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 implemented based on hybrid Crossoved Firefly Algorithm with Artificial Bee Colony (CFA-ABC) to tune the controller's parameters to achieve the optimal path. The performance of the hybrid optimization algorithm is verified by various benchmark functions. The simulation results show that the utilizing of CFA and (CFA-ABC ) are better than the original Firefly Algorithm. A simulation example is given to indicate the effectiveness of the proposed algorithm, the results have been done using MATLAB (R2013b), and all trajectory tracking results with two reference trajectories (circular and lemniscates ) are presented.
Background: Staphylococcus aureus is a Gram-positive, spherical, grape like clusters arrangment
bacterium, non-spore forming. Is a genus that causes many hard diseases such as food poisoning,
gastroenteritis with severe symptoms. S. aureus is commonly found in the wide environment (soil, air and
water) and is importantly found in the nose and skin in the humans. And can causes ear infection by
entering the ear. The diagnosis of Otitis externa is usually made clinically and bacterial tests.
Objective: To detection and isolation of the bacteria Staphylococcus aureus from pus specimens of ear
swab, among Iraqi children with Otitis externa.
Patients and methods: Eighty ear swab specimens from suspected cases of Otitis ex
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Abstract\
In this research we built a mathematical model of the transportation problem for data of General Company for Grain Under the environment of variable demand ,and situations of incapableness to determining the supply required quantities as a result of economic and commercial reasons, also restrict flow of grain amounts was specified to a known level by the decision makers to ensure that the stock of reserves for emergency situations that face the company from decrease, or non-arrival of the amount of grain to silos , also it took the capabilities of the tanker into consideration and the grain have been restricted to avoid shortages and lack of processing capability, Function has been adopted
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In this paper, the wear in layers of articular cartilage was calculated, parameters effective on elastic deformation were studied in normal and diseased knee joints, and relations between elastic deformation and squeeze film characteristics under lubrication condition were discussed with using a mathematical model. Conferring to the results obtained, elastic deformation effects on the performance of synovial human knee joint were analyzed from medical and dynamics perspectives. Relationships between elastic deformation and wear of layers were also discussed.
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This paper and research paper analyzes the critical methodology of "Ali Khan Joommal “ about the Bible , directed in most of the textual criticism of the Torah, and its highest criticism is directed to both the Old and New Testaments.
Joommal was distinguished by the mental methods and examples accompanying his era, while maintaining the general context in which Muslim scholars had previously followed, and he was distinguished from them by his many citations to the Western literature of Jews or Christians, in short it is a critical phenomenon worthy of study and evaluation.
The aim of this paper is to obtain a set of traveling wave solutions for klein –Gorden equation with kerr law non-linearity. More precisely, we apply a new path of popularized homogeneous balance (HB) method in terms of using linear auxiliary equations to find the results of non-linear klein-Gorden equation, which is a fundamental approach to determine competent solutions. The solutions are achieved as the integration of exponential, hyperbolic, trigonometric and rational functions. Besides, some of the solutions are demonstrated by the3D graphics.
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In this paper, an eco-epidemiological model with media coverage effect is proposed and studied. A prey-predator model with modified Leslie-Gower and functional response is studied. An -type of disease in prey is considered. The existence, uniqueness and boundedness of the solution of the model are discussed. The local and global stability of this system are carried out. The conditions for the persistence of all species are established. The local bifurcation in the model is studied. Finally, numerical simulations are conducted to illustrate the analytical results.
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This study was conducted to examine the discharge capacity of the reach of the Tigris River between Kut and Amarah Barrages of 250km in length. The examination includes simulation the current capacity of the reach by using HEC-RAS model. 247cross sections surveyed in 2012 were used in the simulation. The model was calibrated using observed discharges of 533, 800, 1025 and 3000m3/s discharged at Kut Barrage during 2013, 1995, 1995 and 1988, respectively, and its related water level at three gauge stations located along the reach. The result of calibration process indicated that the lowest Root Mean Square Error of 0.095 can be obtained when using Manning’s n coefficient of 0.026, 0.03 for th
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Background: Vitamin D has been linked to fertility since its receptors were found in reproductive organs. Nevertheless, its exact role in fertility is yet to be cleared.
Objectives: To analyze follicular fluid (FF) vitamin D in females doing Intracytoplasmic Sperm Injection (ICSI), to compare its level between Polycystic Ovary Syndrome (PCOS) and non-PCOS females, and to explore whether vitamin D correlates with oocytes number, percentage of oocyte maturity, fertilization rate and percentage of high quality embryos.
Patients and methods: This comparative observational study was done, from January to October 2018, at Al Amal IVF Center, Jenin hospital, Baghdad. The study w
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Statistical methods of forecasting have applied with the intention of constructing a model to predict the number of the old aged people in retirement homes in Iraq. They were based on the monthly data of old aged people in Baghdad and the governorates except for the Kurdistan region from 2016 to 2019. Using BoxJenkins methodology, the stationarity of the series was examined. The appropriate model order was determined, the parameters were estimated, the significance was tested, adequacy of the model was checked, and then the best model of prediction was used. The best model for forecasting according to criteria of (Normalized BIC, MAPE, RMSE) is ARIMA (0, 1, 2)