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An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning
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This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO) for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In order to evaluate the proposed algorithm in term of finding the best solution, six benchmark test functions are used to make a comparison between AMOPSO and the standard MOPSO. The results show that the AMOPSO has a better ability to get away from local optimums with a quickest convergence than the MOPSO. The simulation results using Matlab 2014a, indicate that this methodology is extremely valuable for every robot in multi-robot framework to discover its own particular proper pa‌th from the start to the destination position with minimum distance and time.

 

 

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Publication Date
Sat Jun 30 2007
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Rise Velocity and Drag Coefficient of Collapsing Two-Phase Bubble Condensing in an Immiscible Liquid
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Collapse of the vapor  bubble condensing  in an immiscible  is investigated for  n-pentane and n-hexane vapors condensing in cold water and n-pentane in two different compositions of glycerin- water mixture. The rise velocity and the drag coefficient of the two-phase bubble are measured.

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Publication Date
Sat Feb 01 2020
Journal Name
Journal Of Southwest Jiaotong University
The Dynamics of an Eco-Epidemiological Model with Allee Effect and Harvesting in the Predator
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The aim of this study was to propose and evaluate an eco-epidemiological model with Allee effect and nonlinear harvesting in predators. It was assumed that there is an SI-type of disease in prey, and only portion of the prey would be attacked by the predator due to the fleeing of the remainder of the prey to a safe area. It was also assumed that the predator consumed the prey according to modified Holling type-II functional response. All possible equilibrium points were determined, and the local and global stabilities were investigated. The possibility of occurrence of local bifurcation was also studied. Numerical simulation was used to further evaluate the global dynamics and the effects of varying parameters on the asymptotic behavior of

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Publication Date
Sat Dec 31 2011
Journal Name
Al-khwarizmi Engineering Journal
Simulation of Oxygen Mass Transfer in an Internal Loop Airlift Reactor with Axial Dispersion Model
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The effect of superficial gas velocity within the range 0.01-0.164 m/s on gas holdup (overall, riser and down comer), volumetric oxygen mass transfer coefficient, liquid circulation velocity was studied in an internal loop concentric tubes airlift reactor (working volume 45 liters). It was shown that as the usg increases the gas holdup and also the liquid circulation velocity increase. Also it was found that increasing superficial gas velocity lead to increase the interfacial area that increases the overall oxygen mass transfer coefficient. The hydrodynamic experimental results were modeled with the available equations in the literature. The predicted data gave an acceptable accuracy with the empirical data.

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Publication Date
Sat Jun 03 2023
Journal Name
Iraqi Journal Of Science
Alteration of cell aggregation and adhesion in Dictyostelium amoeba by an overexpression of paracaspase protein
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Dictyostelium discoideum amoeba is a powerful system to study gene function through genetic and functional analysis. Paracaspase (Pcp) is a caspase-like protein that has recently identified in D. discoideum. Study paracaspase molecular function in Dictyostelium will provide insight into its cellular role in more complex organisms and the possibility to use it as a drug target against the parasitic amoeba. In this study, pcp was tagged with Green Fluorescent Protein (GFP) and over-expressed in the cell. The knockout version of pcp (pcp-) was also investigated. In the course of our examination, it was observed that cells overexpress Pcp was unable to complete the developmental process, leading us to examine its role in development. Those c

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Publication Date
Sun Feb 03 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Use Dividend Discount Model , DDM in Stocks Valuation With Framework of Inflation: An Applied Study
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The theme of this Study presents analysis and discuss to the "Share the framework for assessing inflation," a practical study in a sample of joint stock companies listed on the Iraq Stock Exchange for the years (2009-2013). To determine the extent of the disparity between the nominal value of shares (Nominal Value) before deducting inflation and the real value (Real Value) per share, after deducting inflation in the case of zero growth. The study relied on annual reports of the companies of the research sample of the Iraq Stock Exchange, as well as the Iraqi Securities Commission. Besides the annual reports issued by the Ministry of Planning, as well as annual reports and statistical bulletin issued by the Central Bank of Iraq. It is fra

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Crossref
Publication Date
Fri Feb 07 2025
Journal Name
Journal Wlkalam
Earthquakes in the Holy Qur’an and the Hadith of the Noble Prophet, an intellectual approach
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Earthquakes in the Holy Qur’an and the Hadith of the Noble Prophet, an intellectual approach

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Publication Date
Mon Sep 06 2021
Journal Name
Journal Of Mechanical Engineering Research And Developments
Using Micro-Ceramic as an Abrasive Material to Remove Surface Roughness by Magnetic Abrasive Finishing
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Due to the rapid advancement of technology and the technology of things, modern industries start to need a highprecision equipment and surface finishing, so many finishing processes began to develop. One of the modern processes is Magnetic Abrasive Finishing (MAF), which is a high-precision process for internal and external finishing under the influence of a magnetic field of abrasive particles. Boron Carbide (B4C) ceramics was tested by mixing it with iron (Fe) and produced abrasive particles to reduce the intensity of scraping on the surface, reduce the economic cost and achieve a high finishing addition to remove the edges at the same time. The material selected for the samples was mild steel (ASTM E415) under (Quantity of Abrasives, Mac

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Publication Date
Tue Mar 01 2022
Journal Name
Evergreen
Development, Validation, and Performance Evaluation of An Air-Driven Free-Piston Linear Expander Numerical Model
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Publication Date
Fri Sep 02 2022
Journal Name
Frontiers In Built Environment
Thermal analysis of horizontal earth-air heat exchangers in a subtropical climate: An experimental study
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The earth-air heat exchanger (EHX) has a promising potential to passively save the energy consumption of traditional air conditioning systems while maintaining a high degree of indoor comfort. The use of EHX systems for air conditioning in commercial and industrial settings offers several environmental benefits and is capable of operating in both standalone and hybrid modes. This study tests the performance and effectiveness of an EHX design in a sandy soil area in Baghdad, Iraq. The area has a climate of the subtropical semi-humid type. Ambient air temperatures and soil temperatures were recorded throughout the months of 2021. During the months of January and June, the temperatures of the inlet and outflow air at varying air veloci

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Publication Date
Thu Jun 01 2023
Journal Name
Australian Dental Journal
Debonding of LDSVs utilising Er,Cr:YSGG laser irradiation with fractional technique: an in vitro study
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Scopus (2)
Scopus