya cities was also calculated to estimate their effect on environment. The major change identified, in the study, was in agricultural area in Al-Saydiya city compare with Al-Hurriya city in Baghdad province. The results of the research showed that the percentage of the green
Converting green areas and agricultural land into built-up areas is one of the most significant effects of urbanization in Iraqi cities. Greenery spaces are a fundamental requirement for any city because they promote a healthy lifestyle and preserve urban areas' aesthetic and ecological beauty. The current study examines urbanization's effect on Baghdad city vegetation and land surface temperature. The Normalized Difference Built-Up Index (NDBI), Normalized Difference Vegetation Index (NDVI), Normalized Difference Water Index (NDWI), and Land Surface Temperature (LST) over Baghdad were used to determine the relationship among urban areas, vegetation areas, water bodies, and land temperature. The Baghdad-vector-data from the Ge
... Show MoreThe land cover of Mahmudiyah city, located south of the capital, Baghdad - Iraq, was studied for the period from 1986 to 2021 with five years between every two successive scenes, where Landsat scenes were used downloaded from the US Geological Survey (USGS ) website with low cloud cover for sensors TM and OLI. The land cover of the study area was classified. The total accuracy of the classification was calculated, as well as the analysis of the user accuracy and the classifier accuracy (maximum likelihood) and its impact on the overall classification accuracy. The lowest accuracy value in 2009 was (85.101% (and the highest accuracy value in 1995) was 95.654%). The constancy percentage of the class for the adopted years was calculated and
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