In this paper, a cognitive system based on a nonlinear neural controller and intelligent algorithm that will guide an autonomous mobile robot during continuous path-tracking and navigate over solid obstacles with avoidance was proposed. The goal of the proposed structure is to plan and track the reference path equation for the autonomous mobile robot in the mining environment to avoid the obstacles and reach to the target position by using intelligent optimization algorithms. Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) Algorithms are used to finding the solutions of the mobile robot navigation problems in the mine by searching the optimal paths and finding the reference path equation of the optimal

In this paper, some necessary and sufficient conditions are obtained to ensure the oscillatory of all solutions of the first order impulsive neutral differential equations. Also, some results in the references have been improved and generalized. New lemmas are established to demonstrate the oscillation property. Special impulsive conditions associated with neutral differential equation are submitted. Some examples are given to illustrate the obtained results.

Reduce the required time for measuring the permeability of clayey soils by using new manufactured cell

Puppets theaters importance in contemporary society Throughout history puppets theater recognized to achieve constant successes, despite other expressive arts competitors, through diversity of forms topics and ways of direction whether for adults or children’s audients. Today every society has its own puppets, of which the forms are inspired by the cultural heritage. to express its cultural identity.

      Each of those puppets is c by its powerful expression, going beyond the performance of human actors. Thanks to technology, puppets industry, production and direction has evolved in this study, we will identify puppets theatre, its types importance in modern society, and secret of its powerful expressi

Contours extraction from two dimensional echocardiographic images has been a challenge in digital image processing. This is essentially due to the heavy noise, poor quality of these images and some artifacts like papillary muscles, intra-cavity structures as chordate, and valves that can interfere with the endocardial border tracking. In this paper, we will present a technique to extract the contours of heart boundaries from a sequence of echocardiographic images, where it started with pre-processing to reduce noise and produce better image quality. By pre-processing the images, the unclear edges are avoided, and we can get an accurate detection of both heart boundary and movement of heart valves.

Background: Alum has been used as a treatment medication in cases of oral and gingival ulcers, and also as antiseptic mouthwash. This study aimed to examine the effects of different concentrations of Alum on inhibition zone, viability counts and adherence ability of Mutans streptococci compared with deionized water and chlorhexidine gluconate in vitro. Materials and methods: The study dealt with an in vitro study to establish a concentration of Alum mouthrinse that would have the minimum inhibitory concentration and minimum bacteriocidal concentration. The second part evaluated the anti-adherence ability of the experimental agents. Results: This study found that the antibacterial effect of Alum increases with its concentration from 50 to 1

The subject of children's rights in the modern era of the priorities of educators , because the child in the community is the future , which is held by the hope which is the basis for society in the renaissance and progress so quickly communities to prove these rights through its various institutions and issued legislation and held numerous conferences and taking specialists the field of childhood Aatron aspects of this rights and Aasalunha including a benefit for children until tomorrow for the rights of children , psychological and social health and educational . Therefore, the current study focused on the awareness of parents and educators of children's rights as individuals most closely satisfying their needs and rights. The