Preferred Language
Articles
/
ijs-6487
Collision Avoidance Using Cat Swarm Algorithm for Multi Mobile Robot Path Planning in Dynamic Environment
...Show More Authors

In this paper, we proposed a hybrid control methodology using improved artificial potential field with modify cat swarm algorithm to path planning of decoupled multi-mobile robot in dynamic environment. The proposed method consists of two phase: in the first phase, Artificial Potential Field method (APF) is used to generate path for each one of robots and avoided static obstacles in environment, and improved this method to solve the local minimum problem by using A* algorithm with B-Spline curve while in the second phase, modify Cat Swarm Algorithm (CSA) is used to control collision that occurs among robots or between robot with movable obstacles by using two behaviour modes: seek mode and track mode. Experimental results show that the proposed method success to find a complete, optimal, and collision free path for all robot.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Mon Jun 01 2020
Journal Name
Journal Of Engineering
Petrophysical Properties and Well Log Interpretations of Tertiary Reservoir in Khabaz Oil Field / Northern Iraq
...Show More Authors

The aim of this study is interpretation well logs to determine Petrophysical properties of tertiary reservoir in Khabaz oil field using IP software (V.3.5). The study consisted of seven wells which distributed in Khabaz oilfield. Tertiary reservoir composed from mainly several reservoir units. These units are : Jeribe, Unit (A), Unit (A'), Unit (B), Unit (BE), Unit (E),the Unit (B) considers best reservoir unit because it has good Petrophysical properties (low water saturation and high porous media ) with high existence of hydrocarbon in this unit. Several well logging tools such as Neutron, Density, and Sonic log were used to identify total porosity, secondary porosity, and effective porosity in tertiary reservoir. For

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Thu Apr 14 2016
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
Determination of Some Biochemical Parameters in Ascaridia galli in chickens Which abundant in the local markets: Determination of Some Biochemical Parameters in Ascaridia galli in chickens Which abundant in the local markets
...Show More Authors

The current study included measuring the percent of protein in the extract of nematode Ascaridia galli that infect chickens, it was 1.157% and equivalent to 11.570 mg /L., as well as the amino acid analysis in the nematode A.galli by using a high-performance liquid chromatography technique (HPLC), as was detect five types for amino acids in this extract Leucine, Threonin, Serine, Methionine and Valine as the amount of these amino acids in the extract was as follows 132.973, 26.994, 10.453, 2.243 and 1.888 mg /L., respectively, and other amino acids which Glutamic, Histidine and Tyrosin did not exist in the nematode A.galli.

View Publication Preview PDF
Publication Date
Sun Feb 09 2025
Journal Name
Al–bahith Al–a'alami
ACADEMIC TRAINING IN MEDIA AND COMMUNICATION SCIENCES AND ITS RELATIONSHIP TO MEDIA PRACTICE:: (Reading In The Nature Of The Relationship: Integration Or Separation)
...Show More Authors

The aim of this scientific study is to diagnose the nature of the relationship between academic education in the field of media, communication and media practice. The university offers theoretical and practical lessons to students on the concepts of communication sciences, theories, models, legislations, ethics, and techniques over three years or more. And the diploma in the field of communication and Media Sciences gives students the opportunity to work in the field of journalism and media in the future, this is what many academics and media thinkers in Algeria believe, while another trend sees the exact opposite: The study of information and communication sciences within the university in the form of theoretical lessons cannot contribu

... Show More
View Publication Preview PDF
Crossref
Publication Date
Wed Sep 12 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Soft (1,2)*-Omega Separation Axioms and Weak Soft (1,2)*-Omega Separation Axioms in Soft Bitopological Spaces
...Show More Authors

In the present paper we introduce and study new classes of soft separation axioms in soft bitopological spaces, namely, soft (1,2)*-omega separation axioms and weak soft (1,2)*-omega separation axioms by using the concept of soft (1,2)*-omega open sets. The equivalent definitions and basic properties of these types of soft separation axioms also have been studied.

