{"id":30198,"date":"2020-07-11T14:12:10","date_gmt":"2020-07-11T11:12:10","guid":{"rendered":"https:\/\/coeng.uobaghdad.edu.iq\/?p=30198"},"modified":"2020-07-11T14:12:10","modified_gmt":"2020-07-11T11:12:10","slug":"%d8%b7%d8%a7%d9%84%d8%a8%d8%a9-%d8%a7%d9%84%d9%85%d8%a7%d8%ac%d8%b3%d8%aa%d9%8a%d8%b1-%d9%81%d9%8a-%d9%82%d8%b3%d9%85-%d8%a7%d9%84%d9%87%d9%86%d8%af%d8%b3%d8%a9-%d8%a7%d9%84%d9%83%d9%87%d8%b1%d8%a8-5","status":"publish","type":"post","link":"https:\/\/coeng.uobaghdad.edu.iq\/?p=30198","title":{"rendered":"\u0637\u0627\u0644\u0628\u0629 \u0627\u0644\u0645\u0627\u062c\u0633\u062a\u064a\u0631 \u0641\u064a \u0642\u0633\u0645 \u0627\u0644\u0647\u0646\u062f\u0633\u0629 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u0629 &#8221; \u0633\u0627\u0631\u0629 \u062d\u064a\u062f\u0631 \u0639\u0628\u062f \u0627\u0644\u0631\u0636\u0627 &#8221; \u062a\u0646\u0627\u0642\u0634 \u0631\u0633\u0627\u0644\u062a\u0647\u0627"},"content":{"rendered":"<p>\u0646\u0648\u0642\u0634\u062a 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\u0627\u0628\u0631\u0627\u0647\u064a\u0645.<\/p>\n<p>\u062e\u0644\u0627\u0635\u0629 \u0631\u0633\u0627\u0644\u0629 \u0627\u0644\u0637\u0627\u0644\u0628\u0629 \u0643\u0645\u0627 \u064a\u0644\u064a:<\/p>\n<p>\u064a\u062a\u0646\u0627\u0648\u0644 \u0647\u0630\u0627 \u0627\u0644\u0628\u062d\u062b \u0623\u0645\u0643\u0627\u0646\u064a\u0629 \u0623\u0633\u062a\u0643\u0634\u0627\u0641 \u0627\u0644\u0631\u0648\u0628\u0648\u062a \u0627\u0644\u0645\u062a\u0646\u0642\u0644 \u0644\u0645\u0648\u0642\u0639\u0647 \u0641\u064a \u0627\u0644\u0628\u064a\u0626\u0627\u062a \u0627\u0644\u063a\u064a\u0631 \u0645\u0639\u0631\u0648\u0641\u0629 \u0648\u0645\u0646 \u062b\u0645 \u0625\u0646\u0634\u0627\u0621 \u062e\u0631\u0627\u0626\u0637 \u0644\u0647\u0630\u0647 \u0627\u0644\u0628\u064a\u0626\u0627\u062a \u0644\u0644\u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u0627\u0644\u0645\u0633\u062a\u0642\u0628\u0644\u064a. \u0641\u064a \u0647\u0630\u0627 \u0627\u0644\u0639\u0645\u0644 \u060c \u0623\u0642\u062a\u0631\u062d\u0646\u0627 \u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0645\u0639\u062f\u0644\u0629 \u062a\u0633\u0645\u0649 \u0627\u0644\u062a\u0648\u0637\u064a\u0646 \u0627\u0644\u0645\u062a\u0632\u0627\u0645\u0646 \u0648\u0631\u0633\u0645 \u0627\u0644\u062e\u0631\u0627\u0626\u0637 (SLAM)\u00a0 \u060c \u0628\u0639\u062f \u0630\u0644\u0643 \u0623\u0642\u062a\u0631\u062d\u0646\u0627 \u0623\u0633\u062a\u062e\u062f\u0627\u0645 \u0627\u0644\u0646\u0633\u062e\u0629 \u0627\u0644\u0645\u0637\u0648\u0631\u0629 \u0645\u0646 \u0647\u0630\u0647 \u0627\u0644\u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0627\u0644\u0645\u0633\u0645\u0623\u0629 \u00a0Extended Kalman Filter (EKF) \u0644\u062d\u0644 \u0645\u0634\u0643\u0644\u0629 SLAM \u062d\u064a\u062b \u064a\u062a\u0645 \u062a\u0646\u0641\u064a\u0630 EKF-SLAM \u00a0\u00a0\u0644\u0628\u064a\u0626\u0627\u062a \u063a\u064a\u0631 \u0645\u0639\u0631\u0648\u0641\u0629 \u0645\u062e\u062a\u0644\u0641\u0629 \u062a\u062d\u062a\u0648\u064a \u0639\u0644\u0649 \u0639\u062f\u062f \u0645\u062e\u062a\u0644\u0641 \u0645\u0646 \u0627\u0644\u0645\u0639\u0627\u0644\u0645 (Landmarks). \u0633\u062a\u0644\u0639\u0628 \u0627\u0644\u0645\u0639\u0627\u0644\u0645 \u0627\u0644\u0642\u0627\u0628\u0644\u0629 \u0644\u0644\u0643\u0634\u0641 \u062f\u0648\u0631\u064b\u0627 \u0645\u0647\u0645\u064b\u0627 \u0641\u064a \u0627\u0644\u062a\u062d\u0643\u0645 \u0641\u064a \u0639\u0645\u0644\u064a\u0629 \u0627\u0644\u062a\u0646\u0642\u0644 \u0627\u0644\u0634\u0627\u0645\u0644\u0629 \u0648\u0623\u062f\u0627\u0621 \u062a\u0642\u0646\u064a\u0629 EKF-SLAM \u060c \u062b\u0645 \u062a\u0645 \u0623\u0642\u062a\u0631\u0627\u062d \u062b\u0644\u0627\u062b \u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0627\u062a \u0630\u0643\u064a\u0629 \u0623\u062e\u0631\u0649 \u0644\u062a\u062d\u0633\u064a\u0646 \u0623\u062f\u0627\u0621 \u0645\u0633\u0627\u0631 EKF-SLAM \u0644\u0644\u0631\u0648\u0628\u0648\u062a \u0627\u0644\u0645\u062a\u062d\u0631\u0643 \u060c \u0627\u0644\u0623\u0648\u0644\u0649 \u0639\u0646 \u0637\u0631\u064a\u0642 \u0623\u0642\u062a\u0631\u0627\u062d \u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u062a\u062d\u0633\u064a\u0646 \u0633\u0631\u0628 \u0627\u0644\u062c\u0633\u064a\u0645\u0627\u062a (PSO) \u060c \u0648\u0627\u0644\u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0627\u0644\u062b\u0627\u0646\u064a\u0629 \u0627\u0644\u0645\u0633\u0645\u0623\u0629 \u062a\u062d\u0633\u064a\u0646 \u0633\u0631\u0628 \u0627\u0644\u062c\u0633\u064a\u0645\u0627\u062a \u0627\u0644\u0641\u0648\u0636\u0648\u064a\u0629 (CPSO) \u00a0\u0648\u0627\u0644\u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0627\u0644\u062b\u0627\u0644\u062b\u0629 \u0647\u064a \u0627\u0644\u062e\u0648\u0627\u0631\u0632\u0645\u064a\u0629 \u0627\u0644\u062c\u064a\u0646\u064a\u0629 (GA)\u00a0 \u060c \u0628\u0639\u062f \u0630\u0644\u0643 \u0642\u0645\u0646\u0627 \u0628\u0645\u062d\u0627\u0643\u0627\u0629 \u0648\u062a\u0642\u064a\u064a\u0645 \u0645\u0646\u0635\u0629 \u0631\u0648\u0628\u0648\u062a \u0645\u062a\u0646\u0642\u0644\u0629 \u062a\u0633\u0645\u0649 \u00a0TurtleBot2e \u0641\u064a \u0628\u0631\u0646\u0627\u0645\u062c \u0627\u0644\u0645\u062d\u0627\u0643\u0627\u0629 \u00a0Gazebo \u0644\u062a\u062d\u0642\u064a\u0642 \u062a\u0642\u0646\u064a\u0629 SLAM \u0644\u0628\u064a\u0626\u0627\u062a \u0645\u062e\u062a\u0644\u0641\u0629 \u062a\u0639\u062a\u0645\u062f \u0639\u0644\u0649 \u0645\u0646\u0635\u0629 \u00a0Rviz \u0627\u0644\u062a\u064a \u0628\u0646\u064a\u062a \u0639\u0644\u0649 \u0646\u0638\u0627\u0645 \u062a\u0634\u063a\u064a\u0644 \u0627\u0644\u0631\u0648\u0628\u0648\u062a (ROS) \u0641\u064a \u0646\u0638\u0627\u0645 \u0627\u0644\u062a\u0634\u063a\u064a\u0644\u00a0 \u00a0Linux.