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Path Planning Control for Mobile Robot
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Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process.

This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and points of intersection with the straight path to find the nearly optimal path which connects the start and the goal point.

This work has theoretical part and experimental part.

The theoretical part includes building a MATLAB program which is applied to environment image to find the nearly optimal path .MATLAB - C++.NET interface is accomplished then to supply the path information for C++.NET program which is done for programming the pioneer mobile robot to achieve the desired path.

The experimental part includes using wireless camera that takes an image for the environment and send it to the computer which processes this image and sends ( by wireless connection ) the resulted path information to robot  which programmed in C++.NET program to walk according to this path.

So, the overall system can be represented by:

Wireless camera – computer – wireless connection for the mobile robot .

The experimental work including some experiments shows that the developed mobile robot (pioneer p3-dx ) travels successfully  from the start point and reach the goal point across the optimal path (according to time and power) which is obtained as result of the proposed path planning algorithm introduced in this paper.

 

 

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Publication Date
Sun Jul 03 2005
Journal Name
Political Sciences Journal
عرض رسائل واطاريح (اثر التواجد العسكري الامريكي على النظام السياسي في العراق)
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اثر التواجد العسكري الامريكي على النظام السياسي في العراق

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Publication Date
Thu Feb 07 2019
Journal Name
Iraqi Journal Of Laser
Investigation of Size-dependent Nonlinearity of Ag Nano-Fluids using Self-defocusing Technique
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In this work, the effect of different particle size on the nonlinear optical properties of silver nanoparticles in de-ionized water was studied. The experimental observation of the far field diffraction patterns by CCD camera in two and three dimensions. The maximum change of nonlinear refractive index and the relative phase shift were calculated. The self-defocusing technique was used with a continuous-wave radiation from DPSS Blue laser .The wavelength is 473 nm with an output power of 270 mW. All the Ag colloids samples containing the sizes 15, 30, 50, and 70 nm of silver nanoparticles used in the study were chemically prepared. It was found that the nonlinear refractive index is a particle size dependent and of the order of 10-7 cm2/

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Publication Date
Tue Feb 28 2023
Journal Name
مجلة العلوم القانونية
الفسخ المبتسر المبني على الدلائل الضمنية ـ دراسة مقارنة في نظرية العقد
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يتناول البحث جزئية من جزئيات موضوع الفسخ المبتسر للعقد

Publication Date
Wed Oct 24 2018
Journal Name
Journal Of Economics And Administrative Sciences
Training Programs And Their Impact On The Quality Of municipal Services /Field Research In The Municipality Of Baghdad
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     The objective of this research is to measure the training programs and identify the nature and then measure how it reflected on the quality of municipal services provided by the municipal departments investigated by measuring the quality of services based on quality standards, the researcher chose four municipal departments in the Rusafa / Baghdad (164 people) representing the directors and their assistants, officials of the municipal departments, the people and the engineering staff in charge of the task forces as well, including the survey of the views of the concerned persons in the management of the Vocational Training Institute in the Secretariat of the Republic, The quality of the municipal services

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Publication Date
Fri Mar 01 2024
Journal Name
مجلة جامعة الانبار للعلوم القانونية والسياسية
السيادة على القدس في الفكر السياسي للاصولية ىالمسيحية المعاصرة( الصهيونية المسيحية انموذجا)
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تعد الصهيونية المسيحية الداعم الابرز للسيادة الصهيونية اليهودية على القدس، ويستند هذا الموقف الذي تتخذه الصهيونية المسيحية الى مجموعة من المعتقدات التي يشكل الاعتقاد بالعودة الثانية للمسيح وتأسيسه لمملكة سعيدة تدوم لالف عام محورها، ليصبح الاهتمام بمستقبل الشعب اليهودي احد الاركان الاساسية لمعتقدات الاصوليون المسيحيون لاسيما الصهيونية المسحية، فالتفسير الحرفي للكتاب المقدس قادهم الى اعتقاد مفاده: ان عو

