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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 Nov 24 2021
Journal Name
Iraqi Journal Of Science
Surface Plasmon Resonance study of Ag nanoparticles colloidal
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Silver nanoparticles (Ag-NPs) have been prepared using the electro-chemical
method. The experimental setup of this technique consist of two electrodes of pure
silver (99.2 %), the applied voltage on the electrodes is 20 V and the current through
the colloidal was about 0.4 Amp. The silver nanoparticles crystallization has been
studied; the crystalline structure appears Face center Cubic. The optical properties of
silver nanoparticles are strongly affected by the Local Surface Plasmon Resonance
(LSPR). The wavelength of maximum absorption band for an Ag NPs have a range
(~350nm-550nm).

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Publication Date
Wed Apr 17 2019
Journal Name
Iraqi Journal Of Science
Fabrication and Enhancement UV Photodiode Based on Mg-Doped ZnO Nanorods Films
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Magnesium-doped Zinc oxide (ZnO: Mg) nanorods (NRs) films and pure Zinc oxide deposited on the p-silicon substrates were prepared by hydrothermal method. The doping level of the Mg concentration (atoms ratio of Mg to Zn was chosen to be 0.75% and 1.5%. X-ray diffraction (XRD) and energy-dispersive X-ray spectroscopy (EDX) were performed to characterize the prepared films. X-ray diffraction analysis showed a decrease in the lattice parameters of the Mg-doped ZnO NRs. Under 10V applied bias voltage, the responsivity of p-n junction UV photodiode based on pure ZnO and Mg: ZnO with doping ratio (0.75% and 1.5%) was 0.06 A/W and (0.15A/W and 0.27A/W) at UV illumination of wavelength 365 nm respectively, 0.071 A/W and (0.084A/W and 0.11A/W) fo

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Publication Date
Fri Apr 21 2023
Journal Name
Technologies And Materials For Renewable Energy, Environment And Sustainability: Tmrees22fr
Modified x-ray analysis size strain plot method to determine the lattice stress and strain energy density of calcium titan oxide (CaTiO3) nanoparticles
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In this research, the size strain plot method was used to estimate the particle size and lattice strain of CaTiO3 nanoparticles. The SSP method was developed to calculate new variables, namely stress, and strain energy, and the results were crystallite size (44.7181794 nm) lattice strain (0.001211), This method has been modified to calculate new variables such as stress and its value (184.3046308X10-3Mpa) and strain energy and its value (1.115833287X10-6 KJm-3).

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Publication Date
Sat Feb 26 2022
Journal Name
Iraqi Journal Of Science
Bifurcation Diagram of W(u_j;τ)-Function with (p,q)-Parameters
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      This study aims to classify the critical points of functions with 4 variables and 8 parameters, we found the caustic for the certain function with the spreading of the critical points. Finally, as an application, we found the bifurcation solutions for the equation of sixth order with boundary conditions using the Lyapunov-Schmidt method in the variational case.

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Publication Date
Wed Dec 30 2020
Journal Name
Iraqi Journal Of Science
Adopting Image Integration Techniques to Simulate Satellite Images
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Mathematical integration techniques rely on mathematical relationships such as addition, subtraction, division, and subtraction to merge images with different resolutions to achieve the best effect of the merger. In this study, a simulation is adopted to correct the geometric and radiometric distortion of satellite images based on mathematical integration techniques, including Brovey Transform (BT), Color Normalization Transform (CNT), and Multiplicative Model (MM). Also, interpolation methods, namely the nearest neighborhood, Bi-linear, and Bi-cubic were adapted to the images captured by an optical camera. The evaluation of images resulting from the integration process was performed using several types of measures; the first type depend

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Publication Date
Fri Jan 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
α-Sumudu Transformation Homotopy Perturbation Technique on Fractional Gas Dynamical Equation
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     Transformation and many other substitution methods have been used to solve non-linear differential fractional equations. In this present work, the homotopy perturbation method to solve the non-linear differential fractional equation with the help of He’s Polynomials is provided as the transformation plays an essential role in solving differential linear and non-linear equations. Here is the α-Sumudu technique to find the relevant results of the gas dynamics equation in fractional order. To calculate the non-linear fractional gas dynamical problem, a consumer method created on the new homotopy perturbation a-Sumudu transformation method (HP TM) is suggested. In the Caputo type, the derivative is evaluated. a-Sumudu homotopy pe

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Publication Date
Wed Apr 09 2014
Journal Name
Chemical And Process Engineering Research
Analytical Profile of 4 - (4-Nitro Benzene Azo) - 3 - Amino Benzoic Acid on a Surface of Natural Granulated Calcined Iraqi Montmorillonite Clay Mineral, via Columnar Method
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The adsorption ability of Iraqi initiated calcined granulated montmorillonite to adsorb of 4-(4-Nitrobenzeneazo) 3-Aminobenzoic Acid from aqueous solutions has been investigated through columnar method. The azo dye adsorption found to be dependent on adsorbent dosage, initial concentration and contact time. All columnar experiments were carried out at three different pH values (5.5, 7and 8) using buffer solutions at flow rate of (3 drops/ min.), at room temperature (25±2) °C. The experimental isotherm data were analyzed using Langmuir, Freundlich and Temkin equations. The monolayer adsorption capacity is 6.4066 mg Azo ligand per 1g calcined Montmorillonite. The experiments showed that highest removal rate 90.5 % for azo dye at pH 5.5.The

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Publication Date
Fri Sep 01 2017
Journal Name
Global Journal Of Pure And Applied Mathematics
Solution of Modified Kuznetsov Model with Mixed Therapy
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In this paper two modifications on Kuznetsov model namely on growth rate law and fractional cell kill term are given. Laplace Adomian decomposition method is used to get the solution (volume of the tumor) as a function of time .Stability analysis is applied. For lung cancer the tumor will continue in growing in spite of the treatment.

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Publication Date
Sat Feb 26 2022
Journal Name
Iraqi Journal Of Science
Characterization of Polyhydroxybutyrate Nanoparticles
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     Preparation of nanoparticles is one of the important ways to increase the biological effectiveness of materials. There are several methods to prepare the polyhydroxybutyrate (PHB) nanoparticles. Here, a new method is used based on exposing PHB to ultrasound waves under variable pH conditions. In the present study, PHB was added to distilled water and pH was adjusted to 4 by HCl (1 N). The suspension was exposed to ultrasound waves at 4500 kh for 25 seconds. Then, pH was readjusted to 10 by NaoH (1N) and the mixture was incubated for 2 h at 21 oC.  Finally, the pH was adjusted to 7 by HCl (1 N) and the  mixture was incubated at 21 oC for 18 h. The characterization of the prepared na

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Publication Date
Tue Dec 29 2020
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Preparation, Characterization and Optimization of Etoposide-Loaded Gold Nanoparticles Based on Chemical Reduction Method
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In recent years, observed focus greatly on gold nanoparticles synthesis due to its unique properties and tremendous applicability. In most of these researches, the citrate reduction method has been adopted. The aim of this study was to prepare and optimize monodisperse ultrafine particles by addition of reducing agent to gold salt, as a result of seed mediated growth mechanism. In this research, gold nanoparticles suspension (G) was prepared by traditional standard Turkevich method and optimized by studying different variables such as reactants concentrations, preparation temperature and stirring rate on controlling size and uniformity of nanoparticles through preparing twenty formulas (G1-G20). Subsequently, the selected formula that pr

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