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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 Jan 23 2021
Journal Name
Neural Computing And Applications
Multi-objectives TLBO hybrid method to select the related risk features with rheumatism disease
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Publication Date
Thu Feb 01 2024
Journal Name
American Journal Of Pharmaceutical Education
Academic Entitlement Among Pharmacy Students in the Arab World: A Multi-National Exploratory Study
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Publication Date
Fri Mar 05 2021
Journal Name
Materials
Optimum Placement of Heating Tubes in a Multi-Tube Latent Heat Thermal Energy Storage
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Utilizing phase change materials in thermal energy storage systems is commonly considered as an alternative solution for the effective use of energy. This study presents numerical simulations of the charging process for a multitube latent heat thermal energy storage system. A thermal energy storage model, consisting of five tubes of heat transfer fluids, was investigated using Rubitherm phase change material (RT35) as the. The locations of the tubes were optimized by applying the Taguchi method. The thermal behavior of the unit was evaluated by considering the liquid fraction graphs, streamlines, and isotherm contours. The numerical model was first verified compared with existed experimental data from the literature. The outcomes re

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Publication Date
Fri Apr 01 2022
Journal Name
International Journal Of Pharmacy Practice
Exploring job satisfaction among pharmacy professionals in the Arab world: a multi-country study
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Abstract<sec> <title>Objectives

The study objectives were to (1) describe the characteristics of the pharmacy professionals and (2) explore the association between job satisfaction and factors, such as work control, work stress, workload and organization and professional commitments.

Methods

This study was a cross-sectional design. The survey items were mainly adapted from the US National Pharmacist Workforce Survey. An electronic (Qualtrics) questionnaire was posted on pharmacist social media in several A

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Publication Date
Tue Aug 01 2023
Journal Name
Journal Of Engineering
3D- ABAQUS Modelling of Prestressed Concrete Hunched Beams with Multi-Openings of Different Shapes
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A long-span Prestressed Concrete Hunched Beam with Multi-Opening has been developed as an alternative to steel structural elements. The commercial finite element package ABAQUS/CAE version 2019 has been utilized. This article has presented the results of three-dimensional numerical simulations investigating the flexural behaviour of existing experimental work of supported Prestressed Concrete Hunched Beams with multiple openings of varying shapes under static monotonic loads. Insertion openings in such a beam lead to concentrate stresses at the corners of these openings; as a result, extensive cracking would appear. Correlation between numerical models and empirical work has also been discussed regarding load displacemen

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Publication Date
Sun Jul 26 2026
Journal Name
Algorithms
High-Performance Multithreaded Acceleration of High-Order Discrete Racah Polynomials on Multi-Core Architectures
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Discrete Racah polynomials (DRPs) are considered essential for several applications such as approximation theory, quantum physics, and digital signal processing. However, the computation of high-order DRPs presents significant numerical and computational challenges. Even though the recent advancements in algorithms have improved numerical stability, the inherently sequential nature of these algorithms continues to be a bottleneck for large-scale implementations. This paper proposes a new multithreading-based algorithm for computing the DRP coefficients. The proposed algorithm is designed to accelerate the computation of high-order DRPs by considering the advantages of the independence of different tasks and the ability to process mu

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Publication Date
Thu Nov 17 2016
Journal Name
International Journal Of Computer Applications
Colour Recognizing Robot Arm Equipped with a CMOS Camera and an FPGA
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In this paper a system is designed on an FPGA using a Nios II soft-core processor, to detect the colour of a specific surface and moving a robot arm accordingly. The surface being detected is bounded by a starting mark and an ending mark, to define the region of interest. The surface is also divided into sections as rows and columns and each section can have any colour. Such a system has so many uses like for example warehouses or even in stores where their storing areas can be divided to sections and each section is coloured and a robot arm collects objects from these sections according to the section’s colour also the robot arm can organize objects in sections according to the section’s colour.

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Publication Date
Sun Jan 14 2018
Journal Name
Journal Of Engineering
Optimum Design of Power System Stabilizer based on Improved Ant Colony Optimization Algorithm
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This paper presents an improved technique on Ant Colony Optimization (ACO) algorithm. The procedure is applied on Single Machine with Infinite Bus (SMIB) system with power system stabilizer (PSS) at three different loading regimes. The simulations are made by using MATLAB software. The results show that by using Improved Ant Colony Optimization (IACO) the system will give better performance with less number of iterations as it compared with a previous modification on ACO. In addition, the probability of selecting the arc depends on the best ant performance and the evaporation rate.

 

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Publication Date
Sat Oct 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Strategic planning of human resources and its impact on the stages of a career path :A field research in the Ministry of Health
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Abstract

The objective of this research is to analyze the relationship between the strategic planning for human resources and career path, and I have tested Search the Ministry of  Health and some health centers headquarters in the Karkh district, that is applied in sample Consist of (45) Deputy Director, Head of Depts, Departmental Manager, and health center Manager.

Find interested in studying the two subjects are important and vital, at the level of organizations at the present time, namely the strategic planning of human resources and career path. To achieve the objectives of the research was designed Qusestionnair (31) items to collect  Primary data. and collected t

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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
Modeling the Effect of Particle Packing Density for Sintering
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Abstract<p>This research studies the effect of particle packing density on sintering TiO<sub>2</sub> microstructure. Sintering experiment was conducted on compacts involving of monodisperse spherical TiO2 particles. The experimental results are modeled using L<sup>2</sup>-Regression technique in studing the effect of two theoretical values of 55% and 69% of initial packing densities. The mathematical simulation shows that the lower values of density compacts sintered fast to theoretical density and this reflects that particle packing density improved densification rate because of the competing influence of grain growth at higher values of densities.</p>
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