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
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
On Intuitionistic Fuzzy bi- Ideal With respect To an Element of a near Ring
...Show More Authors

In this paper we introduce the notions of bi-ideal with respect to an element r
denoted by (r-bi- ideal ) of a near ring , and the notion fuzzy bi- ideal with respect
to an element of a near ring and the relation between F-r-bi-ideal and r-bi-ideal of
the near ring, we studied the image and inverse image of r-bi- ideal under
epimomorphism ,the intersection of r-bi- ideals and the relation between this ideal
and the quasi ideal of a near ring, also we studied the notion intuitionistic fuzzy biideal
with respect to an element r of the near ring N, and give some theorem about
this ideal .

View Publication Preview PDF
Publication Date
Wed May 11 2022
Journal Name
مجلة معارف للعلوم القانونية والاقتصادية
التصرفات القانونية الواردة على الجزء المفرز( الشقة ) في نظام الاسكان العمودي
...Show More Authors

الملخص ان حق الملكية هو الحق الاوسع نطاقا يمنح صاحبه صلاحية ممارسة السلطات كافة ويكون محل هذه السلطات كل ما يملك الشخص سواء كان شقه او طبقة اسوة بالعقارات الاخرى كدار للسكن او ارض ، ومن اهم هذه السلطات واوسعها نطاقا ( هو سلطة التصرف ). تعد هذه السلطة جوهر حق الملكية وأخطر السلطات الممنوحة للمالك كونه بواسطتها يمكنه الاستغناء عن ملكه بأي تصرف ناقل له كالبيع أو الهبة او الوصية مثلا ، ولأهمية هذه السلط

... Show More
View Publication Preview PDF
Publication Date
Sun Dec 31 2023
Journal Name
Revue Académique De La Recherche Juridique
المسؤولية الجزائية لمزودي خدمة الإنترنت عن جريمة التنمر الإلكتروني.
...Show More Authors

يُعد التنمر ظاهرة إجتماعية قديمة موجودة في جميع المجتمعات سواء أكان المجتمع صناعيًا أم ناميًا، كما يُعد من المفاهيم الحديثة نسبيًا، وربما يرجع لحداثة الإعتراف به نوعًا من أنواع العنف فضلاعن ندرة الدراسات التي تناولته وعدم وجود معيار محدد لتحديد السلوك الذي يعد تنمرًا أم عابرًا، لقد بدأ الأهتمام بدراسة التنمر في سبعينات القرن الماضي وأصبح موضعًا يحضى بأهتمام العديد في مختلف البلدان، وفي عصرنا الحالي تطورت

... Show More
View Publication
Publication Date
Mon Jan 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Continuous Classical Optimal Control governing by Triple Linear Parabolic Boundary Value Problem
...Show More Authors

This paper deals with the continuous classical optimal control problem for triple partial differential equations of parabolic type with initial and boundary conditions; the Galerkin method is used to prove the existence and uniqueness theorem of the state vector solution for given continuous classical control vector. The proof of the existence theorem of a continuous classical optimal control vector associated with the triple linear partial differential equations of parabolic type is given. The derivation of the Fréchet derivative for the cost function is obtained. At the end, the theorem of the necessary conditions for optimality of this problem is stated and is proved.

View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Sat Mar 04 2023
Journal Name
Baghdad Science Journal
Approximate Solution of Sub diffusion Bio heat Transfer Equation
...Show More Authors

In this paper, author’s study sub diffusion bio heat transfer model and developed explicit finite difference scheme for time fractional sub diffusion bio heat transfer equation by using caputo fabrizio fractional derivative. Also discussed conditional stability and convergence of developed scheme. Furthermore numerical solution of time fractional sub diffusion bio heat transfer equation is obtained and it is represented graphically by Python.

