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.
The current study designed to determine the effect of Glucosamine sulfate on the liver tissue of Albino mice .the study included (40)mice divided in to 4 groups(control group had distilled water orally ).The other groups treated with(1000,2000,3000)ml/k .respectively for 8 week .the liver have been taken from dissected animal for microscopic preparation to study the histological changes .Frequently histopathologicale changes appeared in the liver tissue of the exposure groups during (4-8)week .This changes depends on (Dose and Time ). The effects were Congestion ,Infiltration ,Swelling ,Vaculation ,Hyalinization , Amyloid and Necrosis.
Pregnancy is a stressful condition in which many physiological and metabolic functions are altered to a considerable extent . Pregnancy is a physiological state accompanied by a high-energy demand and an increased oxygen requirement. The present study aim to study selenium ,zinc cupper in the first trimester of pregnancy. The study group comprised of Fourty five pregnant women and twenty six non pregnant women as control . The samples were taken from pregnant women who come to several heath center in Baghdad city to cheak up. Laboratory investigations including Cupper, Ceruloplasmin, Total Antioxidant (TAA), malondialdehyde (MDA), glutathione (GSH), Zinc, Uric acid, and Selenium had been measured in pregnant women and control . Th
... Show MoreWe examine the integrability in terms of Painlevè analysis for several models of higher order nonlinear solitary wave equations which were recently derived by Christou. Our results point out that these equations do not possess Painlevè property and fail the Painlevè test for some special values of the coefficients; and that indicates a non-integrability criteria of the equations by means of the Painlevè integrability.
Objectives:
The study was planned to show the effect of different medicinal plants extracts on Cryptosporidium spp.
Materials and Methods:
The experimental study was performed in laboratory mice to show the efficacy of different medical plants extracts (Achillea fragrantissima, Artemisea herba-alba,
Cardaria draba, Mentha longifolia , Olea europea, Prosopis farcta, Punica granatum, Teucrium polium and Ziziphus spina-charisti on shedding of Cryptosporidium spp. oocysts.
Results:
In a study on the effect of medical plant extracts on the shedding of oocysts in mice, it was found that different medical plants extracts decrease the shedding of
Cryptosporidium oocysts in mice. Using 250 mg / kg B.W
In this paper, construction microwaves induced plasma jet(MIPJ) system. This system was used to produce a non-thermal plasma jet at atmospheric pressure, at standard frequency of 2.45 GHz and microwave power of 800 W. The working gas Argon (Ar) was supplied to flow through the torch with adjustable flow rate by using flow meter, to diagnose microwave plasma optical emission spectroscopy(OES) was used to measure the important plasma parameters such as electron temperature (Te), residence time (Rt), plasma frequency (?pe), collisional skin depth (?), plasma conductivity (?dc), Debye length(?D). Also, the density of the plasma electron is calculated with the use of Stark broadened profiles
Atopic dermatitis in another word Atopic Eczema is a chronic inflammatory skin disease that effecting all ages, described by lesions of eczematous and acute itch. As the objective of this study for determine the effect of variation in TSLP, IgE, and Eosinophil levels in patients with atopic dermatitis compared with a healthy control group. The level of TSLP was almost the same between the patients and the control group, and the reason was that most of the patients were treated with anti-allergic drugs. In this study, there is a significant (P = 0.004), serum level of TSLP in atopic dermatitis patient’s pre-treatment with immunotherapy (corticosteroids and antihistamines) is compared with atopic dermatitis patients’ post-tr
... Show MoreIn this paper, we introduce new conditions to prove that the existence and boundedness of the solution by convergent sequences and convergent series. The theorem of Krasnoselskii, Lebesgue’s dominated convergence theorem and fixed point theorem are used to get some sufficient conditions for the existence of solutions. Furthermore, we get sufficient conditions to guarantee the oscillatory property for all solutions in this class of equations. An illustrative example is included as an application to the main results.
Background: Knowledge about the clinical problems during the fast of Ramadan is important in order to opens the way to further research aimed at discovering the significance of Ramadan fasting in patients with heart disease.
Patients and Methods: Eighty-six outpatients with heart disease with intention to fast were studied in the month of Ramadan 2010 (1430 H) at the Ibn Al-bitar Hospital. Detailed clinical and biochemical assessments were performed within 3 days before the start of Ramadan and then on the last day of Ramadan.
Results: There were 54 (62.8%) males and 32 (37.2%) females with a mean age of 56.3 years (range, 17-84 ). Forty-six patients (53%) had coronary artery disease, 23 patients (27%)
Background: Smoking is the major environmental risk factor that has been associated with the pathogenesis and progression of periodontal diseases. Interleukin-8 (IL-8), has been associated with the immunopathology of periodontitis. Objectives: To determine the influence of smoking on salivary Interleukin-8 level from smokers and non-smokers with periodontitis and periodontally healthy control subjects.
Materials and Methods: Un-stimulated saliva samples were collected of 90 participants: 30 smokers and 30 non-smokers with chronic periodontitis, as well as 30 periodontally healthy control subjects. The clinical parameters such as the pocket depth, clinical attachment loss, plaque index, and gingiv
... Show MoreThis paper presents a numerical analysis using ANSYS finite element program to simulate the reinforced concrete slabs with spherical voids. Six full-scale one way bubbled slabs of (3000mm) length with rectangular cross-sectional area of (460mm) width and (150mm) depth are tested as simply supported under two-concentrated load. The results of the finite element model are presented and compared with the experimental data of the tested slabs. Material nonlinearities due to cracking and crushing of concrete and yielding of reinforcement are considered. The general behavior of the finite element models represented by the load-deflection curves at midspan, crack pattern, ultimate load, load-concrete strain curves and failure m
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