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 Yamama Formation represents a part of the Late Berriasian-Aptian sequence, deposited during the Early Cretaceous period within the main shallow marine depositional environment. The studied area covers three oil fields; Sindbad oil field, Halfaya and Ad'daimah oil field, located in southeastern Iraq. Six major microfacies were recognized in the succession of the studied area represented by the Yamama Formation to determine and recognize depositional paleoenvironments. These microfacies are; Peloidal Packstone, Algal Wackestone to Packstone, Bioclastic Wackestone – Packstone, Foraminiferal Bioclastic Wackstone, Packstone, Peloidal – Oolitic Grainstone and Mudstone Microfacies. These microfacies are classified int
... Show MoreThis research focused up on the Seismic reflection study of a 268.7 km2 area located in the central of Iraq within the Karbala province (Kifl area). The seismic data were reprocessed by Anadarko Petroleum Corporation and its partners Dome International and Vitol with OEC in 2005, the result of processing works has improved the quality of seismic sections in most of the study area. The study area was interpreted by using 3-D seismic data from the Oil Exploration Company. By studying the seismic sections and applying seismic attributes (instantaneous phase) Faults were picked across 3D seismic volume of the studied reflectors. The study area affected by a major fault and minor normal faults, Two fa
... Show MoreSoil acts as a last sink for elements that people release into the environment through a range of activities due to its physiochemical characteristics. These substances, whether are organic or mineral pollutants, accumulate in the soil and constitute a significant risk to the ecosystem in general because they mess with the chemical and physical equilibrium of the soil, get into the food chain, and eventually get to people. When pollutant concentrations during the bioaccumulated process exceed the global standards for what is regarded as a contaminant in water, air, and soil. Nine soil samples were collected from different sites and two samples from each site at two depths (0-20 and 20-40 cm) to determine if there were any
... Show MoreExperimental study on the effect of cylindrical hollow cathode, working pressure and magnetic field on spatial glow distribution and the characteristics of plasma produced by dc discharge in Argon gas, were investigated by image analyses for the plume within the plasma. It was found that the emission intensity appears as a periodic structure with many peaks appeared between the electrodes. Increasing the pressure leads to increase the number of intensity peaks finally converted to continuous form at high pressure, especially with applied of magnetic field, i.e. the plasma is more stable with the presence of magnetic field. The emission intensity study of plasma showed that the intensity has a maximum value at 1.07 mbar pressure and decre
... Show MoreMicroorganisms establish both structural and functional construction in the marine environment, despite scientific advances, the identification of marine bacterial species is still considered as a common challenge in microbiology. Nevertheless, the present study aims to make an effort, although it seems modest, but it could establish a basis for studying the bacterial diversity in the Iraqi marine area, because of what this aspect entails of the poverty of studies related to this aspect in the studied area. The current results show the marine studied area are classified within worming area, where the average temperature ranged from 23.17 to 26.17 ºC. The recorded number of bacteria was increased with temperature increasing (0.210, 0.250
... Show MoreThe goal of the research is to highlight the role of the governance and its characteristics in increasing the tax outcome by implementing the laws, regulations and annual controls issued annually from the general authority for taxation for the financing of the general treasury of the state, Additional development and economic capacity, As the search shares a view of the governance and its characteristics and its ideas from increasing tax output. The analytical transparent approach was used by adopting the practice of practicalities of the general authority for tax For quotations in the senior cabinet section ,the revealing of the ongoing operations was relied on the revenue for each financial year, The tools adopted in the process of ana
... Show MoreThis study aimed to detect Anaplasma phagocytophilum in horses through hematological and molecular tests. The 16S rRNA gene of the Anaplasma phagocytophilum parasite was amplified by polymerase chain reaction (PCR), then sequenced, and subjected to phylogenetic analysis to explore "Equine Granulocytic Anaplasmosis" (EGA) infection in three important gathering race horses areas in Baghdad governorate, Iraq. Blood samples were obtained from 160 horses of varying ages, three breeds, and both sexes, between January and December 2021. Prevalence and risk variables for anaplasmosis were analyzed using statistical odds ratio and chi-square tests. Results demonstrated that clinical anaplasmosis symptoms comprised jaundice, wei
... Show MoreThe construction sector is considered an important and influential pivot in the national economy of any country. Nations are working to develop this sector, receiving modern and developed techniques. So, this sector can be a carrier or a receiver of modern technologies. The cost of technology transfer between the international companies that sponsor this sector is a matter of great importance, especially since different factors affect the need for this advanced technology. The cost of technology transfer in construction is related to multiple factors presented by Knowledge, equipment, plant, hardware and software. The lack of distinguishing and evaluating the direct and indirect costs in the construction sector during
... Show MoreThe relationship between respiratory diseases and natural geographical variables relative to temperature, relative humidity, wind and solar radiation is a strong one.
The environmental factors have impact on increasing the proportion of people with respiratory diseases in the province of Najaf, especially industrial pollution and working conditions as well as the economic level.
Ah-Mishkhab was in the first rank in terms of the number of people infected with respiratory diseases reached 135177 and 41%, followed by Najaf governorate which reached its numbers to 77801 and 23%. The district of Kufa ranked third with 42051 and 13%, and the other administrative units at fourth and fifth rank respectively.
When comparing diseases and
This study showed that the rock bed units of Fatha (M. Miocene) includes mold of fish fossils imprint on marly limestone; Injana (L. Miocene) includes large femur bone of Mastodont and large number of bone remains; and review study of Mukdadiya Formations (Pliocene) showed more than 21 mamalian species such as: Mastodont, Hipparion, Gazzella, Felidae, Bovidae, Antilopini, Caprinae, Crocodilia, and others. Those vertebrate fossils bones were deposited and preserved within rock bed units of fluvial and evaporite marine environments. Paleoenvironment of fluvial ecosystem made up of food chain, which were includes producer, herbivores as a primary consumer as Mastodon, Hipparion and Gazelle, carnivores as a secondary consumer as felidea and
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