Preferred Language
Articles
/
joe-889
A Comparative Study of Various Intelligent Algorithms based Path Planning for Mobile Robots
...Show More Authors

In general, path-planning problem is one of most important task in the field of robotics. This paper describes the path-planning problem of mobile robot based on various metaheuristic algorithms. The suitable collision free path of a robot must satisfies certain optimization criteria such as feasibility, minimum path length, safety and smoothness and so on. In this research, various three approaches namely, PSO, Firefly and proposed hybrid FFCPSO are applied in static, known environment to solve the global path-planning problem in three cases. The first case used single mobile robot, the second case used three independent mobile robots and the third case applied three follow up mobile robot.  Simulation results, which carried out using MATLAB 2014 environment, show the validity of the kinematic model for Nonholonomic mobile robot and demonstration that the proposed algorithm perform better than original PSO and FF algorithms under the same environmental constraints by providing the smoothness velocity and shortest path for each mobile robot.                                                                              

 

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Sun Oct 26 2025
Journal Name
Journal Of Contemporary Medical Sciences
Comparative Evaluation of Early Pregnancy Outcomes Following Ovulation Induction with Letrozole Versus Clomiphene Citrate: Evidence from a Prospective Iraqi Cohort Study
...Show More Authors

Objectives: To compare early pregnancy outcomes, including miscarriage, ectopic pregnancy, multiple pregnancy, and congenital anomalies, among women who conceived following ovulation induction with letrozole or clomiphene citrate. Methods: A prospective comparative observational study was conducted at Al-Elwiya Maternity Teaching Hospital and a private clinic in Baghdad, Iraq, from March 2023 to December 2024. One hundred infertile women aged 21–35 years who conceived after ovulation induction with either letrozole (5 mg/day) or clomiphene citrate (100 mg/day) for five days (cycle days 3–7) were enrolled. Participants were followed through early pregnancy with serial sonography at 6, 8–11, and 18–20 weeks of gestation. Data

... Show More
View Publication
Scopus Crossref
Publication Date
Tue Dec 11 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Evaluation of Nursing staff Performance in Cardiac Care Units at Teaching and Non Teaching Hospitals in Kirkuk City: A Comparative Study
...Show More Authors

Objective: The descriptive study was used to evaluate nursing staff performance in cardiac care units at teaching
and non teaching hospitals in kirkuk city: A comparative study.
Methodology: A descriptive study was used to evaluate nursing staff performance in cardiac care units. The study
was conducted from December 29th
, 2013 up to the 27th of Apr. 2014. A non-probability (purposive) sample of
(44) nurses who work in cardiac care unit at Azady teaching Hospital and Kirkuk general Hospital was evaluated by
a questionnaire which consisted of two parts; the first part is concerned with the demographic characteristics of
the nurses and the second part concerned Observation check list for evaluation nursing staff Perfo

... Show More
View Publication Preview PDF
Publication Date
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Using Public and Private Cloud Computing in developing the Evaluation System of annual employees' performance at Iraqi Universities: A comparative study
...Show More Authors

Abstract

Business organizations are using the technological innovations like cloud computing (CC) as a developmental platform in order to improve the performance of their information systems. In that context, our paper discusses know-how in employing the public and private CC to serve as platforms to develop the evaluation system of annual employees' performance (ESAEP) at Iraqi universities. Therefore, we ask the paper question which is Is it possible to adopt the innovative solutions of ICTs (Like: public and private CC) for finding the developmental vision about management information systems at business organizations?”. In addition, the paper aim

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Jun 15 2026
Journal Name
Opera Med Physiol
A COMPARATIVE STUDY OF CITRIC ACID FROM ASPERGILLUS NIGER AND CITRUS LIMON ON CYTOGENETIC, IMMUNOLOGICAL, AND HEPATOPROTECTIVE PARAMETERS IN ALBINO MICE
...Show More Authors