<\/p>\n<p>\u0623\u0638\u0647\u0631\u062a \u0646\u062a\u0627\u0626\u062c \u0627\u0644\u0645\u062d\u0627\u0643\u0627\u0629 \u0628\u0623\u0633\u062a\u062e\u062f\u0627\u0645 \u0628\u0631\u0646\u0627\u0645\u062c \u0627\u0644\u0645\u0627\u062a\u0644\u0627\u0628 \u0623\u0646 \u062a\u0642\u0646\u064a\u0629 EKF-SLAM \u0644\u062f\u064a\u0647\u0627 \u0623\u062f\u0627\u0621 \u0623\u0641\u0636\u0644 \u0645\u0646 \u0637\u0631\u064a\u0642\u0629 \u0623\u0633\u062a\u062e\u062f\u0627\u0645 \u0642\u064a\u0627\u0633 \u0627\u0644\u0645\u0633\u0627\u0641\u0627\u062a (Odometry Approach) \u0648\u0645\u0639\u064a\u0627\u0631\u0646\u0627 \u0643\u0627\u0646 \u0647\u0648 \u0642\u064a\u0627\u0633 \u0645\u062a\u0648\u0633\u0637 \u200b\u200b\u0627\u0644\u062e\u0637\u0623 \u0627\u0644\u062a\u0631\u0628\u064a\u0639\u064a (MSE) \u0623\u062e\u0630\u064a\u0646 \u0628\u0646\u0638\u0631 \u0627\u0644\u0627\u0639\u062a\u0628\u0627\u0631\u0632\u064a\u0627\u062f\u0629 \u0639\u062f\u062f \u0627\u0644\u0645\u0639\u0627\u0644\u0645. \u0648\u0645\u0646 \u062c\u0647\u0629 \u0623\u062e\u0631\u0649 \u0623\u0638\u0647\u0631\u062a \u0646\u062a\u0627\u0626\u062c \u0627\u0644\u0645\u0627\u062a\u0644\u0627\u0628 \u0623\u064a\u0636\u0627\u064b \u0623\u0646 \u062a\u0642\u0646\u064a\u0629 CPSO \u062a\u062a\u0641\u0648\u0642 \u0639\u0644\u0649 \u0627\u0644\u062a\u0642\u0646\u064a\u0627\u062a \u0627\u0644\u0627\u062e\u0631\u0649 (PSO\u060c(GA \u0645\u0646 \u062d\u064a\u062b \u062a\u0642\u0644\u064a\u0644 \u0645\u062a\u0648\u0633\u0637 \u200b\u200b\u0627\u0644\u062e\u0637\u0623 \u0627\u0644\u062a\u0631\u0628\u064a\u0639\u064a \u0644\u0640 EKF-SLAM \u0648\u0641\u0642\u064b\u0627 \u0644\u0644\u0645\u0633\u0627\u0631 \u0627\u0644\u0641\u0639\u0644\u064a \u0645\u0639 \u0632\u064a\u0627\u062f\u0629 \u0639\u062f\u062f \u0627\u0644\u0645\u0639\u0627\u0644\u0645 \u0627\u0644\u062a\u064a \u062a\u0639\u0637\u064a \u0623\u064a\u0636\u064b\u0627 \u0623\u062f\u0627\u0621 \u0623\u0639\u0644\u0649 \u0645\u0646 \u0637\u0631\u064a\u0642\u0629 \u0623\u0633\u062a\u062e\u062f\u0627\u0645 \u0642\u064a\u0627\u0633 \u0627\u0644\u0645\u0633\u0627\u0641\u0627\u062a (Odometry Approach).<\/p>\n<p>\u0623\u062e\u064a\u0631\u0627\u064b\u060c \u0623\u0642\u062a\u0631\u062d\u0646\u0627 \u0641\u064a \u0647\u0630\u0627 \u0627\u0644\u0639\u0645\u0644 \u0623\u0633\u062a\u062e\u062f\u0627\u0645 \u062e\u0627\u062f\u0645 TONIDO \u0627\u0644\u0633\u062d\u0627\u0628\u064a \u0644\u062a\u0648\u0641\u064a\u0631 \u062d\u0644\u0648\u0644 \u0627\u0644\u062e\u062f\u0645\u0627\u062a \u0627\u0644\u0633\u062d\u0627\u0628\u064a\u0629 \u0644\u0623\u0646\u0647 \u064a\u062f\u0639\u0645 \u0627\u0644\u0645\u064a\u0632\u0627\u062a \u0627\u0644\u0645\u0637\u0644\u0648\u0628\u0629 \u0644\u0644\u0623\u063a\u0631\u0627\u0636 \u0627\u0644\u062a\u0639\u0644\u064a\u0645\u064a\u0629 \u0648\u0627\u0644\u0623\u0643\u0627\u062f\u064a\u0645\u064a\u0629. \u0628\u0639\u062f \u0630\u0644\u0643 \u062a\u0645 \u0627\u0642\u062a\u0631\u0627\u062d \u0648\u062a\u0646\u0641\u064a\u0630 \u0637\u0631\u0642 \u0627\u0644\u0648\u0635\u0648\u0644 \u0627\u0644\u0645\u0642\u062a\u0631\u062d\u0629 \u0627\u0644\u0645\u0631\u0646\u0629 \u0648\u063a\u064a\u0631\u0627\u0644\u0645\u0643\u0644\u0641\u0629 \u0641\u064a\u0645\u0627 \u064a\u062a\u0639\u0644\u0642 \u0628\u0627\u0644\u062a\u0637\u0628\u064a\u0642\u0627\u062a \u0641\u064a \u0627\u0644\u0648\u0642\u062a \u0627\u0644\u062d\u0642\u064a\u0642\u064a \u0627\u0644\u062a\u064a \u062a\u0645\u0643\u0646 \u0627\u0644\u0645\u0633\u062a\u062e\u062f\u0645\u064a\u0646 \u0645\u0646 \u0627\u0644\u0648\u0635\u0648\u0644 \u0625\u0644\u0649 \u0627\u0644\u062e\u062f\u0645\u0627\u062a \u0627\u0644\u0633\u062d\u0627\u0628\u064a\u0629 \u0645\u062d\u0644\u064a\u064b\u0627 \u0648\u0625\u0642\u0644\u064a\u0645\u064a\u064b\u0627. \u0639\u0645\u0644\u064a\u0627\u064b \u0644\u0645\u062d\u0627\u0643\u0627\u0629 \u0627\u062a\u0635\u0627\u0644 \u0634\u0628\u0643\u062a\u0646\u0627 \u060c \u0627\u0642\u062a\u0631\u062d\u0646\u0627 \u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u00a0Raspberry-pi3 model B + \u00a0\u0644\u0628\u0646\u0627\u0621 \u0634\u0628\u0643\u062a\u0646\u0627 \u0644\u062a\u0645\u0643\u064a\u0646 \u0627\u0644\u0645\u0633\u062a\u062e\u062f\u0645\u064a\u0646 \u0645\u0646 \u0627\u0644\u0648\u0635\u0648\u0644 \u0625\u0644\u0649 \u0627\u0644\u062e\u062f\u0645\u0627\u062a \u0627\u0644\u0633\u062d\u0627\u0628\u064a\u0629 \u0639\u0628\u0631 \u0627\u0644\u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0627\u0644\u0644\u0627\u0633\u0644\u0643\u064a\u0629 \u0648\u0627\u0644\u0633\u0644\u0643\u064a\u0629. \u0648\u0643\u0645\u062b\u0627\u0644 \u0639\u0645\u0644\u064a \u0644\u062f\u0631\u0627\u0633\u0629 \u062d\u0627\u0644\u0629 \u062a\u0637\u0628\u064a\u0642 \u0641\u064a \u0627\u0644\u0648\u0642\u062a \u0627\u0644\u062d\u0642\u064a\u0642\u064a \u0639\u0628\u0631 \u0627\u0644\u062e\u0627\u062f\u0645 \u0627\u0644\u0633\u062d\u0627\u0628\u064a \u060c \u0627\u0642\u062a\u0631\u062d\u0646\u0627 \u0625\u062c\u0631\u0627\u0621 \u0628\u062b \u0645\u0628\u0627\u0634\u0631 \u0644\u0644\u0641\u064a\u062f\u064a\u0648 \u0628\u0627\u0633\u062a\u062e\u062f\u0627\u0645 \u0643\u0627\u0645\u064a\u0631\u0627 \u0648\u064a\u0628 IP \u0648\u0633\u062d\u0627\u0628\u0629 IVIDEON \u062d\u064a\u062b \u064a\u0645\u0643\u0646 \u0627\u0644\u0648\u0635\u0648\u0644 \u0625\u0644\u0649 \u0627\u0644\u0641\u064a\u062f\u064a\u0648 \u0627\u0644\u0645\u062a\u062f\u0641\u0642 \u0639\u0628\u0631 \u0627\u0644\u062e\u0627\u062f\u0645 \u0627\u0644\u0633\u062d\u0627\u0628\u064a \u0641\u064a \u0623\u064a \u0648\u0642\u062a \u0645\u0639 \u0645\u0633\u062a\u062e\u062f\u0645\u064a\u0646 \u0645\u062e\u062a\u0644\u0641\u064a\u0646 \u0645\u0639 \u0645\u0631\u0627\u0639\u0627\u0629 \u0627\u062a\u0635\u0627\u0644\u0627\u062a \u0627\u0644\u0639\u0645\u0644\u064a\u0629 \u0627\u0644\u0645\u0642\u062a\u0631\u062d\u0629.