Finding a path solution in a dynamic environment represents a challenge for the robotics researchers, furthermore, it is the main issue for autonomous robots and manipulators since nowadays the world is looking forward to this challenge. The collision free path for robot in an environment with moving obstacles such as different objects, humans, animals or other robots is considered as an actual problem that needs to be solved. In addition, the local minima and sharp edges are the most common problems in all path planning algorithms. The main objective of this work is to overcome these problems by demonstrating the robot path planning and obstacle avoidance using D star (D*) algorithm based on Particle Swarm Optimization (PSO) technique. Moreover, this work focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains. Since the environment type that discussed here is a known dynamic environment, the solution approach can be off-line. The main advantage of the off-line planning is that a global optimal path solution is always obtained, which is able to overcome all the difficulties caused by the dynamic behavior of the obstacles. A mixing approach of robot path planning using the heuristic method D* algorithm based on optimization technique is used. The heuristic D* method is chosen for finding the shortest path. Furthermore, to insure the path length optimality and for enhancing the final path, PSO technique has been utilized. The robot type has been used here is the two-link robot arm which represents a more difficult case than the mobile robot. Simulation results are given to show the effectiveness of the proposed method which clearly shows a completely safe and short path.
Determining the face of wearing a mask from not wearing a mask from visual data such as video and still, images have been a fascinating research topic in recent decades due to the spread of the Corona pandemic, which has changed the features of the entire world and forced people to wear a mask as a way to prevent the pandemic that has calmed the entire world, and it has played an important role. Intelligent development based on artificial intelligence and computers has a very important role in the issue of safety from the pandemic, as the Topic of face recognition and identifying people who wear the mask or not in the introduction and deep education was the most prominent in this topic. Using deep learning techniques and the YOLO (”You on
... Show MoreFor businesses that provide delivery services, the efficiency of the delivery process in terms of punctuality is very important. In addition to increasing customer trust, efficient route management, and selection are required to reduce vehicle fuel costs and expedite delivery. Some small and medium businesses still use conventional methods to manage delivery routes. Decisions to manage delivery schedules and routes do not use any specific methods to expedite the delivery settlement process. This process is inefficient, takes a long time, increases costs and is prone to errors. Therefore, the Dijkstra algorithm has been used to improve the delivery management process. A delivery management system was developed to help managers and drivers
... Show MoreThe particle-hole state densities have been calculated for 232Th in
the case of incident neutron with , 1 Z Z T T T T and 2 Z T T .
The finite well depth, surface effect, isospin and Pauli correction are
considered in the calculation of the state densities and then the
transition rates. The isospin correction function ( ) iso f has been
examined for different exciton configurations and at different
excitation energies up to 100 MeV. The present results are indicated
that the included corrections have more affected on transition rates
behavior for , , and above 30MeV excitation energy
An experimental study was conducted on pressure drop of water flow through vertical cylindrical packed beds in turbulent region and the influence of the operating parameters on its behavior. The bed packing was made of spherical and non-spherical particles (spheres, Rasching rings and intalox saddle) with aspect ratio range 3.46 D/dp 8.486 obtaining bed porosities 0.396 0.84 and Reynolds number 1217 21758. The system is consisted of 5 cm inside diameter Perspex column, 50 cm long; distilled water was pumped through the bed with flow rate 875, 1000, 1125, 1250,1375 and 1500 l/h and inlet water temperature 20, 30, 40 and 50 ˚C. The packed bed system was monitored by using LabVIEW program, were the result
... Show MoreOptimum perforation location selection is an important study to improve well production and hence in the reservoir development process, especially for unconventional high-pressure formations such as the formations under study. Reservoir geomechanics is one of the key factors to find optimal perforation location. This study aims to detect optimum perforation location by investigating the changes in geomechanical properties and wellbore stress for high-pressure formations and studying the difference in different stress type behaviors between normal and abnormal formations. The calculations are achieved by building one-dimensional mechanical earth model using the data of four deep abnormal wells located in Southern Iraqi oil fields. The magni
... Show MoreIn this paper three techniques for image compression are implemented. The proposed techniques consist of three dimension (3-D) two level discrete wavelet transform (DWT), 3-D two level discrete multi-wavelet transform (DMWT) and 3-D two level hybrid (wavelet-multiwavelet transform) technique. Daubechies and Haar are used in discrete wavelet transform and Critically Sampled preprocessing is used in discrete multi-wavelet transform. The aim is to maintain to increase the compression ratio (CR) with respect to increase the level of the transformation in case of 3-D transformation, so, the compression ratio is measured for each level. To get a good compression, the image data properties, were measured, such as, image entropy (He), percent root-
... Show MoreIn this paper three techniques for image compression are implemented. The proposed techniques consist of three dimension (3-D) two level discrete wavelet transform (DWT), 3-D two level discrete multi-wavelet transform (DMWT) and 3-D two level hybrid (wavelet-multiwavelet transform) technique. Daubechies and Haar are used in discrete wavelet transform and Critically Sampled preprocessing is used in discrete multi-wavelet transform. The aim is to maintain to increase the compression ratio (CR) with respect to increase the level of the transformation in case of 3-D transformation, so, the compression ratio is measured for each level. To get a good compression, the image data properties, were measured, such as, image entropy (He), percent r
... Show MoreIn this research, a modified artificial hand with direct control has been designed using electrical artificial muscle wires that receive direct sensory impulses through human hand instead of using the mechanical action to open and close this artificial hand. Each finger is designed as a chain and its movements achieved through the conventional arrangement control of the electrical muscles wires. The results indicate that it is possible to design an artificial hand using electrical muscle wire for control it with high accuracy.
Construction contractors usually undertake multiple construction projects simultaneously. Such a situation involves sharing different types of resources, including monetary, equipment, and manpower, which may become a major challenge in many cases. In this study, the financial aspects of working on multiple projects at a time are addressed and investigated. The study considers dealing with financial shortages by proposing a multi-project scheduling optimization model for profit maximization, while minimizing the total project duration. Optimization genetic algorithm and finance-based scheduling are used to produce feasible schedules that balance the finance of activities at any time w