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ijs-6487
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
Tue Jan 29 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Factors Affecting in Planning of Current Expenditurs For Federal Public Budget of State: An Applied Research For ASample of Health Ministry Depatments
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Increasing interest in planning at the level of government units as a means to manage the physical and human resources, direct and invest in areas that would include an increase in the economies of the general government units that are part of the general economics of the state.The research problem lies in the introduction of the factors influencing the ongoing expenses that adversely affect the financial planning process at the level of the Ministry of Health Planning, which affects the quality of services provided to citizens, so I sought the researchers to study the reality of financial planning in some of the Ministry of Health and health departments through the analysis of current budgets and diagnose deviations in the implementatio

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Publication Date
Fri Feb 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
tourism planning and its impact in reducing the unemployment rate in Iraq for the period (1985 – 2015) An analytical study
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Abstract

     The problem of the study is the main question (Can tourism planning address the phenomenon of unemployment in Iraq ?) , And the importance of the study in the fact that the tourism sector can become an effective development alternative in many countries, especially Iraq, as tourism contributes to diversify sources of income and stimulate other economic sectors , We know how important Iraq's qualifications are in the field of tourism and what it can generate on the public treasury, To confirm the current study on the need to pay attention to tourism planning for its role in providing employment opportunities that reduce the unemployment rate in the future.

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Publication Date
Tue Mar 30 2021
Journal Name
Baghdad Science Journal
Solvability of Some Types for Multi-fractional Integro-Partial Differential Equation
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In this article, the solvability of some proposal types of the multi-fractional integro-partial differential system has been discussed in details by using the concept of abstract Cauchy problem and certain semigroup operators and some necessary and sufficient conditions. 

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Publication Date
Mon May 31 2021
Journal Name
Iraqi Journal Of Science
Multi-criteria Decision Making on the Best Drug for Rheumatoid Arthritis
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The theory of Multi-Criteria Decision Making (MCDM) was introduced in the second half of the twentieth century and aids the decision maker to resolve problems when interacting criteria are involved and need to be evaluated.  In this paper, we apply MCDM on the problem of the best drug for rheumatoid arthritis disease. Then, we solve the MCDM problem via -Sugeno measure and the Choquet integral to provide realistic values in the process of selecting the most appropriate drug. The approach confirms the proper interpretation of multi-criteria decision making in the drug ranking for rheumatoid arthritis.

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Publication Date
Mon Jan 01 2018
Journal Name
Journal Of Applied Engineering Science
Design and implementation of a smart home automation system based on global system for mobile communications
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Recently, there has been an increasing advancement in the communications technology, and due to the increment in using the cellphone applications in the diverse aspects of life, it became possible to automate home appliances, which is the desired goal from residences worldwide, since that provides lots of comfort by knowing that their appliances are working in their highest effi ciency whenever it is required without their knowledge, and it also allows them to control the devices when they are away from home, including turning them on or off whenever required. The design and implementation of this system is carried out by using the Global System of Mobile communications (GSM) technique to control the home appliances – In this work, an ele

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Publication Date
Thu May 28 2020
Journal Name
Iraqi Journal Of Science
Genetic Algorithm-Based Anisotropic Diffusion Filter and Clustering Algorithms for Thyroid Tumor Detection
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Medical imaging is a technique that has been used for diagnosis and treatment of a large number of diseases. Therefore it has become necessary to conduct a good image processing to extract the finest desired result and information. In this study, genetic algorithm (GA)-based clustering technique (K-means and Fuzzy C Means (FCM)) were used to segment thyroid Computed Tomography (CT) images to an extraction thyroid tumor. Traditional GA, K-means and FCM algorithms were applied separately on the original images and on the enhanced image with Anisotropic Diffusion Filter (ADF). The resulting cluster centers from K-means and FCM were used as the initial population in GA for the implementation of GAK-Mean and GAFCM. Jaccard index was used to s

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Publication Date
Sat Feb 08 2025
Journal Name
Journal Of Al-mamoon College
Subject Review: Toxic leadership in the workplace environment
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حضيت القيادة باهتمام كبير من قبل الباحثين ودورها الإيجابي في التأثير على الموظفين ونجاح المنظمات، في الآونة الأخير بدأت الدراسات تركز على الجانب المظلم للقيادة وتأثيرها على التابعين وبيئة العمل، وقد تم تحديد القيادة السامة بأنها أخطر الأساليب القيادية التي تتسبب بتكاليف مادية ومعنوية على المنظمات بمختلف جوانبها، ان القيادة السامة تأثر على دوافع المرؤوسين وقدرتهم على انجاز المهام، ورغبتهم في الاستمرار في

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Publication Date
Wed Jul 06 2022
Journal Name
Journal Of Asian Multicultural Research For Social Sciences Study
Remote Data Auditing in a Cloud Computing Environment
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In the current paradigms of information technology, cloud computing is the most essential kind of computer service. It satisfies the need for high-volume customers, flexible computing capabilities for a range of applications like as database archiving and business analytics, and the requirement for extra computer resources to provide a financial value for cloud providers. The purpose of this investigation is to assess the viability of doing data audits remotely inside a cloud computing setting. There includes discussion of the theory behind cloud computing and distributed storage systems, as well as the method of remote data auditing. In this research, it is mentioned to safeguard the data that is outsourced and stored in cloud serv

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Publication Date
Sun Jan 01 2023
Journal Name
8th Engineering And 2nd International Conference For College Of Engineering – University Of Baghdad: Coec8-2021 Proceedings
Applications of ecological theory in the urban environment
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Publication Date
Wed May 09 2018
Journal Name
International Journal Of Advanced Computer Science And Applications
New Techniques to Enhance Data Deduplication using Content based-TTTD Chunking Algorithm
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