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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
Sun Jun 25 2023
Journal Name
Iraqi Journal Of Agricultural Sciences
BREEDING POTENTIAL OF RICE GENOTYPES IN TWO AGROCLIMATIC CONDITIONS OF SULAIMANI - KURDISTAN REGION - IRAQ
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This study was aimed to investigate the genetic variability of 26 rice genotypes and evaluation at two locations in Sulaimani governorate, Gaba and Chawtan which were completely different in their environmental condition during the season of 2019. The performances of the genotypes were analyzed at both locations as well as the average of both. Simple coefficients of correlation were used to assess the grain yield components and their relationships. Path analysis was used to determine the direct and indirect effects of such components on grain yield plant-1. The genotypes were grouped based on the agro-morphological features using cluster analysis. Almost all of the traits at both locat

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Publication Date
Wed Dec 08 2021
Journal Name
J. Inf. Hiding Multim. Signal Process.
Predication of Most Significant Features in Medical Image by Utilized CNN and Heatmap.
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The growth of developments in machine learning, the image processing methods along with availability of the medical imaging data are taking a big increase in the utilization of machine learning strategies in the medical area. The utilization of neural networks, mainly, in recent days, the convolutional neural networks (CNN), have powerful descriptors for computer added diagnosis systems. Even so, there are several issues when work with medical images in which many of medical images possess a low-quality noise-to-signal (NSR) ratio compared to scenes obtained with a digital camera, that generally qualified a confusingly low spatial resolution and tends to make the contrast between different tissues of body are very low and it difficult to co

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Publication Date
Sat Feb 01 2020
Journal Name
Egyptian Journal Of Chemistry
Preparation and Characterization of Graphene Oxide – Attapulgite composite and its use in kinetic study of Alizarin Dye Adsorptionfrom Aqueous Media
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ATTAPULGITE clay was modified in this study by the graphene oxide sheets and the clay was diagnosed before and after modification using several techniques (Fourier-transform infrared spectroscopy FT-IR, X-ray powder diffraction XRD, Scanning electron microscope SEM , energy dispersive spectroscopy EDX ) ,The surface of the attapulgite clay (before (Ata) after modification by graphene oxide (Ata-GO) ) was applied to adsorption of the Alizarin dye from its water solutions through the application of several kinetic models (pseudo first-order model , pseudo second -order model , intraparticle diffusion model ),It was found that the practical results follow pseudo second -order model. The process of modification on the surface of the mud has imp

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Publication Date
Fri Jun 30 2023
Journal Name
Iraqi Journal Of Science
Synthesis, Modification and Characterization of New Phenolic Resins linked to Tetrabromophthalimide
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     The present work aimed to synthesize new phenol resins via incorporation of structural modification through introducing new phenolic compounds containing cyclic imide moiety in reaction with formaldehyde. The synthesis of these new resins involved three steps. First, one of the three N-(hydroxyphenyl)tetrabromophtalamic acids 1-3 were processed via a reaction between tetrabromophthalic anhydride and aminophenols. Amic acids 1-3 were dehydrated in the second step by smelting, producing the identical N-(hydroxyphenyl)tetrabromophthalimides 4-6. The new imides represent the new phenolic component

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Publication Date
Sat Jun 26 2021
Journal Name
Journal Of Engineering
Adsorption Desulfurization of Iraqi Light Naphtha Using Metals Modified Activated Carbon
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The study aims to evaluate the removal of sulfur content from Iraqi light naphtha produced in Al-Dora refinery by adsorption desulfurization DS technique using modified activated carbon MAC loaded with nickel Ni and copper Cu as single binary metals. The experiments were carried in a batch unit with various operating parameters;  MAC dosage, agitation speed, and a contact time of 300 min at constant initial sulfur concentration 155 ppm and temperature. The results showed higher DS% by AC/Ni-Cu (66.45)% at 500 rpm and 1 g dosage than DS (29.03)% by activated carbon AC, increasing MAC dosage, agitation speed, and contact time led to increasing DS% values.  The adsorption capacity of MAC results was recorded (16, 15, and 20) mg sulfu

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Detection of Genetic Modified Feed Component
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There are growing concerns over the possibility of transfer genetically modified
sequences from genetically modified feed component (GM feed) to animals and
their products, moreover, affect these sequences on animal and human health. This
study was implemented to detect P35S in modified feed by using PCR technique by
detecting presence P35S promoter, which responsible for the regulation of gene
expression for most of the transgenic genes. Thirty eight feed samples were
collected from different sources of Baghdad markets, which have been used for
feeding livestock, comprise 21 coarse mixes feed, 13 pelleted feed, and 4 expanded
feed. Genomic DNA was extracted by using two methods, CTAB method and
Wizard kit. In

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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Engineering
Image Reconstruction Using Modified Hybrid Transform
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In this paper, an algorithm for reconstruction of a completely lost blocks using Modified
Hybrid Transform. The algorithms examined in this paper do not require a DC estimation
method or interpolation. The reconstruction achieved using matrix manipulation based on
Modified Hybrid transform. Also adopted in this paper smart matrix (Detection Matrix) to detect
the missing blocks for the purpose of rebuilding it. We further asses the performance of the
Modified Hybrid Transform in lost block reconstruction application. Also this paper discusses
the effect of using multiwavelet and 3D Radon in lost block reconstruction.

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Crossref
Publication Date
Sat Jun 26 2021
Journal Name
Journal Of Engineering
Adsorption Desulfurization of Iraqi Light Naphtha Using Metals Modified Activated Carbon
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The study aims to evaluate the removal of sulfur content from Iraqi light naphtha produced in Al-Dora refinery by adsorption desulfurization DS technique using modified activated carbon MAC loaded with nickel Ni and copper Cu as single binary metals. The experiments were carried in a batch unit with various operating parameters;  MAC dosage, agitation speed, and a contact time of 300 min at constant initial sulfur concentration 155 ppm and temperature. The results showed higher DS% by AC/Ni-Cu (66.45)% at 500 rpm and 1 g dosage than DS (29.03)% by activated carbon AC, increasing MAC dosage, agitation speed, and contact time led to increasing DS% values.  The adsorption capacity of MAC results was recorded (16,

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Publication Date
Fri Dec 30 2011
Journal Name
Al-kindy College Medical Journal
MODIFIED ALVARADO SCORING SYSTEM. HOW MUCH HELPFUL?
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Background:-The Modified Alvarado Scoring
System (MASS) has been reported to be a cheap
and quick diagnostic tool in patients with acute
appendicitis. However, differences in diagnostic
accuracy have been observed if the scores were
applied to various populations and clinical settings.
Objectives:- The purpose of this study was to
evaluate the diagnostic value of Modified Alvarado
Scoring System in patients with acute appendicitis
in our setting.
Methods:-one hundre twenty eight patients, were
included in this study, admitted to Al-Kindy
teaching hospital from June 2009 to June 2010.
Patients’ age ranged from 8 to 56 years (21±10)
they were divided into three groups; paediatrics,
child bear

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Detection of Genetic Modified Feed Component
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There are growing concerns over the possibility of transfer genetically modified sequences from genetically modified feed component (GM feed) to animals and their products, moreover, affect these sequences on animal and human health. This study was implemented to detect P35S in modified feed by using PCR technique by detecting presence P35S promoter, which responsible for the regulation of gene expression for most of the transgenic genes. Thirty eight feed samples were collected from different sources of Baghdad markets, which have been used for feeding livestock, comprise 21 coarse mixes feed, 13 pelleted feed, and 4 expanded feed. Genomic DNA was extracted by using two methods, CTAB method and Wizard kit. In order to verify the presenc

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