Abstract

Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization al

A new human-based heuristic optimization method, named the Snooker-Based Optimization Algorithm (SBOA), is introduced in this study. The inspiration for this method is drawn from the traits of sales elites—those qualities every salesperson aspires to possess. Typically, salespersons strive to enhance their skills through autonomous learning or by seeking guidance from others. Furthermore, they engage in regular communication with customers to gain approval for their products or services. Building upon this concept, SBOA aims to find the optimal solution within a given search space, traversing all positions to obtain all possible values. To assesses the feasibility and effectiveness of SBOA in comparison to other algorithms, we conducte

   Finite element method is the most widely numerical technique used in engineering field. Through the study of behavior of concrete material properties, various concrete constitutive laws  and failure criteria have been developed to model the behavior of concrete. A feature of the Finite Element program (ATENA) is used in this study to model the behavior of UHPC corbel under concentrated load only. The Finite Element (FE) model is followed by verification against experimental results. Some variable effects on the shear capacity of the UHPC corbels are also demonstrated in a parametric study. A proposed design equation of shear strength of UHPC corbel was presented and checked with numerical results.
 

In this work , an effective procedure of Box-Behnken based-ANN (Artificial Neural Network) and GA (Genetic Algorithm) has been utilized for finding the optimum conditions of wt.% of doping elements (Ce,Y, and Ge) doped-aluminizing-chromizing of Incoloy 800H . ANN and Box-Behnken design method have been implanted for minimizing hot corrosion rate k_p (10^-12g².cm^-4.s^-1) in Incoloy 800H at 900^oC . ANN was used for estimating the predicted values of hot corrosion rate k_p (10^-12g².cm^-4.s^-1) . The optimal wt.% of doping elements combination to obtain minimum hot corrosion rate was calculated using genetic alg

In this study, the optimum conditions for COD removal from petroleum refinery wastewater by using a combined electrocoagulation- electro-oxidation system were attained by Taguchi method. An orthogonal array experimental design (L18) which is of four controllable parameters including NaCl concentration, C.D. (current density), PH, and time (time of electrolysis) was employed. Chemical oxygen demand (COD) removal percentage was considered as the quality characteristics to be enhanced. Also, the value of turbidity and TDS (total dissolved solid) were estimated. The optimum levels of the studied parameters were determined precisely by implementing S/N analysis and analysis of variance (ANOVA). The optimum conditions were found to be NaCl = 2.5

The latest open commercial markets among countries, shift of capitals, and rise of mass economic, large international organizations, and international contracts leaded to a great increase of competition among countries for attracting capital for investments, specially among under developing countries which had bad economic situation, and which thinks that investment is the best solution to solve their old economic problems.

Developing small, and medium establishments in all economic sectors became the main economic force and natural resources for the development and growth of under developing countries. Small and medium establishments became the majority of any country establishments, and the past international experience shows t

أختير مشروع مزرعة فدك في محافظة النجف االشرف المستثمر من العتبة العلوية المقدسة. يقع المشروع في الجهة الشمالية شرقا ة عرض ''54.38 '57 º31 الـــــــــــى ً الغربية لمحافظة النجف االشرف بين خطي طول ''18.78 '0 º 44 الى ''53.46 '7 º44 ودائر ''17.53 '2 º32 شماال بمساحة اجمالية للمشروع تقدر بـــ 35493 هكتار لتقييم بعض الصفات الكيميائية للترب الصحراوية في تحديد دليل نوعيتها وصحتها لمشروع مزرعة فدك/ محافظة النجف االشرف، اذ تم اخذ 40 عينة سطحية

تبحث هذه الدراسة في المهارات االتصالية عند المحررين الصحفيين وترتيب أولويات امتالكها لديهم إذ تلعب المهارات االتصالية دورا مهما في نجاح عملية التحرير الصحفي للرسالة بكل أنواعها سواء كانت خبرا أو مقاال أو تقريرا أو تحقيقا أو حديثا ، وتتنوع هذه المهارات بين األساسية المتعلقة باالتصال والمالحظة القوية وسرعة التعبير وبين المكملة لها المتعلقة باللغة والمعنى واإلرسال واالستقبال ، وتأتي هذه الد ارسة لتركز الضوء

The great challenge that will face the management in the developed and developing countries at the same time as core issue is represented in the question of the labor productivity in the field of in the Training Of human which is believed that it will prevail upon the jobs of their organization for many coming decades in in next years. Farther more, it will limit the construction of the communities and the quality of this life. Therefore, the priority of the economics of those countries will be headed toward increasing this productivity and giving it tried finally to control economically and managerially. In the light of information era, every organization should become knowledgeable enterprise. And for this reason, the achievement of su