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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 25 2022
Journal Name
International Journal Of Drug Delivery Technology
Preparation of Posaconazole Nanosponges for Improved Topical Delivery System
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The objective of the current research was to develop the posaconazole (PCZ) loaded NS into the carbopol 934 polymeric gel for prolonged drug release and improved topical delivery; seven different nanosponge formulations of PCZ were formulated using the emulsion solvent diffusion method using various amounts of polymer (ethylcellulose, EC). The aqueous and dispersed phases were prepared using polyvinyl alcohol (PVA) and dichloromethane. The prepared nanosponges (NS) were studied for particle size, structural appearance, and in vitro drug release. Furthermore, the selected formula was formulated as hydrogel and was evaluated for physical characteristics, drug content, and in-vitro drug release. Morphological studies revealed irregular

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Publication Date
Tue Mar 10 2020
Journal Name
Journal Of Inverse And Ill-posed Problems
Direct and inverse source problems for degenerate parabolic equations
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Abstract<p>Degenerate parabolic partial differential equations (PDEs) with vanishing or unbounded leading coefficient make the PDE non-uniformly parabolic, and new theories need to be developed in the context of practical applications of such rather unstudied mathematical models arising in porous media, population dynamics, financial mathematics, etc. With this new challenge in mind, this paper considers investigating newly formulated direct and inverse problems associated with non-uniform parabolic PDEs where the leading space- and time-dependent coefficient is allowed to vanish on a non-empty, but zero measure, kernel set. In the context of inverse analysis, we consider the linear but ill-pose</p> ... Show More
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Publication Date
Thu Nov 17 2022
Journal Name
Journal Of Interdisciplinary Mathematics
Study on approximate analytical methods for nonlinear differential equations
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In this work, an analytical approximation solution is presented, as well as a comparison of the Variational Iteration Adomian Decomposition Method (VIADM) and the Modified Sumudu Transform Adomian Decomposition Method (M STADM), both of which are capable of solving nonlinear partial differential equations (NPDEs) such as nonhomogeneous Kertewege-de Vries (kdv) problems and the nonlinear Klein-Gordon. The results demonstrate the solution’s dependability and excellent accuracy.

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Compression-based Data Reduction Technique for IoT Sensor Networks
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Energy savings are very common in IoT sensor networks because IoT sensor nodes operate with their own limited battery. The data transmission in the IoT sensor nodes is very costly and consume much of the energy while the energy usage for data processing is considerably lower. There are several energy-saving strategies and principles, mainly dedicated to reducing the transmission of data. Therefore, with minimizing data transfers in IoT sensor networks, can conserve a considerable amount of energy. In this research, a Compression-Based Data Reduction (CBDR) technique was suggested which works in the level of IoT sensor nodes. The CBDR includes two stages of compression, a lossy SAX Quantization stage which reduces the dynamic range of the

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Interdisciplinary Mathematics
Score for the groups SL(2,121) and SL(2,169)
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A factor group is a mathematical group obtained by aggregating similar elements of a larger group using an equivalence relation that preserves some of the group structure. In this paper, the factor groups K(SL(2,121)) and K(SL(2,169)) computed for each group from the character table of rational representations.

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Publication Date
Wed Jul 06 2022
Journal Name
Journal Of Al-qadisiyah For Computer Science And Mathematics
Pixel Based Techniques for Gray Image Compression: A review
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Currently, with the huge increase in modern communication and network applications, the speed of transformation and storing data in compact forms are pressing issues. Daily an enormous amount of images are stored and shared among people every moment, especially in the social media realm, but unfortunately, even with these marvelous applications, the limited size of sent data is still the main restriction's, where essentially all these applications utilized the well-known Joint Photographic Experts Group (JPEG) standard techniques, in the same way, the need for construction of universally accepted standard compression systems urgently required to play a key role in the immense revolution. This review is concerned with Different

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Publication Date
Mon Nov 03 2025
Journal Name
Nursing Science Quarterly
Improving Sleep Quality for Persons on Hemodialysis in Iraq
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Insufficient and poor sleep quality significantly impacts the health and quality of life of persons with end-stage renal failure (ESRF) on hemodialysis. This study explored the effectiveness of teaching patients on hemodialysis, Benson’s relaxation technique. Seventy-one persons on hemodialysis in Iraq were randomly assigned to either the experimental or the control group. The experimental group received training and encouragement to use the Benson relaxation technique. The Pittsburgh Sleep Quality Index (PSQI) score was collected for all the patients before and after the intervention. After 8 weeks a repeated measurement of the post-test on sleep quality was done for both groups. The experimental group showed a statistically sign

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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
Runge-kutta Numerical Method for Solving Nonlinear Influenza Model
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Abstract<p>The main object of this study is to solve a system of nonlinear ordinary differential equations (ODE) of the first order governing the epidemic model using numerical methods. The application under study is a mathematical epidemic model which is the influenza model at Australia in 1919. Runge-kutta methods of order 4 and of order 45 for solving this initial value problem(IVP) problem have been used. Finally, the results obtained have been discussed tabularly and graphically.</p>
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Publication Date
Sat Jan 01 2022
Journal Name
Journal Of Cybersecurity And Information Management
Machine Learning-based Information Security Model for Botnet Detection
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Botnet detection develops a challenging problem in numerous fields such as order, cybersecurity, law, finance, healthcare, and so on. The botnet signifies the group of co-operated Internet connected devices controlled by cyber criminals for starting co-ordinated attacks and applying various malicious events. While the botnet is seamlessly dynamic with developing counter-measures projected by both network and host-based detection techniques, the convention techniques are failed to attain sufficient safety to botnet threats. Thus, machine learning approaches are established for detecting and classifying botnets for cybersecurity. This article presents a novel dragonfly algorithm with multi-class support vector machines enabled botnet

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Publication Date
Fri Feb 06 2026
Journal Name
International Journal Of Law And Society
Mechanisms for Achieving a Green Economy and Practical Challenges
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In light of accelerating environmental degradation, the transition to a green economy is an imperative for achieving sustainable development. This study provides a critical analysis of the international legal and institutional framework governing this transition, revealing a significant gap between normative developments and the institutional framework on one hand, and their practical implementation on the other. The transition faces legal obstacles, including reliance on non-binding voluntary commitments and conflicts between environmental obligations and global trade and investment rules. It also reveals a significant financing gap, as financial flows to developing countries continue to lag behind commitments, in add

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