<p><span>This research deals with the feasibility of a mobile robot to navigate and discover its location at unknown environments, and then constructing maps of these navigated environments for future usage. In this work, we proposed a modified Extended Kalman Filter- Simultaneous Localization and Mapping (EKF-SLAM) technique which was implemented for different unknown environments containing a different number of landmarks. Then, the detectable landmarks will play an important role in controlling the overall navigation process and EKF-SLAM technique’s performance. MATLAB simulation results of the EKF-SLAM technique come with better performance as compared with an odometry approach performance in terms of measuring the mean square error, especially when increasing the number of landmarks. After that, we simulate and evaluate a mobile robot platform named TurtleBot2e in Gazebo simulator software to achieve the using of the SLAM technique for a different environment using the Rviz library which was built on Robot Operating System in Linux. The main conclusion comes with this work is the simulation and implementation of the SLAM technique using two software platforms separately (MATLAB and ROS) in different unknown environments containing a different number of landmarks so a few number of landmark will make the mobile robot loses its path.</span></p>
Background: Fluoridated acrylic resin material can present more stable properties when compared with conventional one.The most widely used fluoride –containing substance added to dental resin materials is sodium fluoride (Naf). This study evaluated the effect of Naf in different concentration to the acrylic resin denture base material and its effect on tensile strength ,modules of elasticity with long –term water immersion (after 4 months immersion in de-ionized water) Materials and methods: Eighty specimens from dumbbells shaped metal pattern for tensile strength test were preparedaccording to ISO 527: 1993 plastic –Determination tensile properties ,in dimensions(60mm, 12mm, 3 ± 0.2mm) length, width and depth respec
... Show MoreBackground: Fifteen percent of small for gestational age are small as a result of fetal growth restriction, which could be due to maternal, placental or fetal factors. It is an important clinical problem associated with increase perinatal mortality and morbidity. Leptin is a protein that produced by many tissues including the placenta (syncytiotropholoast). Dysregulation of leptin metabolism may be implicated in preeclampsia and IUGR pathogenesis.
Aim of the study: To study the trend of leptin level alteration in maternal serum and cord blood in pregnancies complicated by fetal growth restriction and its relation with fetal outcome.
Methods: An Analytic, cross- sectional study conducted in Al-Elwyia Maternity Teaching Hospital and
Purpose: To use the L25 Taguchi orthogonal array for optimizing the three main solvothermal parameters that affect the synthesis of metal-organic frameworks-5 (MOF-5). Methods: The L25 Taguchi methodology was used to study various parameters that affect the degree of crystallinity (DOC) of MOF-5. The parameters comprised temperature of synthesis, duration of synthesis, and ratio of the solvent, N,N-dimethyl formamide (DMF) to reactants. For each parameter, the volume of DMF was varied while keeping the weight of reactants constant. The weights of 1,4-benzodicarboxylate (BDC) and Zn(NO3)2.6H2O used were 0.390 g and 2.166 g, respectively. For each parameter investigated, five different levels were used. The MOF-5 samples were synthesi
... Show MoreObjective The incidence of rhythm and conduction abnormalities during acute myocardial infarction may approaches 100%; most are seen during the pre-hospital and coronary care unit phases, leading to deleterious effect on morbidity and mortality, this study conducted to find important persistent dysrhythmia found during CCU admission of acute myocardial infarction patients.Method A retrospective observational study of 553 patients who were admitted to the Coronary Care Unit of Alkindy Teaching Hospital during Year 2011 with diagnosis of acute myocardial infarction, Information and data extracted from case sheets and associated 12 leads daily ECGsResults only 25% of our patients had dysrhythmia on examining the present 12 leads ECGs , the
... Show MoreThe objective of this study was to determine the concentration of trace element chromium(III) and thyroid peroxidase activity in human serum , and to find a relationship between the concentration of chromium(III) and thyroid peroxidase activity in serum of patients with hypothyroidism, hyperthyroidism and healthy subjects. Serum thyroid peroxidase was measured by enzyme linked radioimmunoassay(ELISA) method and chromium determination was by atomic absorption spectrophotometer .Comparing the values of chromium concentration and thyroid peroxidase activity in both samples showed that there were significant positive correlations between chromium levels and thyroid peroxidase activity(P<0.01, r=0.11).
... Show MoreABSTRACT Background: The main goal of chemomechanical endodontic treatment is the reduction or elimination of microorganisms from root canal system. The intracanal medicaments were used to enhance the disinfection process. This study was conducted to evaluate the antibacterial effect of thymus vulgaris, tea tree essential oils and cold pressed black seed oil (BSO) against E.faecalis. Materials and methods: E.faecalis was isolated from ten patients in need for endodontic treatment. The sensitivity of E.faecalis to the tested oils was evaluated in different concentrations in agar well diffusion method and compared with calcium hydroxide. The sensitivity of E.faecalis to vapor of the tested oils was also evaluated, in disk vaporization method
... Show MoreStudies were conducted to evaluate the biological effects of the non-steroidal ecdysone agonist (Methoxyfenozide), on different developmental larval stages of cotton leafworm Spodoptera littoralis (Boisd.) in the laboratory. The results showed that the early larval stages were the most susceptible to Methoxyfenozide which caused 100% mortality within 4-6 days after treatment at all used concentrations, while such percentage of mortality was achieved within 6 days after treatment for late larval stages when the highest concentration was used (0.2)g (ai) /L. Several morphological deformations were noticed on pupal stage, the results showed that the highest percentage of deformations was 1
... Show MoreThe current study aims to develop a teaching design in accordance with cluster thinking strategies and explore the effect of this teaching design on students’ achievement in science. To this end, the null hypothesis was adopted: there is no statistically significant difference at the level of (0, 05) between experimental group who adopted the teaching design in learning science and control group who follow the traditional method in learning the same subject. To test the null hypothesis, total of (74) students from Al-Alaama Hussain Mahfooth intermediate school were selected intentionally for the academic year 2016-2017. The sample divided into two equal groups when all the variables (age, prior achievement of science,
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