View Publication Preview PDF
Scopus (2)
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Mon Jul 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Continuous Classical Boundary Optimal Control Vector Governing by Triple Linear Partial Differential Equations of Parabolic Type
...Show More Authors

In this paper, the continuous classical boundary optimal control problem (CCBOCP) for triple linear partial differential equations of parabolic type (TLPDEPAR) with initial and boundary conditions (ICs & BCs) is studied. The Galerkin method (GM) is used to prove the existence and uniqueness theorem of the state vector solution (SVS) for given continuous classical boundary control vector (CCBCV). The proof of the existence theorem of a continuous classical boundary optimal control vector (CCBOCV) associated with the TLPDEPAR is proved. The derivation of the Fréchet derivative (FrD) for the cost function (CoF) is obtained. At the end, the theorem of the necessary conditions for optimality (NCsThOP) of this problem is stated and prov

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Mar 05 2024
Journal Name
East European Journal Of Physics
Synthesis, Characterization and Functionalization of P3HT-CNT Nanocomposite Thin Films with Doped Ag2O
...Show More Authors

This research focuses on the synthesis of carbon nanotube (CNT) and Poly(3-hexylthiophene) (P3HT) (pristine polymer) with Ag doped (CNT/ P3HT@Ag) nanocomposite thin films to be utilised in various practical applications. First, four samples of CNT solution and different ratios of the polymer (P3HT) [0.1, 0.3, 0.5, and 0.7 wt.%] are prepared to form thin layer of P3HT@CNT nanocomposites by dip-coating method of Ag. To investigate the absorption and conductivity properties for use in various practical applications, structure, morphology, optical, and photoluminescence properties of CNT/P3HT @Ag nanocomposite are systematically evaluated in this study. In this regard, the UV/Vis/NIR spectrophotometer in the wavelength range of 350 to 7

... Show More
View Publication Preview PDF
Scopus Clarivate Crossref
Publication Date
Wed Mar 29 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Estimation Pore and Fracture Pressure Based on Log Data; Case Study: Mishrif Formation/Buzurgan Oilfield at Iraq
...Show More Authors

Prediction of the formation of pore and fracture pressure before constructing a drilling wells program are a crucial since it helps to prevent several drilling operations issues including lost circulation, kick, pipe sticking, blowout, and other issues. IP (Interactive Petrophysics) software is used to calculate and measure pore and fracture pressure. Eaton method, Matthews and Kelly, Modified Eaton, and Barker and Wood equations are used to calculate fracture pressure, whereas only Eaton method is used to measure pore pressure. These approaches are based on log data obtained from six wells, three from the north dome; BUCN-52, BUCN-51, BUCN-43 and the other from the south dome; BUCS-49, BUCS-48, BUCS-47. Along with the overburden pressur

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Oct 30 2021
Journal Name
Iraqi Journal Of Science
Variational Approximate Solutions of Fractional Delay Differential Equations with Integral Transform
...Show More Authors

     The idea of the paper is to consolidate Mahgoub transform and variational iteration method (MTVIM) to solve fractional delay differential equations (FDDEs). The fractional derivative was in Caputo sense. The convergences of approximate solutions to exact solution were quick. The MTVIM is characterized by ease of application in various problems and is capable of simplifying the size of computational operations.  Several non-linear (FDDEs) were analytically solved as illustrative examples and the results were compared numerically. The results for accentuating the efficiency, performance, and activity of suggested method were shown by comparisons with Adomian Decomposition Method (ADM), Laplace Adomian Decompos

... Show More
View Publication Preview PDF
Scopus (4)
Scopus Crossref
Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
Study of Matter Density Distributions, Elastic Electron Scattering form Factors and Reaction Cross Sections of 8He And 17B Exotic Nuclei
...Show More Authors

The ground state densities of unstable neutron-rich 8He and 17B exotic nuclei are studied via the framework of the two-frequency shell model (TFSM) and the binary cluster model (BCM). In TFSM, the single particle harmonic oscillator wave functions are used with two different oscillator size parameters βc and βv where the former is for the core (inner) orbits and the latter is for the valence (halo) orbits. In BCM, the internal densities of the clusters are described by single particle Gaussian wave functions. Shell model calculations for the two valence neutrons in 8He and 17B are performed via the computer code OXBASH. The long tail performance is clearly noticed in the calculated neutron and matter density distributions of these nucl

... Show More
View Publication Preview PDF