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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 Mar 28 2018
Journal Name
Iraqi Journal Of Science
Effect of Silver Nanoparticles on Fluorescence Spectra of C480 dye
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This work aim to study the effect of silver nanoparticles on fluorescence intensity of Coumarin 480 dye by using the sandwiches technique where AgNP layer had been separated from C480 layer by different type of materials such as silica, PMMA polymer and PVA polymer layer. Silver nanoparticles had been prepared by the chemical reduction method so the AgNP layer coating had been done by hot rotation liquid method. The optical properties of prepared samples had been tested by using UV-VIS absorption spectrophotometer and Fluorescence spectrophotometer. Morphology, average size and the structure of nanoparticles were estimated using AFM, SEM testes

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Publication Date
Thu Mar 09 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Images Segmentation Based on Fast Otsu Method Implementing on Various Edge Detection Operators
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The present work aims to study the effect of using an automatic thresholding technique to convert the features edges of the images to binary images in order to split the object from its background, where the features edges of the sampled images obtained from first-order edge detection operators (Roberts, Prewitt and Sobel) and second-order edge detection operators (Laplacian operators). The optimum automatic threshold are calculated using fast Otsu method. The study is applied on a personal image (Roben) and a satellite image to study the compatibility of this procedure with two different kinds of images. The obtained results are discussed.

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Publication Date
Sun Jun 09 2019
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Synthesis, Characterization and Preliminary Anti-inflammatory Evaluation of New Etodolac Derivatives
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Three new hydrazone derivatives of Etodolac were synthesized and evaluated for their anti-inflammatory activity by using egg white induced paw edema method. All the synthesized target compounds were characterized by CHN- microanalysis, FT-IR spectroscopy, and 1HNMR analysis. The synthesis of the target (P1-P3) compounds was accomplished following multistep reaction procedures. The synthesized target compounds were found to be active in reducing paw edema thickness and their anti-inflammatory effect was comparable to that of the standard (Etodolac).

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Scopus (11)
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Publication Date
Sat Aug 31 2019
Journal Name
Iraqi Journal Of Physics
Characterization of Zinc oxide Nanostructures prepared by hydrothermal method with Antibacterial property
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        In this study, Zinc oxide nanostructures were synthesized via a hydrothermal method by using zinc nitrate hexahydrate and sodium hydroxide as a precursor. Three different annealing temperatures were used to study their effect on ZnO NSs properties. The synthesized nanostructure was characterized by X-ray diffraction (XRD), field emission scanning electron microscopy (FESEM), Atomic force microscope (AFM), and Fourier Transform Infrared Spectroscopy (FTIR). Their optical properties were studied by using UV -visible spectroscopy. The XRD analysis confirms that all ZnO nanostructures have the hexagonal wurtzite structure with average crystallite size within the range of (30.59 - 34

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Publication Date
Sat Jun 27 2020
Journal Name
Iraqi Journal Of Science
Green Synthesis Concept of Nanoparticles From Environmental Bacteria and Their Effects on Pathogenic Bacteria
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Soil bacteria play an interesting role in the reduction of Ag+ ions and the formation of silver nanoparticles (AgNPs), which may be a good source for nanoparticles and play a major role in nanotechnology applications. The concept of this project was to study the effects of these environmentally produced nanoparticles on the growth of some pathogenic bacteria. The environmental bacteria were isolated from soil, purified on broth cultures, and centrifuged, while the supernatant was extracted to detect its ability to convert silver nitrate to nanoparticles. The AgNPs was detected by Atomic Force Microscopy (AFM), while Granularity Cumulating Distribution (GCD) was employed to estimate the AgNPs sizes. The results showed the

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Scopus (18)
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Publication Date
Tue Jul 28 2020
Journal Name
Iraqi Journal Of Science
Antibacterial Activity of Silver Nanoparticles Synthesized from Plant Latex
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     Nanoparticles produced by plants are preferred in the medical field for its safe and unpolluted product; it is also accepted as an ecofriendly, non-expensive, and non-toxic nanomaterial. In this study, silver nitrate was successfully used to produce silver nanoparticles (AgNPs) by the use extractsof 4 different latex-producing plants which belong to 2 families (Moraceae and Euphorbiaceae). The synthesis was proved by Atomic Force Microscopy (AFM).The sizes of the AgNP grains were estimated by Granularity Cumulating Distribution (GCD). The results revealed the production of AgNPs in different sizes of 103 and 82 nm using the Moraceae family and 77 and74nm using the Euphorbiaceae

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Scopus (15)
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Publication Date
Sun Jul 31 2022
Journal Name
Iraqi Journal Of Science
Adsorption of Biebrich Scarlet Dye into Remains Chromium and Vegetable Tanned Leather as Adsorbents
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Chromium tanned leather wastes (CTLW) and vegetable tanned leather wastes (VTLW) were used as adsorbent materials to remove the Biebrich scarlet dye (BS), as an anionic dye from wastewater, using an adsorption method. The effects of various factors, such as weight of leather waste, time of shaking, and the starting concentration of Biebrich scarlet dye, temperature and pH were studied. It described the adsorption process using Langmuir and Freundlich isotherm models. The obtained results agreed well with the Langmuir model, and the maximum adsorption capacities of CTLW and VTLW were 73.5294 and 78.1250 mg.g⁻¹, respectively, suggesting a monolayer adsorption process. The adsorption kinetic was found to follow a pseudo-second-order kinetic

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Study the Optical Properties of Polymer Poly Vinyl Alcohol doped with CuO and Fe2Cl3 Thin films
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  In this research we prepared thin films from pure polymer  (polyvinyl alcohol PVA )and doped with CuO with concentration 8% ,and Fe2Cl3 at different concentrations (1,5,8)%.This films were prepared by casting method and placed in Britidish (4cm diameter )with thickness(200±5)μm.Through the investigation of(X-ray )diffraction it is found all that the samples have polycrystalline structure .Also we measurement the optical properties from this films such as absorption ,transmittion spectra ,absorption coefficient ,energy gap ,extinction coefficient ,refraction index ,finesse coefficient ,the dielectric constant with two parts the real and the imaginary and the optical conductivity .  
 

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Publication Date
Sun Mar 01 2015
Journal Name
Baghdad Science Journal
S-maximal Submodules
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Throughout this paper R represents a commutative ring with identity and all R-modules M are unitary left R-modules. In this work we introduce the notion of S-maximal submodules as a generalization of the class of maximal submodules, where a proper submodule N of an R-module M is called S-maximal, if whenever W is a semi essential submodule of M with N ? W ? M, implies that W = M. Various properties of an S-maximal submodule are considered, and we investigate some relationships between S-maximal submodules and some others related concepts such as almost maximal submodules and semimaximal submodules. Also, we study the behavior of S-maximal submodules in the class of multiplication modules. Farther more we give S-Jacobson radical of ri

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Publication Date
Mon Apr 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Interval Value Fuzzy k-Ideals of a KU-Semigroup
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The notion of interval value fuzzy k-ideal of KU-semigroup was studied as a generalization of afuzzy k-ideal of KU-semigroup. Some results of this idea under homomorphism are discussed. Also, we presented some properties about the image (pre-image) for interval~ valued fuzzy~k-ideals of a KU-semigroup. Finally, the~ product of~ interval valued fuzzyk-ideals is established.

 

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