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Publication Date
Sun May 10 2015
Journal Name
Al-academy
Intellectual Reflections of the Cubical Arts on the Iraqi Contemporary Pottery Art: أحمد جعفر حسين
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The current study discusses one of the most important modern schools in art, and it studies its impact on contemporary Iraqi art, particularly in the art of pottery because of its association to the utilitarian function. However, this study demonstrated that pottery is a unique art, which has exceeded the limits of this function. In addition, pottery has a great role in changing the view and understanding of it. Therefore, this art assists in achieving the concepts, philosophies, and values among other fine arts branches.The most prominent issues in this article is dealing with reflections of the cubical arts on the Iraqi contemporary pottery art by through the works of the most prominent contemporary artists such as (Saad Shakir, SHania

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Publication Date
Mon Jan 01 2007
Journal Name
Journal Of Educational And Psychological Researches
قياس تاثير وسائل اتصال العولمة على العلاقات الانسانية لدى طلبة جامعة بغداد
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يعد مفهوم العولمة ظاهرة عالمية كونها نزعة طاغية في الوقت الحالي منسوبة الى العالم ، ولم تدخل بعد قوائم المفردات في القواميس السياسية والاقتصادية . (الأسدي ،2004-ص88).وأن العولمة  " Globlization أخذت مدلولان ، الاول يدل على الانفتاح وحرية التفكير ومتابعة الاكتشافات في مختلف المجالات والابتعاد عن الرتابة والروتين . اما الثاني فيدل على سطحية التفكير وحب التغيير لأجل التغيير ونبذ الماض

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Publication Date
Thu May 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Experimental and Numerical Study of Crack Effect on Frequency of Simple Supported Beam
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In this research the natural frequency of a cracked simple supported beam (the crack is in many places and in different depths) is investigated analytically, experimentally and numerically by ANSYS program, and the results are compared. The beam is made of iron with dimensions of L*W*H= (0.84*0.02* 0.02m), and density = 7680kg/m3, E=200Gpa. A comparison made between analytical results from ANSYS with experimental results, where the biggest error percentage is about (7.2 %) in crack position (42 cm) and (6 mm) depth. Between Rayleigh method with experimental results the biggest error percentage is about (6.4 %) for the same crack position and depth. From the error percentages it could be concluded that the Rayleigh method gives

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Publication Date
Sun Jun 30 2013
Journal Name
Al-khwarizmi Engineering Journal
Effect of Solid Particle Properties on Heat Transfer and Pressure Drop in Packed Duct
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This work examines numerically the effects of particle size, particle thermal conductivity and inlet velocity of forced convection heat transfer in uniformly heated packed duct. Four packing material (Aluminum, Alumina, Glass and Nylon) with range of thermal conductivity (from200 W/m.K for Aluminum to 0.23 W/m.K for Nylon), four particle diameters (1, 3, 5 and 7 cm), inlet velocity ( 0.07, 0.19 and 0.32 m/s) and constant heat flux ( 1000, 2000 and 3000 W/ m 2) were investigated. Results showed that heat transfer (average Nusselt number Nuav) increased with increasing packing conductivity; inlet velocity and heat flux, but decreased with increasing particle size.Also, Aluminum average Nusselt number is about (0.85,2.

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Publication Date
Sun Dec 01 2019
Journal Name
Baghdad Science Journal
Adsorption of Some Alephatic Dicarboxylic Acids on Zinc Oxide: A kinetic and Thermodynamic Study
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The adsorption of Malonic acid, Succinic acid, Adipic acid, and Azelaic acid from their aqueous solutions on zinc oxide surface were investigated. The adsorption efficiency was investigated using various factors such as adsorbent amount, contact time, initial concentration, and temperature. Optimum conditions for acids removal from its aqueous solutions were found to be adsorbent dose (0.2 g), equilibrium contact time (40 minutes), initial acids concentration (0.005 M). Variation of temperature as a function of adsorption efficiency showed that increasing the temperature would result in decreasing the adsorption ability. Kinetic modeling by applying the pseudo-second order model can provide a better fit of the data with a greater correla

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