View Publication Preview PDF
Crossref
Publication Date
Mon Sep 14 2015
Journal Name
Spe North Africa Technical Conference And Exhibition
Feasibility of Gas Lift to Increase Oil Production in an Iraqi Giant Oil Field
...Show More Authors
Abstract<p>Gas lift is one of the artificial lift techniques which it is frequently implemented to raise oil production. Conventionally, the oil wells produce depending on the energy of reservoir pressure and solution gas which declines due to continuous production. Therefore, many oil wells after a certain production time become unable to lift oil to the surface. Thus, the continuity of production requires implementation of gas lift which works to decrease the average fluid density in the tubing by injection gas through the annulus into the tubing. This paper aims to get maximum oil production of an Iraqi giant oil field at optimum injected gas rate. The field is located in south of Iraq and in</p> ... Show More
Scopus (8)
Crossref (5)
Scopus Crossref
Publication Date
Mon Nov 09 2015
Journal Name
Iraqi Journal Of Market Research And Consumer Protection
Variations Heavy Metals Concentrations in Tigris River in Baghdad City.: Variations Heavy Metals Concentrations in Tigris River in Baghdad City.
...Show More Authors

The aim of the research is the detection of heavy metals using (Inductively coupled Plasma ICP) for samples in Tigris river at intakes of water treatment plants Baghdad (Sharq dejla, Al-Wathba, Al-Wahda, and Al-Dora) and samples at Tigris banks near (Al-Adhamya, Al-Shuhda bridge and al-Jadrya).
All the recorded results were fitted with Iraqi standers No. 25 in 1967 for all samples with heavy metals (arsenic Ar, Cadmium Cd, Chromium Cr, Zinc Zn, Lead Pb, Copper Cu, Nickel Ni, Manganese Mn, Ferrous Fe) where all concentration were lower than standard values except Cadmium (0.01- 0.014) in plants intakes and (0.027- 0.048) in river samples while the standard value is (0.005).
Other tests such as chemical oxygen demand and oil &

... Show More
View Publication Preview PDF
Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
Linguistic and Grammatical Studies in Yemen in A.H.7th Century: Linguistic and Grammatical Studies in Yemen in A.H.7th Century
...Show More Authors

Summary:
The A. H. 7th century had witnessed an obvious development
in the Yemeni scientific process. The most important reason
being the establishment of the Resooliy State (A. H. 626-858)
which had achieved economic and scientific prosperity in
various fields of knowledge. Its sultans had participated in
building schools, purchasing books, summoning of scientists,
presenting gifts, and encouraging scientific journeys in and out
of Yemen. Therefore, studies had thrived and authorship
widened, and there appeared not a few number of scientists..

View Publication Preview PDF
Publication Date
Sun Jun 07 2015
Journal Name
Baghdad Science Journal
Optimization of Glutathione S-Transferase in the Sera of Young Female Iraqi Patients with Diabetes Mellitus Type1
...Show More Authors

This study was attempted to determine optimum conditions, for Glutathione s-Transferase enzyme, in sera of three groups diabetic patients type1 depending on duration of disease without complications compared with control group. The aim of this study was to find optimum conditions were determined such as (pH, Substrate Concentration, Temperature, Incubation time, Enzyme concentration, and effect of(0.15M)(0.25M) of mono divalent compounds). And to find the kinetics parameters in the three groups of diabetic patients when compared with control. It was found optimum pH(8.5,4.5,2.5,6.5).Temperatures(20cº,40cº,50cº,30cº). Incubation times (7min, 4min, 4min, 5min) substrate concentrations (12µl, 10µl, 5µl, 10µl) enzyme concentra

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Mar 19 2024
Journal Name
Birth
Changes in attitudes to childbirth in modern times illustrated over three generations in Iraq
...Show More Authors
Abstract<sec><title>Objective

To describe changes in attitudes and expectations of labor over the previous six decades, comparing the Iraqi generation who labored at home without medical assistance with their descendants.

Study Design

We used semi‐structured telephone interviews with 22 women across three generations of one extended family living and giving birth in Iraq between the 1950s and the 2010s. Qualitative data were analyzed thematically using open, axial, and selective coding.

Results

Each generation experienced a paradigm shift in childbirth, from exclus

... Show More
View Publication
Scopus Clarivate Crossref
Publication Date
Thu May 04 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Effect of Electromagnetic Current in the Plantlet in vitro in Cucumis sativus L.
...Show More Authors

Seeds of three American species of cucumber:-Lot number (EM285) signed as number 1,
To CAEEN F1 signed as number 2 ,and Hybird Super Green F1 signed as number 3, were
exposed to two kinds of physical effects .They were given :- 4 frequencies of the electric
current (0,1,2and 2.5) Am for five minutes using electro- magnetic generator .Then the three
species exposed to Ultra-Violet (UV)wave for four periods (0,30,60 and 90)sec. respectively
at 254 nm using Hood light .After exposure time the seeds were planted in sterlized
media(MS) with Benzyladenine (BA)and left in the incubator for2-3 weeks .Then ,plantlets of
the three species were taken to study the root system ,shoot system ,dry and wet weight for
them

... Show More
View Publication Preview PDF