Preferred Language
Articles
/
ijs-6487
Collision Avoidance Using Cat Swarm Algorithm for Multi Mobile Robot Path Planning in Dynamic Environment
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Mar 01 2020
Journal Name
Baghdad Science Journal
Discussing Fuzzy Reliability Estimators of Function of Mixed Probability Distribution By Simulation
...Show More Authors

This paper deals  with constructing mixed probability distribution  from exponential with scale parameter (β) and also Gamma distribution with (2,β), and the mixed proportions are (  .first of all, the probability density function (p.d.f) and also cumulative distribution function (c.d.f) and also the reliability function are obtained. The parameters of mixed distribution, ( ,β)  are estimated by three different methods, which are  maximum likelihood, and  Moments method,as well proposed method (Differential Least Square Method)(DLSM).The comparison is done using simulation procedure, and all the results are explained in tables.

View Publication Preview PDF
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Sun Feb 02 2020
Journal Name
University Of Baghdad, College Of Education For Pure Sciences / Ibn Al-haitham, Department Of Mathematics
Some Types of Perfect Mappings
...Show More Authors

The aims of this thesis are to study the topological space; we introduce a new kind of perfect mappings, namely j-perfect mappings and j-ω-perfect mappings. Furthermore, we devoted to study the relationship between j-perfect mappings and j-ω-perfect mappings. Finally, certain theorems and characterization concerning these concepts are studied. On the other hand, we studied weakly/ strongly forms of ω-perfect mappings, namely -ω-perfect mappings, weakly -ω-perfect mappings and strongly-ω-perfect mappings; also, we investigate their fundamental properties. We devoted to study the relationship between weakly -ω-perfect mappings and strongly -ω-perfect mappings. As well as, some new generalizations of some definitions wh

... Show More
Publication Date
Wed Jun 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
The relationship of empowering workers with organizational performanceField research of the views of the scientific leaders of a number of colleges at the University of Baghdad
...Show More Authors

The Strategy of employees' empowerment, organizational performance and total quality management represent three informative which were and still the hub of many studies and researches including the current study. The higher education is considered one of the most important services sectors and the main development as well as the civil progress in the society. It is the main source that provides the organizations with the human resources having scientific or practical professions. So Higher Education has been chosen especially Baghdad University as a sample of the study. The study problem is concentrated to find answers of the following   questions: What the level of the powers mandate in the organization concerning the

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Jan 26 2024
Journal Name
Iraqi Journal Of Science
Antimicrobial Effects of Black Tea (Camellia sinensis) on Pseudomonas Aeruginosa Isolated from Eye Infection
...Show More Authors

This study was conducted to evaluate the effects of black tea on Pseudomonas
aeruginosa isolated from eye infection. One hundred samples (corneal scrapings)
were obtained. Approximately, 77% of the cases were due to contact lens wear
followed by 15 % trauma and 8% with unknown history. The isolates identified as
P. aeruginosa were 30% (23/77 CL) and 25% (2/8 Unknown). On the other hand,
the Kirby-Bauer antibiotic sensitivity assay showed that 100% of the isolates were
sensitive to Neomycin, Gentamicin and Amikacin. While 91.6% were sensitive to
Carbenicillin and Ceftriaxone; 66.6% were sensitive to Cefotaxime and 0% were
sensitive to Tertacycline. Only two isolates were found to be multidrug resistant.
Screenin

... Show More
View Publication Preview PDF
Publication Date
Tue Sep 01 2009
Journal Name
Journal Of Economics And Administrative Sciences
Evaluating the quality of educational services according to the modified Servqual modelStudy of a sample of students of the Faculty of Management and Economics / University of Baghdad
...Show More Authors