<\/p>\n<p><strong>\u00a0<img fetchpriority=\"high\" decoding=\"async\" class=\"alignnone size-large wp-image-30200\" src=\"https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2020\/07\/2020-06-29_091113.png\" alt=\"\" width=\"600\" height=\"383\" srcset=\"https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2020\/07\/2020-06-29_091113.png 600w, https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2020\/07\/2020-06-29_091113-300x192.png 300w\" sizes=\"(max-width: 600px) 100vw, 600px\" \/><img decoding=\"async\" class=\"alignnone size-full wp-image-30201\" src=\"https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2020\/07\/2020-06-29_103151-1.png\" alt=\"\" width=\"600\" height=\"337\" srcset=\"https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2020\/07\/2020-06-29_103151-1.png 600w, https:\/\/coeng.uobaghdad.edu.iq\/wp-content\/uploads\/sites\/3\/2020\/07\/2020-06-29_103151-1-300x169.png 300w\" sizes=\"(max-width: 600px) 100vw, 600px\" \/> <\/strong><\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u00a0<\/strong><\/p>\n<p><strong>\u00a0<\/strong><\/p>\n<p><strong>M.Sc. Student in Electrical Engineering Department<\/strong><\/p>\n<p><strong>\u201c<\/strong><strong>Sara Haidar AbdulRedha\u201d <\/strong><strong>Defends Her Thesis<\/strong><\/p>\n<p><strong>\u00a0<\/strong><\/p>\n<p>Translated by: Dr. Rabab Hameed Shghedl Al-Darraji<\/p>\n<p>&nbsp;<\/p>\n<p>The M.Sc. student Ms. Sara Haidar AbdulRedha was examined in the contents of the thesis entitled:<\/p>\n<p>\u201cDeveloping a Real Time Application of Cloud Services for Mobile Robots\u201d<\/p>\n<p>which she prepared in the Department of Electrical Engineering\/College of Engineering\/Baghdad University in partial fulfillment of the requirements for the degree of Master of Science in Electrical Engineering under the supervision of Asst. Prof. Dheya Jassem Kazem, Ph.D. on Monday 29<sup>th<\/sup> June, 2020.The examining committee consisted of Prof. Mohammad Zaki AlFaez, Ph.D.(Chairperson of the Examining Committee) and Asst. Prof. Muna Hadi Saleh , Ph.D. and Asst. Prof. Ibraheem Kassim Ibraheem, Ph.D. (Members of the Examining Committee).<\/p>\n<p>The abstract of the thesis is as follows:<\/p>\n<p>This research deals with the feasibility of a mobile robot to navigate and discover its location in unknown environments and then to construct maps of these navigated environments for future usage. In this work, we proposed to use a modified algorithm named Simultaneous Localization and Mapping (SLAM). Then, \u00a0the Extended Kalman Filter algorithm (EKF) is suggested to solve the SLAM problem where EKF-SLAM is implemented for different unknown environments containing a different number of landmarks. Then, three intelligent optimization algorithms are proposed to enhance the performance of the EKF-SLAM trajectory of the mobile robot. These algorithms are particle swarm optimization (PSO), chaotic particle swarm optimization (CPSO) algorithm and genetic algorithm (GA). After that, we simulated and evaluated a mobile robot platform named TurtleBot2e in the Gazebo simulator to achieve the SLAM technique for a different environment based on the Rviz library built on Robot Operating System (ROS) booted in Linux.