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Collision Avoidance Using Cat Swarm Algorithm for Multi Mobile Robot Path Planning in Dynamic Environment
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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.

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Publication Date
Wed May 22 2024
Journal Name
Scientific Reports
The use of image analysis to study the effect of moisture content on the physical properties of grains
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Abstract<p>Designing machines and equipment for post-harvest operations of agricultural products requires information about their physical properties. The aim of the work was to evaluate the possibility of introducing a new approach to predict the moisture content in bean and corn seeds based on measuring their dimensions using image analysis using artificial neural networks (ANN). Experimental tests were carried out at three levels of wet basis moisture content of seeds: 9, 13 and 17%. The analysis of the results showed a direct relationship between the wet basis moisture content and the main dimensions of the seeds. Based on the statistical analysis of the seed material, it was shown that the characteristics </p> ... Show More
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Publication Date
Thu Nov 30 2023
Journal Name
Iraqi Journal Of Science
An Artificial Intelligence-based Proactive Network Forensic Framework
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     is at an all-time high in the modern period, and the majority of the population uses the Internet for all types of communication. It is great to be able to improvise like this. As a result of this trend, hackers have become increasingly focused on attacking the system/network in numerous ways. When a hacker commits a digital crime, it is examined in a reactive manner, which aids in the identification of the perpetrators. However, in the modern period, it is not expected to wait for an attack to occur. The user anticipates being able to predict a cyberattack before it causes damage to the system. This can be accomplished with the assistance of the proactive forensic framework presented in this study. The proposed system combines

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Publication Date
Wed Mar 29 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Application of Finite Element Technique: A Review Study
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The finite element approach is used to solve a variety of difficulties, including well bore stability, fluid flow production and injection wells, mechanical issues and others. Geomechanics is a term that includes a number of important aspects in the petroleum industry, such as studying the changes that can be occur in oil reservoirs and geological structures, and providing a picture of oil well stability during drilling. The current review study concerned about the advancements in the application of the finite element method (FEM) in the geomechanical field over a course of century.

Firstly, the study presented the early advancements of this method by development the structural framework of stress, make numerical computer solution

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Publication Date
Mon Jun 22 2020
Journal Name
Baghdad Science Journal
Splitting the One-Dimensional Wave Equation. Part I: Solving by Finite-Difference Method and Separation Variables
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In this study, an unknown force function dependent on the space in the wave equation is investigated. Numerically wave equation splitting in two parts, part one using the finite-difference method (FDM). Part two using separating variables method. This is the continuation and changing technique for solving inverse problem part in (1,2). Instead, the boundary element method (BEM) in (1,2), the finite-difference method (FDM) has applied. Boundary data are in the role of overdetermination data. The second part of the problem is inverse and ill-posed, since small errors in the extra boundary data cause errors in the force solution. Zeroth order of Tikhonov regularization, and several parameters of regularization are employed to decrease error

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Publication Date
Tue Jun 01 2021
Journal Name
Journal Of The College Of Languages (jcl)
A comparative reading of the social and political satire in the works of Abu al-Fadl Zrui Nasrabad and Ahmad Rajab (The tadhk: خوانش تطبیقی طنز اجتماعی – سیاسی در آثار ابوالفضل زرویی نصرآباد و احمد رجب(مورد مطالعه: تذکرة المقامات زرویی و نصف كلمة احمد رجب)
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           Satire is genre of the literary arts that has always been the source of human interest. Because  it is difficult to accept direct criticism, Satire appears as a literary tool in which vices, follies, abuses and shortcomings are held up to ridicule, with the intent of shaming individuals, corporations, government, or society itself into improvement. A satirical critic usually employs irony to attain this goal. Although satire is usually meant to be humorous, its greater purpose is often profitable social criticism, using wit to draw at

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Publication Date
Sat Oct 28 2023
Journal Name
Baghdad Science Journal
Generalized Left Derivations with Identities on Near-Rings
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In this paper, new concepts which are called: left derivations and generalized left derivations in nearrings have been defined. Furthermore, the commutativity of the 3-prime near-ring which involves some
algebraic identities on generalized left derivation has been studied.

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Publication Date
Mon Jul 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
⊕-s-extending modules
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     The -s-extending modules will be purpose of this paper, a module M  is -s-extending if each submodule in M is essential in submodule has a supplement that is direct summand. Initially, we give relation between this concept with weakly supplement extending modules and -supplemented modules. In fact, we gives the following implications:

Lifting modules   -supplemented modules   -s-extending modules  weakly supplement extending modules.

It is also we give examples show that, the converse of this result is not true. Moreover, we study when the converse of this result is true.

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Publication Date
Wed Aug 30 2023
Journal Name
Iraqi Journal Of Science
Field, Western Desert, Egypt
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     This study aims to overcome the unexpected hydrocarbon non-potentiality detected in the upper Alam El-Bueib (I to IIIE) and justify the hydrocarbon accumulation within Alam El-Bueib (IIIG) at the Emry oil field, also, it is important to highlight the importance of fault seal analysis and the impact of Matruh canyon as a seal. Seismic interpretation and 3D structural framework are carried out using the fault-seal analysis technique for fault no.1 (F1). To assess the fault zone's capacity to be defined as either seal or leakage. Litho-facies juxtaposition diagram (Allan diagram) and Shale Gouge Ratio (SGR) were generated. It is concluded that the possible reason for the dry reservoir of the upper part of Alam El Bueib (Alam El Bue

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Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Engineering
Compressive Strength of Bottle-Shaped Compression Fields of Fiber Reinforced Concrete Members
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Applying load to a structural member may result in a bottle-shaped compression field especially when the width of the loading is less than the width of bearing concrete members. At the Building and Construction Department – the University of Technology-Iraq, series tests on fibre reinforced concrete specimens were carried out, subjected to compression forces at the top and bottom of the specimens to produce compression field. The effects of steel fibre content, concrete compressive strength, transverse tension reinforcement, the height of test specimen, and the ratio of the width of loading plate to specimen width were studied by testing a total of tenth normal strength concrete blocks with steel fibre and one normal s

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Publication Date
Sat Feb 26 2022
Journal Name
Iraqi Journal Of Science
3D Reservoir Modeling of Buzurgan Oil Field, Southern Iraq
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    This study aims to set up a 3D static model to characterize and evaluate Mishrif Formation which represents the main reservoir in Buzurgan Oilfield, southern Iraq. Six wells have been selected to set up structural, facies and petrophysical models of Mishrif reservoir by using Petrel Software. The structural model has been built based on the structural contour map of the top of Mishrif Formation, which derived from seismic interpretation, and by using different static algorithms in Petrel Software. The structural model showed that the Buzurgan Oilfield represents an anticlinal fold with two domes north and south separated by a depression. The petrophysical model included the porosity model and water saturation model. Th

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