Preferred Language
Articles
/
joe-195
An Adaptive Multi-Objective Particle Swarm Optimization Algorithm for Multi-Robot Path Planning
...Show More Authors

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.

 

 

View Publication Preview PDF
Quick Preview PDF
Publication Date
Fri Jan 01 2021
Journal Name
Academy Of Strategic Management Journal
Prospects and Challenges for Iraqi SMES Sector Post-Isis
...Show More Authors

Iraq faces significant economic challenges, owing in part to its reliance on oil revenue and the country's overburdened public sector. The supremacy of State-Owned Enterprises (SOEs), obstructive rules, a lack of access to finance, a shortage of skilled labor, and inadequate infrastructure all impede private sector growth. This research relied mainly on information from global development organizations, most markedly the World Bank, as well as policy documents, and it discovered a scarcity of pertinent educational writings. The following are the key findings of this research: Recent economic growth has not resulted in poverty reduction; the stretched history of war and insecurity in Iraq has hampered progress and development; the private se

... Show More
Preview PDF
Publication Date
Sun Sep 01 2019
Journal Name
Indian Journal Of Public Health Research & Development
Serum Ferritin Levels for Iraqi Patients with Hashimoto's Thyroiditis
...Show More Authors

Background: The estimation of ferritin and related variables by complete serum iron profile, for Iraqi hashimoto’s patients to see the effect of thyroid hormone insufficiency, which may lead to deficiency of ferritin iron stores, this may be quite useful during the diagnosis and treatment of hashimoto’s patients. Patients and Method: The study was performed at National Center of Teaching laboratories of Medical city institute in Baghdad. Fifty newly diagnosed patients with hashimoto’s and forty apparently healthy controls. Diagnosis based on thyroid profile analysis including:Thyroid Stimulating Hormone (TSH), Thyroxine (totalT4) and Triiodothyronine (total T3), estimation of antibodies against thyroperoxidase, iron profile including:

... Show More
View Publication
Scopus (3)
Crossref (1)
Scopus Crossref
Publication Date
Sun Jan 27 2019
Journal Name
Journal Of The College Of Education For Women
Al-arbaeen Al-boldniy for Ibin Asker Historical Study
...Show More Authors

Fortieth book is IbnAssaker mechanisms of modern books authored attention appeared amenable to the Messenger of Allah's will (Fife da upon h-d) in his emotional tempting scientists say despite his weakness and preached it save forty Hadith of year necessitated intercession and entering heaven eh Fife FA scientists 1940s h.g. Gae updated combines forty Hadith on a particular topic, authored destinations differed and collected and compiled, the first item in the 1940s that Abdul Rahman Abdullah ibn al-mubaarakmarvzishaikAssaker promised more than thirty workbook in this kind of composition topics varied between consolidation and conversations prove the Almighty Barry qualities, conversations provisions, worship, preaching, and of them only

... Show More
View Publication Preview PDF
Publication Date
Tue Mar 28 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Guggulusome - A Novel Vesicular Carriers for Enhanced Transdermal Delivery
...Show More Authors

The present work describes guggul as a novel carrier for some anti-inflammatory drugs. Guggulusomes containing different concentration of guggul with aceclofenac were prepared by sonication method and characterized for vesicle shape, size, size-distribution, pH, viscosity, spread ability, homogeneity, and accelerated stability in-vitro drug permeation through mouse skin. The vesicles exhibited an entrapment efficiency of 93.2 ± 12%, vesicle size of 0.769 ± 3μm and a zeta potential of - 6.21mV. In vitro drug release was analyzed using Franz’s diffusion cells. The cumulative release of the guggulusomes gel (G2) was 75.8% in 18 hrs, which is greater than that all the gel formulation. The stability profile of prepare

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Mon Jul 28 2025
Journal Name
Applied Physics Letters
Theoretical defect engineering in AgBiI4 for enhanced photovoltaic performance
...Show More Authors

Silver-bismuth iodide (ABI) ternary semiconductors, such as AgBi2I7, AgBiI4, Ag2BiI5, and Ag3BiI6, have emerged as promising lead-free light absorbers for photovoltaic applications due to their favorable optoelectronic properties. Despite recent advances that have improved power conversion efficiencies from ∼1% to over 5%, ABI-based solar cells still show substantial open-circuit voltage (VOC) losses of up to ∼1 V, which significantly hinder the device performance. These losses have been experimentally attributed to the non-radiative recombination originating from intrinsic defects, however, theoretical understanding of these defect mechanisms remains limited. Here, using density functional theory calculations, we systematical

... Show More
View Publication
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Sat Feb 02 2019
Journal Name
Journal Of The College Of Education For Women
The Efficctency of the mesopotamian company for seed production
...Show More Authors

0

View Publication Preview PDF
Publication Date
Thu Sep 01 2022
Journal Name
Iraqi Journal Of Computers, Communications, Control And Systems Engineering
A Framework for Predicting Airfare Prices Using Machine Learning
...Show More Authors

Many academics have concentrated on applying machine learning to retrieve information from databases to enable researchers to perform better. A difficult issue in prediction models is the selection of practical strategies that yield satisfactory forecast accuracy. Traditional software testing techniques have been extended to testing machine learning systems; however, they are insufficient for the latter because of the diversity of problems that machine learning systems create. Hence, the proposed methodologies were used to predict flight prices. A variety of artificial intelligence algorithms are used to attain the required, such as Bayesian modeling techniques such as Stochastic Gradient Descent (SGD), Adaptive boosting (ADA), Decision Tre

... Show More
View Publication Preview PDF
Publication Date
Fri Aug 01 2025
Journal Name
Radio Science
Integrating Drones With Digital Twins for Aerial Remote Sensing
...Show More Authors
Abstract<p>Drones are highly autonomous, remote‐controlled platforms capable of performing a variety of tasks in diverse environments. A digital twin (DT) is a virtual replica of a physical system. The integration of DT with drones gives the opportunity to manipulate the drone during a mission. In this paper, the architecture of DT is presented in order to explain how the physical environment can be represented. The techniques via which drones are collecting the necessary information for DT are compared as a next step to introduce the main methods that have been applied in DT progress by drones. The findings of this research indicated that the process of incorporating DTs into drones will result in the advanc</p> ... Show More
View Publication
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Mon Aug 28 2023
Journal Name
Cureus
The Enigma of the Impervious Nobel Prize for Neurosurgeons
...Show More Authors

View Publication Preview PDF
Clarivate Crossref
Publication Date
Sun Dec 07 2008
Journal Name
Baghdad Science Journal
Polar Gap Properties for Neutron StarWithin Light Cylinder Limits
...Show More Authors

The huge magnetic fields of neutron star cause the nuclei of the stellar surface to form a tightly bound condensed layer. In this research some characteristics of polar gap and magnetosphere enclosed the star according to Sturrock Model were illustrated, positrons move out along the open field lines, and electrons flow to the stellar surface as in the related to Sturrock model. The magnetic field within polar gap areas, which is defined by the Irvin Radius (RL) decreases due to the expansion of the polar, resulting from the physical motion of the accreted material. The values of height gap at different distances from the star were estimated. The obtained results improve the most energetic positrons those with E? Emax radiate away their ener

... Show More
View Publication Preview PDF
Crossref