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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 Feb 01 2020
Journal Name
Journal Of Engineering Science And Technology (jestec)
Analysis Of Sedimentation In Trunk Sewer With Laboratory Investigation Of Sewage Sediment Characteristics In Baghdad City
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Sediment accumulated in sewers is a major concern source as it induces numerous operational and environmental problems. For instance, during wet weather flow, the re-suspension of this sediment accompanied by the combined sewer overflow may cause huge pollutant load to the receiving water body. The characteristics of the sewer sediment are important as it shapes its behaviour and determines the extent of the pollution load. In this paper, an investigation of sewer sediment and its characterization is done for a case study in Baghdad city. Sediment depth covers more than 50% of the sewer cross-sectional area; several operational causes are comprised to cause this huge depths of sediment depositions. The testing and analysis of the s

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Publication Date
Tue Apr 30 2024
Journal Name
International Review Of Electrical Engineering (iree)
Enhancing Efficiency in Distribution Power Networks by Power Factor Controlling of Renewable Energy Generators: a Case Study of Iraqi Wasit Network
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Integrating Renewable Energy (RE) into Distribution Power Networks (DPNs) is a choice for efficient and sustainable electricity. Controlling the power factor of these sources is one of the techniques employed to manage the power loss of the grid. Capacitor banks have been employed to control phantom power, improving voltage and reducing power losses for several decades. The voltage sag and the significant power losses in the Iraqi DPN make it good evidence to be a case study proving the efficiency enhancement by adjusting the RE power factor. Therefore, this paper studies a part of the Iraqi network in a windy and sunny region, the Badra-Zurbatya-11 kV feeder, in the Wasit governorate. A substation of hybrid RE sources is connected to this

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Publication Date
Wed Dec 12 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Evaluation of Acute Flaccid Paralysis Surveillance System's Structure at Al-Russafa Health Directorate in Baghdad City
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Objective: evaluation of Acute Flaccid Paralysis Surveillance (AFP) System's Structure at Al-Russafa Health directorate in Baghdad City. Methodology: descriptive study using evaluation approach conducted to measure the efficiency of AFP Surveillance System structure for period from November 27th 2014 to June 30th 2015. The study adopted the non-probability multi-stage sampling approach. As nineteen health facilities under surveillance are chosen and interview is conducted with a total of 50 health worker how are involved in the AFP Surveillance System. The data are gathered from sample by using question

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Publication Date
Fri Mar 01 2019
Journal Name
Spatial Statistics
Efficient Bayesian modeling of large lattice data using spectral properties of Laplacian matrix
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Spatial data observed on a group of areal units is common in scientific applications. The usual hierarchical approach for modeling this kind of dataset is to introduce a spatial random effect with an autoregressive prior. However, the usual Markov chain Monte Carlo scheme for this hierarchical framework requires the spatial effects to be sampled from their full conditional posteriors one-by-one resulting in poor mixing. More importantly, it makes the model computationally inefficient for datasets with large number of units. In this article, we propose a Bayesian approach that uses the spectral structure of the adjacency to construct a low-rank expansion for modeling spatial dependence. We propose a pair of computationally efficient estimati

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Publication Date
Fri Jun 01 2018
Journal Name
Journal Of Engineering
Experimental Study of Optimum Chilled Water Distribution Configuration in Air Conditioning Terminal Unit Using RSM Technique
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The distribution of chilled water flow rate in terminal unit is an important factor used to evaluate the performance of central air conditioning unit. A prototype of A/C unit has been made, which contains three terminal units with a complete set of accessories (3-way valve, 2-way valve, and sensors) to study the effect of the main parameters, such as total water flow rate and chilled water supply temperature with variable valve opening. In this work, 40 tests were carried out. These tests were in two groups, 20 test for 3-way valve case and 20 test for 2-way valve case. These tests were performed at three levels of valve opening, total water flow rate and water supply temperature according to the design matrices establis

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Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Economics And Administrative Sciences
THE MEDIATING ROLE OF PRODUCT INNOVATION ON THE RELATIONSHIP BETWEEN MARKETING INFORMATION SYSTEM AND CUSTOMER ORIENTATION
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 Marketing information system (KMIS) is an essential factor of developing business’ performance and getting sustainable success. The main goal of the research is to measure effect of MIS on customer orientation and product innovation. Also, another goal is to analyze the mediation role of product innovation in relationship MIS and customer orientation. This study sought to analyze the marketing information system and measure its effect on the customer orientation and product innovation. The data of the study were collected using questionnaire. The data were analyzed using statistical tools and SPSS programming. The results of the study showed that the KMIS can positively and significantly effect product innovation. Also, t

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Publication Date
Wed Mar 29 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences
Preparation and Evaluation of Atenolol Floating Beads as a Controlled Delivery System
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         This study aims to encapsulate atenolol within floating alginate-ethylcellulose beads as an oral controlled-release delivery system using aqueous colloidal polymer dispersion (ACPD) method.To optimize drug entrapment efficiency and dissolution behavior of the prepared beads, different parameters of drug: polymer ratio, polymer mixture ratio, and gelling agent concentration were involved.The prepared beads were investigated with respect to their buoyancy, encapsulation efficiency, and dissolution behavior in the media: 0.1 N HCl (pH 1.2), acetate buffer (pH 4.6) and phosphate buffer (pH 6.8). The release kinetics and mechanism of the drug from the prepared beads was investigated.All prepared atenolol beads remained f

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Publication Date
Wed Jun 01 2022
Journal Name
Political Sciences Journal
Transformation in International Polar System: Study of the future of the nonpolar system
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The study of the future of the international system currently appears, according to scientific data and existing facts in light of the emergence of international actors from non-states and international informal institutions, to be heading towards a non-polarity system and this trend is fueled by many variables to reduce polarity, and it is expected in the future that the international system will turn into a non-polarity.

 

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Publication Date
Mon Oct 17 2022
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Review on Viral Encephalitis-
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Background: Inflammation of the brain parenchyma brought on by a virus is known as viral encephalitis. It coexists frequently with viral meningitis and is the most prevalent kind of encephalitis. Objectives: To throw light on viral encephalitis, its types, epidemiology, symptoms and complications. Results: Although it can affect people of all ages, viral infections are the most prevalent cause of viral encephalitis, which is typically seen in young children and old people. Arboviruses, rhabdoviruses, enteroviruses, herpesviruses, retroviruses, orthomyxoviruses, orthopneumoviruses, and coronaviruses are just a few of the viruses that have been known to cause encephalitis. Conclusion: As new viruses emerge, diagnostic techniques advan

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Publication Date
Fri Dec 29 2017
Journal Name
Al-khwarizmi Engineering Journal
Microcontroller – Based Spectrum Analyzer
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This work includes design, implementation and testing of a microcontroller – based spectrum analyzer system. Both hardware and software structures are built to verify the main functions that are required by such system. Their design utilizes the permissible and available tools to achieve the main functions of the system in such a way to be modularly permitting any adaptation for a specific changing in the application environment. The analysis technique, mainly, depends on the Fourier analysis based methods of spectral analysis with the necessary required preconditioning processes. The software required for waveform analysis has been prepared. The spectrum of the waveform has been displayed, and the instrument accuracy has been checked.

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