<\/p>\n<p>MATLAB simulation results show that the EKF-SLAM technique has better performance than the Odometry approach in terms of measuring the mean square error, especially when increasing the number of landmarks. Also, the simulation results show that CPSO technique outperforms the PSO and GA techniques. So, CPSO optimization is more optimal and gives the best performance which equals 95.74 while the performance of PSO equals 90.12 with the environment which contains eight landmarks case. Simulation results also show that with CPSO technique, the MSE1 is decreased from 0.2154 to 0.0426 and the performance (Perf.1) is increased from 78.4601 to 95.74\u00a0 concluding that the CPSO gives good results with few iterations as compared with\u00a0 PSO-EKF-SLAM and traditional EKF-SLAM.<\/p>\n<p>This work proposed using TONIDO cloud server to provide cloud services solutions since it supports the features required for educational and academic purposes. Practically, to simulate our network connection, we proposed to use the Raspberry-pi3 model B+ as a router wireless LAN that enables users to access cloud services via wireless and wireline connections. As a case study for a real-time application over the cloud server, we suggested doing a live video streaming using an IP webcam and IVIDEON cloud where the streaming video can be accessed via the cloud server at any time with different users taking into account our proposed practical connections.<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u0646\u0648\u0642\u0634\u062a \u0631\u0633\u0627\u0644\u0629 \u0627\u0644\u0645\u0627\u062c\u0633\u062a\u064a\u0631 \u0627\u0644\u0645\u0648\u0633\u0648\u0645\u0629: &#8221; Developing a Real Time Application of Cloud Services for Mobile Robots&#8221; &nbsp; \u0627\u0644\u062a\u064a\u00a0 \u0627\u0639\u062f\u062a\u0647\u0627 \u0637\u0627\u0644\u0628\u0629 &#8230; <a class=\"cz_readmore\" href=\"https:\/\/coeng.uobaghdad.edu.iq\/?p=30198\"><i class=\"fa fa-angle-left\" aria-hidden=\"true\"><\/i><span>\u0627\u0644\u0645\u0632\u064a\u062f<\/span><\/a><\/p>\n","protected":false},"author":6,"featured_media":30200,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_lmt_disableupdate":"","_lmt_disable":"","footnotes":""},"categories":[25,49,59,8,64],"tags":[],"class_list":["post-30198","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-25","category-49","category-59","category-8","category-64"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v25.8 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u0637\u0627\u0644\u0628\u0629 \u0627\u0644\u0645\u0627\u062c\u0633\u062a\u064a\u0631 \u0641\u064a \u0642\u0633\u0645 \u0627\u0644\u0647\u0646\u062f\u0633\u0629 \u0627\u0644\u0643\u0647\u0631\u0628\u0627\u0626\u064a\u0629 &quot; 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