The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then  proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is impleme

Abstract

Background and objective: Protective effect of (Andrographis Paniculata) on 4-Vinylcyclohexene Diepoxide.

Material and methods:A group of 55 female albino rats undergo experiment on the outcome effect of 4-vinylcyclohexene Diepoxide injection for a priod of two weeks, as well as treatment effect of methanolic leaf extract of Andrographis paniculata oral administration for four weeks. Injection  concentrations (160 and 320mg/kg. B.W) also two different doses of treatment (100 and 200mg/kg. B.W) have been applied.

Results:The results on body weight and ovary weight were more evident when higher concentration dose was applied.

The solidification process in a multi-tube latent heat energy system is affected by the natural convection and the arrangement of heat exchanger tubes, which changes the buoyancy effect as well. In the current work, the effect of the arrangement of the tubes in a multi-tube heat exchanger was examined during the solidification process with the focus on the natural convection effects inside the phase change material (PCM). The behavior of the system was numerically analyzed using liquid fraction and energy released, as well as temperature, velocity and streamline profiles for different studied cases. The arrangement of the tubes, considering seven pipes in the symmetrical condition, are assumed at different positions in the system, i

The main aim of the research is to identify the impact of the application of IFRS for SMEs on optimizing the utility of information for financial reports. To answer the questions and test the hypotheses of the research, researchers relied on the descriptive analytical approach. First, the researchers clarified the theoretical aspect through previous studies, and then they analyses d the results of the applied study by testing the hypothesis using the SPSS.

A questionnaire was distributed after evaluation and arbitration by a number of specialists on selected sample. The sample of 120 respondents consists of general managers, department directors, head of departments, accountants, auditors and financial controllers working in the

The impact of mental training overlap on the development of some closed and open skills in five-aside football for middle school students, Ayad Ali Hussein, Haidar Abedalameer Habe

The effect of short range correlations on the inelastic longitudinal Coulomb form
factors for the lowest four excited 2+ states in 18O is analyzed. This effect (which
depends on the correlation parameter β) is inserted into the ground state charge
density distribution through the Jastrow type correlation function. The single particle
harmonic oscillator wave function is used with an oscillator size parameter b. The
parameters β and b are, considered as free parameters, adjusted for each excited state
separately so as to reproduce the experimental root mean square charge radius of
18O. The model space of 18O does not contribute to the transition charge density. As
a result, the inelastic Coulomb form factor of 18

     Brick factories distributed within the study area use fuel oil to complete the burning of the bricks, were high amounts of gases and suspended particles with different concentrations of heavy elements are produced and cause air and soil pollution. It is noted that the workers suffer from respiratory diseases and other health problems. This study is an attempt to detect the sources and concentrations of pollutants and to propose modalities for their treatment and reduction. Air and soil samples were collected from different sites in Abu Smeache brick factory in Al-Kifl area to the south of Babel city, Iraq, during two seasons (summer and winter). The process also included collecting and modelling of dust and soil