The research aims to apply a modified SERVQUAL model to evaluate the quality of the educational services via conducting exploratory research for students from the College of Administration and Economics- Department of Business Administration- Evening studies at the University of Baghdad. Questionnaire of two parts was distributed to a sample of (72) students out of (720) students of the 2nd.,3rd. and 4th. year in the beginning of the second semester of the year 2008-2009 to measure the expectations and perceptions to the quality of the educational services. Five major dimensions were analyzed to see the gaps for (22) variables. The study concluded that there were (13) variables confirmed that the

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Sep 01 2020
Journal Name
Baghdad Science Journal
Modified Weighted Pareto Distribution Type I (MWPDTI)
...Show More Authors

In this paper, the Azzallini’s method used to find a weighted distribution derived from the standard Pareto distribution of type I (SPDTI) by inserting the shape parameter (θ) resulting from the above method to cover the period (0, 1] which was neglected by the standard distribution. Thus, the proposed distribution is a modification to the Pareto distribution of the first type, where the probability of the random variable lies within the period  The properties of the modified weighted Pareto distribution of the type I (MWPDTI) as the probability density function ,cumulative distribution function, Reliability function , Moment and  the hazard function are found. The behaviour of probability density function for MWPDTI distrib

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Tue Jan 01 2019
Journal Name
Sci.int.(lahore)
FILTER BASES AND SUPRA PERFECT FUNCTIONS
...Show More Authors

We introduce some new generalizations of some definitions which are, supra closure converge to a point, supra closure directed toward a set, almost supra converges to a set, almost supra cluster point, a set supra H-closed relative, supra closure continuous functions, supra weakly continuous functions, supra compact functions, supra rigid a set, almost supra closed functions and supra perfect functions. And we state and prove several results concerning it

Preview PDF
Publication Date
Mon Sep 16 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Filter Bases and j-ω-Perfect Mappings
...Show More Authors

This paper consist some new generalizations of some definitions such: j-ω-closure converge to a point,  j-ω-closure directed toward a set, almost  j-ω-converges to a set, almost  j-ω-cluster point, a set  j-ω-H-closed relative, j-ω-closure continuous mappings, j-ω-weakly continuous mappings, j-ω-compact mappings, j-ω-rigid a set, almost j-ω-closed mappings and  j-ω-perfect mappings. Also, we prove several results concerning it, where j ÃŽ{q, δ,a, pre, b, b}.

 

View Publication Preview PDF
Crossref
Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Economics And Administrative Sciences
Mathematical Modelling of Gene Regulatory Networks
...Show More Authors

    This research includes the use of an artificial intelligence algorithm, which is one of the algorithms of biological systems which is the algorithm of genetic regulatory networks (GRNs), which is a dynamic system for a group of variables representing space within time. To construct this biological system, we use (ODEs) and to analyze the stationarity of the model we use Euler's method. And through the factors that affect the process of gene expression in terms of inhibition and activation of the transcription process on DNA, we will use TF transcription factors. The current research aims to use the latest methods of the artificial intelligence algorithm. To apply Gene Regulation Networks (GRNs), we used a progr

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Aug 01 2019
Journal Name
International Journal Of Research - Granthaalayah
CALCULATION OF MULTIPLE MIXING RATIOS OF GAMMA RAYS FROM 𝑵𝒅(𝒏,𝒏)𝟔𝟎 𝟏𝟒𝟐−𝟏𝟓𝟎 ) 𝟔𝟎𝑵𝒅 𝟏𝟒𝟐−𝟏𝟓𝟎 INTERACTION
...Show More Authors

In the current research, multiple mixing ratios of gamma -transitions of the energy levels 60𝑁𝑑 142−150 isotopes populated in 𝑁𝑑(𝑛, 𝑛 ˊ 60 142−150 ) 60𝑁𝑑 142−150 interaction are calculated using the constant statistical tensor (CST) method. The results obtained are, in general, in good agreement or consistent, within the experimental error, with the results published in the previously researches. Existing discrepancies result from inaccuracies in the experimental results of previous works. The current results confirm the validity of the constant statistical tenser method of calculating the values of mixing ratios and its predictability of errors in experimental results