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.
The current research aims to identify the level of effective leadership practices dimensions (clear vision and specific goals, good planning and effective influence, and monitoring well as evaluation) among the senior leaders in the Office of the Iraqi Interior Ministry., The researchers adopted the descriptive analytical approach to collect data through the questionnaire as a main tool, developed by relying on international standards after making adjustments to its items consisting of (25) items that included the research variable, the questionnaire was distributed to all the research community (comprehensive inventory) by 120 forms from emplo
... Show MoreThis research is a critical methodological study deals with some Quranic verses abrogative,abrogated.
by Ibn al-Jawzi (may Allah have mercy on him) in his book (Tafseer Zad al-Maseer) inin Surah Al-Baqara the in the holy Quraan.
Multilayer reservoirs are currently modeled as a single zone system by averaging the reservoir parameters associated with each reservoir zone. However, this type of modeling is rarely accurate because a single zone system does not account for the fact that each zone's pressure decreases independently. Pressure drop for each zone has an effect on the total output and would result in inter-flow and the premature depletion of one of the zones. Understanding reservoir performance requires a precise estimation of each layer's permeability and skin factor. The Multilayer Transient Analysis is a well-testing technique designed to determine formation properties in more than one layer, and its effectiveness over the past two decades has been
... Show MoreSince oil is the primary source of vanadium in the environment and crude oil has a correspondingly high percentage of vanadium. Vanadium is crucial as a sign of oil contamination. Twenty soil samples were taken from various locations surrounding the East Baghdad oil field in Iraq during February 2022 and then analyzed to determine the effects of industrialization along with urbanization-related pollutants. The soil samples were analyzed using spectrophotometry analysis. In soil samples taken from the research area, vanadium concentrations range from (0.26 to 1.2 ppm). The contamination (CF), geoaccumulation (Igeo) and Enrichment factors (EF) indicated that all the soil samples are uncontaminated.
The objective of this paper is determining the petrophysical properties of the Mauddud Formation (Albian-Early Turonian) in Ratawi Oil Field depending on the well logs data by using interactive petrophysical software IP (V4.5). We evaluated parameters of available logs that control the reservoir properties of the formation, including shale volume, effective porosity, and water saturation. Mauddud Formation is divided into five units, which are distinguished by various reservoir characteristics. These units are A, B, C, D, and E. Through analyzing results of the computer processed interpretation (CPI) of available wells, we observed that the main reservoir units are B and D, being distinguished by elevated values of eff
... Show MoreAhdeb oil field is located in the central block of Mesopotamia plain in Iraq. It has three domes AD-1, AD-2, and AD-4.The current study represents characterization of carbonate Mishrif reservoir (Cenomanian-Early Turonian) in three wells (AD-A,AD-B,AD-C) at southern dome of Ahdeb oil field. Petrophysical properties were calculated using available well logs data such as neutron, density, sonic, gamma ray, resistivity and self-potential logs. These logs are digitized and then environmental corrections and interpretations were carried out using Techlog software. Petrophysical parameters such as shale volume, porosity, water saturation, hydrocarbon saturation, bulk water volume, etc. were determined and interpreted and illustrate
... Show MoreThe study intends to well logs interpretation to determine the petrophysical parameters of Euphrates Formations in Ajeel Oil Field. The petrophysical properties have been determined from well logging, Euphrates Formation in terms of reservoirs units, consist of two Petrophysical properties. Total porosity, effect porosity and secondary porosity have been calculated from neutron, density, and sonic logs. secondary porosity is high and it's resulted from diagenesis processes in the formation. From RHOB-NPHI and N/M cross plot, Euphrates Formation composed mainly from Limestone and dolomite with nodules of anhydrite. Dhiban Formation composed mainly of anhydrite, so it's represented the cap rocks for Euphrates Reservoir were recognized base
... Show MoreBoth 13C 16O and 22Ne 25Mg reactions perform a cosmic role in the production of neutrons in AGB stars, which significantly contributes to the nucleosynthesis via the s-process. The astrophysical S-factor for both reactions is calculated in this research, utilizing EMPIRE code and depending on two parameter sets for the optical potential. These datasets were published earlier by McFadden and Satchler (denoted here as MFS) and Avrigeanu and Hodgson (denoted as AH) for the non-resonant region of the spectrum and over a temperature range of . The extrapolated S-factor at zero energy is derived to be and for 13C 16O, while the values were and fo
... Show MoreThe present expermint was designed to determine the effect of Sodium Selenite (0.5 mg/kg) and Vitamin A (10 mg/kg) in FSH and LH level in Albino Male Mice treated with Hexavalent Chromium (1000 ppm). `This study included 48 mice divided into six groups (1st group treated with distilled water and the 2nd group treated with Sesame Oil were considered as control group, 3th group exposed to Hexavalent chromium , 4th group treated with Sodium Selenite and exposed to Hexavalent Chromium , 5th group treated with Vitamin A and exposed to Hexavalent Chromium and 6th group treated with Sodium Selenite and Vitamin A and exposed to Hexavalent Chromium ) . The treatment lasted for 35 days. The results showed a significant (P ? 0.05) decrease in FSH an
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