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.
A geoelectrical investigation is carried out for a geological consideration in the Shewasoor dam site, which is situated 40 km northeast Kirkuk city. Symmetrical Schlumberger array were applied for fifteen electrical sounding (VES) points, with a maximum spread distance (120-200) meters. Seven vertical electric sounding (VES) points were surveyed in the main valley. Two (VES) points were taken at the area behind the dam, and two other points at the right side of the dam body. Additional four (VES) points measured at the left side within the spillway area. In order to achieve the qualitative and quantitative interpretations manual partial matching technique and (IPI2 WIN) (ID) software are used. The results show that the surface is compri
... Show MoreThis research aims to know the reality of implementation of Knowledge Management in Saudi Universities Applied in Shaqra University and to study the difficults whish encountered in applying the Knowledge Management approach.
The study investigated the university staff in Shaqra, Thadig, and Huraymila branches, using a questionnaire designed by the researcher to collect the data, sample of (260) members was used, applying the descriptive analytical approach to test the hypothesis by using (SPSS) program.
The study revealed that the first four zero hypothesis are rejected because there is medium approval of the university members on the fo
... Show MoreThis study was conducted on the workers of the brick kilns at Al- Nahrawan area south-east of Baghdad city to investigate the effect of the pollutant emissions (fumes and gases) released from the burned fuel in this kiln. Blood samples were taken from group individuals of workers at this brick kilns and non-working individuals as a control. The influence of these emissions on the workers' health was measured by examining certain chromosomal aberrations among the workers. These aberrations were a formation of: chromosomal rings, dicentric chromosomes, breaks arm and acentric fragments. It has been observed that most of these aberrations were found within workers of age 40 years and above, represented by formations of averages 1.50 and 1.0
... Show MoreBackground: The prevalence of obesity is continuously rising world-wide. Obesity is an important risk factor of cardiovascular disease (CVD), metabolic syndrome (MS), and type 2 diabetes (T2D).
Objective: To estimate the frequency of MS in obese versus non-obese subjects in Basrah, Iraq .
Methods: This is a prospective clinical study performed in Al-Sadr Teaching Hospital, Basrah, and included 86 obese subjects (with a BMI ≥ 30), 39 males and 47 females, and 132 non-obese subjects ( with a BMI < 30 ), 60 males and 73 females as a control group. Measurement of height, weight, waist circumference (WC), blood pressure ( BP ), fasting blood glucose ( FBG ), total cholesterol (TC), triglycerides (TG ) and high density lipoprotein-
studied, and its important properties and relationship with both closed and open Nano sets were investigated. The new Nano sets were linked to the concept of Nano ideal, the development of nano ideal mildly closed set and it has been studied its properties. In addition to the applied aspect of the research, a sample was taken from patients infected with viral hepatitis, and by examining the infected people and using closed and open (nano mildly. and nano ideal mildly) sets, the important symptoms that constitute the core of this dangerous examining the infected people and using closed and open (nano mildly. and nano ideal mildly) sets, the important symptoms that constitute the core of this dangerous disease.
Malaysia will be an ageing population by 2030 as the number of those aged 60 years and above has increased drastically from 6.2 percent in 2000 and is expected to reach 13.6 percent by 2030. There are many challenges that will be faced due to the ageing population, one of which is the increasing cost of pensions in the future. In view of that, it is necessary to investigate the effect of actuarial assumptions on pension liabilities under the perspective of ageing. To estimate the pension liabilities, the Projected Unit Credit method is used in the study and commutation functions are employed in the process. Demographic risk and salary risk have been identified as major risks in analyzing pension liabilities in this study. The sensitivity
... Show MoreSequence stratigraphic cycle of Cenomanian-early Turonian is composed of (Ahmadi, Rumaila, and Mishrif) formations, which is bounded at top and base by unconformity surfaces. The lithofacies of this cycle in the southern Iraq indicate a normal lateral change facies from shallow water facies through deeper water and open marine sediments, Ahmadi Formation (early Cenomanian) characterized by open marine sediments during the transgressive conditions, and passes up into deep basinal sediments (Rumaila Formation) by conformably surface.
Rumaila Formation (middle Cenomanian) was deposited in the deeper part of the intrashelf basin, which comprises of a mainly basinal sediments, and includes an abundant of open
... Show MoreThe research is trying to identify the investment portfolio risks of the insurance company and their impact, on the Profitability ratios of the company, and whether the company's scientific methods followed in the measurement of these risks, and conducted research in the National Insurance Company. by relying on its annual budget as well as the annual reports, The search dealing with these data in theoretical and practical major premise to statistically significant between to investment portfolio risk and financial performance correlation and reach a set of conclusions and recommendations which are the following.
investments include many ri
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