This study compared the effects of citric acid (CA) derived from microbial fermentation using Aspergillus niger (400 mg kg-1) and natural extraction from Citrus limon (400 mg kg1) in albino mice. Parameters assessed included cytogenetic damage via the micronucleus (MN) assay, immunological response through immunoglobulin (IgA, IgG, IgM) titers, and hepatoprotective activity based on liver enzyme levels (AST, ALT, ALP) and histopathological inves tigation. Mice were divided into six groups (n=10/group) as follows: (1) negative control, (2) carbon tetrachloride (CCl₄ 0.02%), (3) lemon CA, (4) A. niger, (5) CCl₄ + lemon CA, and (6) CCl₄ + A. niger CA. The CCl4 group exhibited a significantly higher MN frequency (0.06 ± 0.008) compa

... Show More
View Publication
Scopus
Publication Date
Tue Mar 01 2022
Journal Name
Journal Of Hydrology
Boosted artificial intelligence model using improved alpha-guided grey wolf optimizer for groundwater level prediction: Comparative study and insight for federated learning technology
...Show More Authors

View Publication
Scopus (53)
Crossref (56)
Scopus Clarivate Crossref
Publication Date
Wed Feb 12 2020
Journal Name
Journal Of Material Cycles And Waste Management
New application of eco-friendly biosorbent giant reed for removal of reactive dyes from water followed by sustainable path for recycling the dyes-loaded sludge in concrete mixes
...Show More Authors

View Publication
Scopus (15)
Crossref (15)
Scopus Clarivate Crossref
Publication Date
Thu Apr 01 2021
Journal Name
Computer Methods And Programs In Biomedicine
A hybrid approach based on multiple Eigenvalues selection (MES) for the automated grading of a brain tumor using MRI
...Show More Authors

View Publication
Scopus (43)
Crossref (39)
Scopus Clarivate Crossref
Publication Date
Mon Jun 01 2026
Journal Name
Sustainable Futures
Using ethical artificial intelligence (EAI) to achieve sustainable development in Iraq: A case study based on a novel model
...Show More Authors

This study proposes a pioneering Ethical Artificial Intelligence (EAI) framework for advancing sustainable development in Iraq by integrating eight multidimensional sustainability indicators—administrative, technological, economic, environmental, social, legal, security, and governance. Utilizing data from 60 completed development projects, the framework combines SPSS statistical analysis, the SMART-AI model, and Artificial Neural Networks (ANN) to identify key determinants of project success and failure. Results reveal a 37% project failure rate, with administrative and technological deficiencies emerging as the most influential predictors. The SMART-AI model achieved an accuracy of 91.3% using stratified k-fold cross-validation. A bilin

... Show More
View Publication
Scopus Crossref
Publication Date
Wed Oct 23 2019
Journal Name
Iraqi Journal Of Agricultural Sciences
EXTRACTION OF JOJOBA OIL USING VARIOUS CONCENTRATIONS OF TWO DIFFERENT SOLVENTS
...Show More Authors

The aim of this study was extraction of jojoba oil using different solvents. A mixture of waterhexane and water-ethanol are used as solvents to extract jojoba oil in a batch extraction process and compared with a pure solvent extraction process. The effects of particle size of crushed seeds, solvent-to-water ratio and time on jojoba oil extraction were investigated. The best recovery of oil was obtained at the boiling temperature of the solvent and four hour of extraction time. When seed particle size was 0.45 mm and a pure ethanol was used (45% yield of oil extraction), whereas, it was 40% yield of oil at 25% water-hexane mixture. It was revealed that the water-ethanol and water-hexane mixtures have an effect on the oil extraction yield. T

... Show More
Crossref
Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
A study of fermi hole for some atomic systems
...Show More Authors

the electron correlation effect for inter-shell can be described by evaluating the fermi hole and partial fermi hole for Li atom comparing with Be+ and B+2 ions

View Publication Preview PDF