In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and cons

PDBN Rashid, International Journal of Development in Social Sciences and Humanities, 2023

Kaolin ceramic compacts sintered at various temperatures are investigated to correlate their microstructure with their acoustic parameters.  Pulse  velocity  ,  attenuation  coefficient,  and  quality factor values are ducts from ultrasonic attenuation measurements, moreover, the dynamical mechanics parameters( Young and shear modules) exhibited an explicit relationship with the acoustic quality factor.inturn  are  related  to  the  microstructure  which  is  heavily affected by the sintering mechanism.

The Ethanolic extracts of different Iraqi indigenous plants which belong to different families showed algicidal activity against Anabaena, Nostoc and Myxosarcina species. Peganum harmala extract was the most potent in controlling the growth of tested Cyanobacterial species

In this research work, a new type of concrete based on sulfur-melamine modification was introduced, and its various properties were studied. This new type of concrete was prepared based on the sulfur-melamine modification and various ingredients. The new sulfur-melamine modifier was fabricated, and its fabrication was confirmed by IR spectroscopy and TG analysis. The surface morphology resulted from this modifier was studied by SEM and EDS analysis. The components ratios in concrete, chemical and physical characteristics resulted from sulfur-melamine modifier, chemical and corrosion resistance of concrete, stability of concrete against water adsorption, stability of concrete against freezing, physical and mechanical properties and durabi

In recent decades, drug modification is no longer unusual in the pharmaceutical world as living things are evolving in response to environmental changes. A non-steroidal anti-inflammatory drug (NSAID) such as aspirin is a common over-the-counter drug that can be purchased without medical prescription. Aspirin can inhibit the synthesis of prostaglandin by blocking the cyclooxygenase (COX) which contributes to its properties such as anti-inflammatory, antipyretic, antiplatelet and etc. It is also being considered as a chemopreventive agent due to its antithrombotic actions through the COX’s inhibition. However, the prolonged use of aspirin can cause heartburn, ulceration, and gastro-toxicity in children and adults. This review article hi