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Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
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The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory. The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part. These coefficients are functions of velocities between through points. The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points. Also, relations for velocity correction and exact velocity solution are derived. Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases. This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude.

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Publication Date
Wed Feb 01 2023
Journal Name
Baghdad Science Journal
Potential Role of 8-Hydroxyguanosine and some Pro Inflammatory Cytokines as Biomarkers in Colorectal Cancer Iraqi Patients
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8-hydroxyguanosine (8-OHdG) is considered as an indicator of the oxidative stress. Pro inflammatory cytokines are critical parts of the pathophysiological processes to which treatment can be applied. The aim of this study was to evaluate 8-OHdG and pro inflammatory cytokines concentration in colon carcinoma patients. Blood samples were taken before treatment from 50 incident cases with colon cancer (stage III) admitted for health examination at the Nanakali Hospital in Erbil city with 45 healthy samples of controls with age range between 38-69 years for both groups. All studied parameters were estimated by ELISA. Participants at this study were 95 Participants ranged in age from 38 to 69 years, 50 Participants had been newly diagnosed wi

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Publication Date
Tue May 16 2023
Journal Name
International Journal Of Online And Biomedical Engineering (ijoe)
Watermarking in Medical Image
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Medical image security is possible using digital watermarking techniques. Important information is included in a host medical image in order to provide integrity, consistency, and authentication in the healthcare information system. This paper introduces a proposed method for embedding invisible watermarking in the 3D medical image. The cover medical image used is DICOM which consists of a number of slices, each one representing a sense, firstly must separate the ROI (Region of Interest) and NROI (Not Region Of Interest) for each slice, the separation process performed by the particular person who selected by hand the ROI. The embedding process is based on a key generated from Arnold's chaotic map used as the position of a pixel in

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Publication Date
Mon Oct 06 2014
Journal Name
Journal Of Educational And Psychological Researches
sexual stereotyping in Kindergarten
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The current research aims to know the sex-stereotyping among Kindergarten , male and female, study was conducted on a sample of 400 boys and girls by (200) males and  (200), females Kindergarten  from age (4-6 years) in the province of Baghdad, for the , academic year (2013-2014) In order to achieve the goals of research, the researcher built two scales measure of the prototypical male sexuality and a measure of the prototypical female sexual and be in its final form of (36) items to measure sexual stereotyping male (35) items to measure sexual stereotyping of females, were sure of the validity scale by presentation to a group of experts as well as the Statistical analysis of the resear

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Publication Date
Wed Dec 30 2020
Journal Name
Al-kindy College Medical Journal
Furosemide in Hypovolemic shock
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Background: Shock is a common clinical state, we face chocked patients in causality, surgical and gynecological  specialties like stab wounds, road traffic accidents, placenta preavia, placenta accrete, placenta pericreta, ectopic pregnancy, perforated viscus  etc. All such patients undergo surgical exploration and majority of them are shifted to ICU to complete monitoring and support. High percent of them they develop acute kidney injury intra and postoperatively and carry high mortality rate because of not so good nursing care in ICU in Iraq.

Objective: to clarify that Furosemide can protect kidney function during shock and reduce ICU admission and mortality rate.

Method: 100 shocked patient were enrolled in t

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Publication Date
Thu May 05 2022
Journal Name
Al-kindy College Medical Journal
Spinal Tuberculosis in Children
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Tuberculosis continues to be the leading cause of morbidity and mortality, with an estimated annual incidence of 10.4 million worldwide. It has been estimated that 10% of patients with extrapulmonary tuberculosis have musculoskeletal involvement, with the spine being the most common. Spinal tuberculosis (TB) accounts for 50% of cases of musculoskeletal tuberculosis.

Spinal tuberculosis is the result of infection with Mycobacterium tuberculosis. It is a secondary infection, the primary lesion of which is in the lungs, genitourinary system, or gastrointestinal tract and can be active or latent. Involvement of the vertebral segment is the result of hematogenous spread of infection along the arterial pathway or Batson's vei

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Publication Date
Thu Oct 01 2009
Journal Name
Journal Of The College Of Languages (jcl)
Schematic Coherence in Poetry
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Schemata are the underlying connections that allow new experience and information to be aligned with previous knowledge. When one reads a text he usually uses all his levels of schemata. Schemata enable us to make sense of what is perceived and experienced in the world.

In poetry, readers usually examine carefully and deeply what they are reading in comparison with other sorts of discourse. Coherence is achieved when a reader perceives connections among schemata. It is a connection between linguistic and textual features of the text, and reader's mental expectations as well as stored knowledge of the world. This paper discusses the role of schematic correlation in poetry, and the effect of different schematic background and diffe

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Publication Date
Fri Aug 13 2021
Journal Name
Male Reproductive Anatomy
Epigenetics in Male Infertility
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Publication Date
Wed Oct 30 2019
Journal Name
Cambridge Scholars Publishing.
Intelligent systems in building;
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Publication Date
Thu Aug 28 2025
Journal Name
Nasaq
Religiosity in Iraqi society
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Publication Date
Wed Jan 15 2020
Journal Name
Arab World English Journal
Posters in Vocabulary Learning
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An essential element in English as a foreign language (EFL) learning is vocabulary. There is a big emphasis on learning the new words' meaning from the books or inside classrooms. Also, it is a major part of language teaching as well as being fundamental to the learner but there is a big challenge in vocabulary instruction due to the weak confidence by teachers in selecting the suitable practice in teaching vocabulary or they sometimes unable to specify a suitable time for it during the teaching process. The major aim of this study is to investigate the value of posters in vocabulary learning on the 2nd grade students at Halemat Alsaadia High School in Baghdad – Iraq. It hypothesized that there are no statistically significant differences

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