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A Cognition Path Planning with a Nonlinear Controller Design for Wheeled Mobile Robot Based on an Intelligent Algorithm
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This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.

 

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Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Science
A Study of a Certain Family of Multivalent Functions Associated with Subordination
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The aim of this paper is to introduce a certain family of new classes of multivalent functions associated with subordination. The various results obtained here for each of these classes include coefficient estimates radius of convexity, distortion and growth theorem.  

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Publication Date
Fri Sep 30 2022
Journal Name
Iraqi Journal Of Science
A Class of Harmonic Multivalent Functions for Higher Derivatives Associated with General Linear Operator
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    The main goal of this paper is to introduce the higher derivatives multivalent harmonic function class, which is defined by the general linear operator. As a result, geometric properties such as coefficient estimation, convex combination, extreme point, distortion theorem and convolution property are obtained. Finally, we show that this class is invariant under the Bernandi-Libera-Livingston integral for harmonic functions.

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Publication Date
Wed Oct 25 2023
Journal Name
College Of Islamic Sciences
Provisions for a Muslim to be naturalized with the citizenship of non-Muslim countries
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Praise to Allah, Lord of the Worlds. Thank you very much. Blessed. As his face should be majestic and great. His authority, and may peace and blessings be upon our master Muhammad, a perpetual blessing until the Day of Judgment

And upon the God of purity, His righteous companions, and those who follow them in righteousness until the Day of Judgment. But after:-

Anyone who looks into the history of nations, peoples, and the conditions of human beings will see that naturalization as a person’s affiliation to a particular state is something that happened only in recent centuries. In ancient times, a person’s loyalty was to the tribe to which the person belonged, and he was integrated into it and attributed to it, and in

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Publication Date
Wed Mar 10 2021
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
A hybrid Grey Wolf optimizer with multi-population differential evolution for global optimization problems
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Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
Co-digestion of Shumblan with Different Wastes as a Source for the Biogas Production
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Shumblan (SH) is one of the most undesirable aquatic plants widespread in the irrigation channels and water bodies. This work focuses on boosting the biogas potential of shumblan by co-digesting it with other types of wastes without employing any chemical or thermal pretreatments as done in previous studies. A maximum biogas recovery of 378 ml/g VS was reached using shumblan with cow manure as inoculum in a ratio of 1:1. The methane content of the biogas was 55%. Based on volatile solid (VS) and C/N ratios, biogas productions of 518, 434, and 580 ml/g VS were obtained when the shumblan was co-digested with food wastes (SH:F), paper wastes (SH:P), and green wastes (SH:G) respectively. No significant changes of methane contents were observ

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
Modified Model to Calculate Low Earth Orbit (LEO) for A satellite with Atmospheric Drag
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In this paper, the satellite in low Earth orbit (LEO) with atmospheric drag perturbation have been studied, where Newton Raphson method to solve Kepler equation for elliptical orbit (i=63 , e = 0.1and 0.5, Ω =30 , ω =100 ) using a new modified model. Equation of motion solved using 4th order Rang Kutta method to determine the position and velocity component which were used to calculate new orbital elements after time step ) for heights (100, 200, 500 km) with (A/m) =0.00566 m2/kg. The results showed that all orbital elements are varies with time, where (a, e, ω, Ω) are increased while (i and M) are decreased its values during 100 rotations.The satellite will fall to earth faster at the lower height and width using big values for ecce

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Publication Date
Mon Feb 01 2016
Journal Name
Al-academy
Lighting and formal processors for spaces of shops selling mobile phones: عمار نعمة كاظم
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This research is marked by " lighting and processors formalism for spaces of shops selling mobile phones ," aims to " reveal about the relationship between lighting treatments formal designs spaces own internal selling mobile phone in addition to the recognition criteria Altsamama to lighting techniques and processes formality spaces shops competent to sell mobile phone " and lies the importance of this research in the " active role of the lighting in the building processors formalities and processes to prepare designs and show the final form integrated functionally and aesthetically so as to be ready for implementation , taking into consideration the role expressionist in the recipient and to make these spaces more than meet the require

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Publication Date
Thu Feb 15 2018
Journal Name
International Journal Of Architectural Heritage
Active use of panoramic mobile mapping systems for as built surveying and heritage documentation
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Publication Date
Tue Dec 13 2022
Journal Name
Lecture Notes In Networks And Systems
Design and FPGA Implementation of Matrix Multiplier Using DEMUX-RCA-Based Vedic Multiplier
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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
A Deadline-Budget Constrained Task Admission Control for a Software-as-a-Service Provider in Cloud Computing
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    Cloud computing is a pay-as-you-go model that provides users with on-demand access to services or computing resources. It is a challenging issue to maximize the service provider's profit and, on the other hand, meet the Quality of Service (QoS) requirements of users. Therefore, this paper proposes an admission control heuristic (ACH) approach that selects or rejects the requests based on budget, deadline, and penalty cost, i.e., those given by the user. Then a service level agreement (SLA) is created for each selected request. The proposed work uses Particle Swarm Optimization (PSO) and the Salp Swarm Algorithm (SSA) to schedule the selected requests under budget and deadline constraints. Performances of PSO and SSA with and witho

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