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.
This study aimed for isolation and identification of Candida glabrata and identifying some virulence factors. The distribution of patients with candidemia thrush showed that the age group 50-65 years old recorded the highest incidence of candidiasis in female and male with leukemia by 50% and 37.9 % respectively compared to the lowest incidence of candidiasis in the age group under 17 years old in female and male 8.8% and 13.5%, respectively. While the age group between 5-8 years was high, reaching 18 cases of oral candidiasis and 42% of children with leukemia compared with the age group, which was the least, that reached 9 cases, 21%. The highest incidence of C. glabrata was 59 isolates of females and males with leukemia, while C. kefyer w
... Show MoreAround fifty isolates of Salmonella enterica serovar Typhi were isolated from blood specimens of patients referring to several hospitals in Kirkuk province, Iraq. The results revealed that all isolates developed resistance to trimethoprim-sulfamethoxazole and chloramphenicol. However, neither sul2 nor tem genes were detected. Moreover, only ten isolates were positive for catP. Our data suggested participation of other genes or mechanisms allow these multidrug isolates to resist the antibiotics in question.
Abiotic stress-induced genes may lead to understand the response of plants and adaptability to salinity and drought stresses. Differential display reverse transcriptase – polymerase chain reaction (DDRT-PCR) was used to investigate the differences in gene expression between drought- and salinity-stressed plantlets of Ruta graveolens. Direct and stepwise exposures to drought- or salt-responsive genes were screened in R. graveolens plantlets using the DDRT technique. Gene expression was investigated both in the control and in the salt or drought-stressed plantlets and differential banding patterns with different molecular sizes were observed using the primers OPA-01 (646,770 and 983 pb), OPA-08 (593 and 988 pb), OPA-11 (674 and 831 pb
... Show MoreBurdock ( Arctium lappa), is among the most popular plants in traditional medicine and it is associated with several biological effects. Literature survey revealed the presence of phenylpropanoid compounds .The most widespread are hydroxycinnamic acids ( mainly caffeic acid and chlorogenic acid) and lignans (mainly arctiin and arctigenin). This work will confirm the presence of these compounds in Arctium lappa, cultivated in Iraq, in both root and leaf samples. The dried plant samples were extracted by soxhlet with 80% methanol then separated the main constituents by thin layer chromatography (TLC) and high performance liquid chromatography (HPLC). Identification of the isolated compounds wa
... Show MoreThis research consists of two parts, the first part concern with analyzing the collected data of BOD and COD values in discharge waste water from Al-Dora refinery during 2010 to find the relationship between these two variables The results indicates that there is a high correlation between BOD and COD when using a natural logarithm model (0.86 ln(COD)) with correlation coefficient of 0.98. This relationship is useful in predicting the BOD value using the COD value. The second part includes analyzing collected data from the same site in order to find a relationsip between BOD and other parameters COD, Phenol(phe), Temperature(T), Oil, Sulphat(SO4),pH and Total dissolved solids( TDS) discharged from the refinery. The results indicated that th
... Show MoreAngiotensin receptor blockers are well known for their therapeutic efficacy and fimasartan has been used safely and efficiently since 2010 in the treatment of hypertension. The study aimed to examine the anti-inflammatory effect of fimasartan in egg albumin-induced inflammation in rats. Rats were treated with diclofenac (25 mg/kg, intraperitoneally) or fimasartan at two different doses (3 or 10 mg/kg, intraperitoneally). The increase in the thickness of the paw was considered to be edema, which was measured using a vernier caliper. Serum was collected to analyze the systemic production of the inflammatory mediators TNF-α, and IL-6. The results showed that fimasartan in both doses significantly reduced edema in inflamed rat paws and produce
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