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Simulation of Obstacle Avoidance for Auto Guided Land Vehicle

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.

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Publication Date
Sat Feb 01 2020
Journal Name
Journal Of Economics And Administrative Sciences
Analysis of the relationship of waste recycling to sustainable development objectives 2015-2030

Waste recycling is one of the modern means of treating waste and minimizing its harmful effects that have caused problems for all countries of the world through the disposal of them in a safe and healthy manner as well as achieving economic and social benefits to the United Nations, and through the goals of sustainable development. 2015-2013 seeks to solve the environmental problems, including various peoples of the world, through various projects and programs, including waste recycling. Here is the question of whether there is a relationship between waste recycling and the goals of sustainable development, the research seeks to answer through five categories to determine the type of relationship between waste recycling and the g

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Publication Date
Sun Sep 07 2008
Journal Name
Baghdad Science Journal
Generation of 16 Micrometer IR Laser by theOptical Pumping of CF4 Gas Molecules

We report here the observation of 16 µm superradiance laser action generated from optical pumping of CF4 gas molecules (which is cooled to 140 Kº by a boil-off liquid-N2) by a TEA-CO2 laser 9R12 line. Output laser pulses of 7 mJ and 200 ns have been obtained.

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Publication Date
Sun Dec 16 2018
Journal Name
Al-academy
The Influence of the Iraqi Maqam in the Recitation of Hafiz Khalil Ismail

The earthly music has a clear influence on the religious music in the musical culture to read and recite the Holy Quran in the city of Baghdad.   This research deals with this subject in an attempt to reveal the influence of the Iraqi maqam in the recitation of Hafiz Khalil Ismail. The methodological framework of the research included the problem of research and its importance as it is useful to the Iraqi schools concerned with the recitation of the Holy Quran in Iraq. The theoretical framework included three sections that serve the literature of its subject: the first is (Iraqi maqam), the second is (the recitation of the Holy Quran) and the third is (the biography of Hafez Khalil Ismail).

The most important procedures

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Publication Date
Thu Jun 29 2017
Journal Name
College Of Islamic Sciences
Qur'anic contextual integration of the end of heaven: (a study in scientific interpretation)

In The Name of Allah Most Gracious Most Merciful

This is a study dedicated to explaining the conditions of the end of heaven, stage by stage; And to draw the final picture of it, through the facts of the Qur’an, and to make the contextual integration of the verses of the end of heaven, and their arrangement in an intentional arrangement, a path that guides us to knowing the integrated picture of it on the Day of Resurrection, according to scientific interpretation.

The importance and usefulness of the research lies in:

Extracting the order of the stages of the end of heaven, from its first state to its last, which came in separate verses of the Qur’an, each one of which was placed in a surah that was consistent w

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Publication Date
Sun Nov 18 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Comparison Between Standard Bayes Estimators of the Reliability Function of Exponential Distribution

   In this paper, a Monte Carlo Simulation technique is used to compare the performance of the standard Bayes estimators of the reliability function of the one parameter exponential distribution .Three types of loss functions are adopted, namely, squared error  loss function (SELF) ,Precautionary error loss function (PELF) andlinear exponential error  loss function(LINEX) with informative and non- informative prior .The criterion integrated mean square error (IMSE) is employed to assess the performance of such estimators

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Publication Date
Thu Feb 24 2022
Journal Name
Journal Of Educational And Psychological Researches
The Psychometric Properties of the Arabic Version of Nomophobia Scale among Omani Youth

The current research aimed to investigate the psychometric characteristics of the Arabic version of the Nomophobia scale for the Omani youth. The scale was administered to a random sample of students from public and private universities and colleges in Oman. The research sample consisted of 2507 students, of whom 868 males and 1639 females. The validity of the measure was first checked by presenting the scale to a group of experts in this field. Then the exploratory and confirmatory factor analysis was carried out. The exploratory factor analysis revealed the existence of three main factors: the fear of connectivity loss, the fear of communication loss with others, and the fear of network outages. These factors accounted for 65.6% of the

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Publication Date
Sun Feb 27 2022
Journal Name
Iraqi Journal Of Science
On the Dynamics of One Parameter Family of Functions f_k (x)=kcsc(x)

     In this research, we study the dynamics of one parameter family of meromorphic functions . Furthermore, we describe the nature of fixed points of the functions in ,and we explain the numbers of real fixed points depending on the critical point . So, we develop some necessary conditions for the convergence of the sequence when .

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Publication Date
Sun May 30 2021
Journal Name
Iraqi Journal Of Science
In Vivo and In Vitro Study of the Genetic Effects of Cabergoline Drug

This study aimed to stand on genetic effects important of cabergoline drug. This toxic effect was evaluated for three different doses (0.05, 0.1, 0.5 mg/ml) in comparison with control (PBS/ phosphate buffer saline) both in vivo and in vitro. In vivo study involved the cytogenetic evaluation of cabergoline in mice by examination of mitotic index percentage (MI), micronucleus formation (MN) and chromosomal aberrations. Result indicated that all the tested doses cause significant reduction in MI percentage, while significant rise was seen with both MN formation and all studied chromosomal aberrations. While in vitro study involved measuring the effect of cabergoline on normal cell line (REF/ Rat embryonic

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Publication Date
Sun Jun 05 2011
Journal Name
Baghdad Science Journal
Toxicity effects of some heavy metals on the growth of alga Scenedesmus dimorphus

The toxicity effect of some heavy metals (Lead, Cadmium, Copper, and Zinc) on the growth of alga Scenedesmus dimorphus which belongs to the Division of Chlorophyta was studied and depended on the total cell number . The growth rate and doubling time were also calculated accordingly in present of absent of the the heavy metals . There were differences in toxic effects of the metals (p<0.05) . The growth was decreased gradually with alga when exposured to Lead at 15,20 and 25 mg/l in comparison with the control , mean while 30 mg/l caused an acute decrease in growth . Treating the alga with 0.05,0.1,0.5 mg/l concentration of Cadmium the number of cells decreased while at 1 mg/l the effect was more pronounced . As for Copper the conc

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Publication Date
Mon Sep 23 2019
Journal Name
Baghdad Science Journal
Representation of Algebraic Integers as Sum of Units over the Real Quadratic Fields

In this paper we generalize Jacobsons results by proving that any integer  in   is a square-free integer), belong to . All units of  are generated by the fundamental unit  having the forms

our generalization build on using the conditions

This leads us to classify the real quadratic fields  into the sets  Jacobsons results shows that  and Sliwa confirm that  and  are the only real quadratic fields in .

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