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 effect of (Di-Ammonium Phosphate DAP) (P21%), as plant fertilizer on content of the Saliva officinalis. Total flavonoid as an important active constituent was investigated in the present study. Three samples (F1, F2, and F3) of Saliva officinalis were grown in soil treated with DAP (100, 200, and 300) kg/hector respectively. Another two samples were studied: F0 as a plant sample grown in soil untreated with fertilizer and F4 as wild type obtained from market. Total flavonoids were estimated Quantitatively by Rutin standard curve and qualitatively by TLC method in corresponding to standard flavonoids. Results showed that different concentrations of DAP treated soil affected flavonoid contained of the Iraqi cultivated Saliva officinali
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chlorhexidine mouth wash one of the effective chemical plaque control method that is used to prevent plaque accumalation and subsequent gingivitis.
The protozoan parasite Entamoeba histolytica is a causative agent of amoebiasis, where it causes millions of cases of dysentery and liver abscess each year. Metronidazole is a drug of choice against amoebiasis. The drug is a choice because of its efficacy and low cost, but at the same time it causes several adverse side effects; therefore, it is important to find effective medications to treat amoebiasis without any complications or any side effects. The aim of this study is to evaluate the effectiveness of different concentrations (50, 75 and 100 µg/ml) of silver nanoparticle (AgNPs) against trophozoites stages of E. histolytica in vitro. The results showed a significant decrease (p ? 0.05) in numbers of trophozoites stages after treated
... Show MoreAntimicrobial and antiyeast activity of ethanolic and aqueous extract of grape fruit seed (Citrus paradise ; Rutaceaa) was examined against 10 bacterial and 2 yeast strains. The level of the antimicrobial effects was established using an in vitro agar assay and minimum inhibitory concentration (MIC). In general ethanolic extract were more effective on gram positive bacteria than gram negative bacteria and strongest antimicrobial effect against Streptococcus pyogenes and Salmonella entritidis. Other tested bacteria and yeasts were sensitive to extract ranging from 4 to 16 mg/ml and more.
The purpose of this study was to examine the association of oral administration of Carbamazepine during pregnancy and the histological changes in the ovaries of mice. Timed-pregnant mice were divided into experimental and control groups. 60 mice in the experimental group received daily oral of 15 mg/kg of carbamazepine via intragastric tube on gestational days 0 to 18. 20 mice were used as control group. They received normal saline via the same route. Dams underwent laparotomy on pregnancy days 13, 15, and 18 and the ovaries were collected. Routine histological processing of the ovaries histology of paraffin sections stained with haemotoxylin and eosin, were conducted. The ovary under the effect of the drug, there was signs of degeneration
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Poly ethylene oxide PEO / Poly vinyl alcohol PVA blends were prepared by cast method at different ratios of (25%PEO/75%PVA, 30%PEO/70%PVA, 35%PEO/65%PVA, 40%PEO/60%PVA, and 50%PEO/505PVA). Samples miscibility ,and thermal stability were studied by using differential scanning calorimetry(DSC),and thermo gravimetric analysis (TGA) analysis. The results proved that there was one glass transition temperature (Tg=160°C) at 25%PEO\PVA ratio
)that was attributed to its miscibility. This miscibility associated with (Hydrogen bonds) between (Hydroxyl group) in PVA, and PEO, whereas there were two glass transition temperature for the blends ratio more than 30%PEO,that was due its immisc
According to the high operational costs, low stability, and reusability of enzymes, immobilization by nanoparticle gathering has increased in recent years. Iron oxide nanoparticles (magnetite nanoparticles, Fe₃O₄) have been prepared by mixing one volume of iron dioxide ions and two volumes of iron trioxide ions with HCl via the precipitation of iron salts by NH₄OH. The features of magnetic nanoparticles have been studied by Atomic Force Microscopy (AFM), X-Ray Diffraction (XRD), Fourier Transform Infrared Spectroscopy, and Scanning Electron Microscopy (SEM). The prepared Fe3O4 was used in the adsorption method to immobilize the galactosidase enzyme. The immobilized enzyme has been compared wi
... Show MoreThe presence of residual antibiotics in water results in the development of antibiotics resistant genes. The available wastewater treatment systems are not capable of removing such antibiotics from sewage. Thus, antibiotics need to be removed before the discharge of wastewater. Adsorption is among the promising techniques for the wastewater treatment to aid the removal of a wide range of organic and inorganic pollutants. The present work is a contribution to the search for an economical method for the removal of low concentrations of amoxicillin (AMX) from water by adsorption on water treatment residue, WTR, taken from a local drinking water facility. The chemical composition and the adsorptive characteristics of the material were first
... Show MoreThis paper treats the interactions among four population species. The system includes one mutuality prey, one harvested prey and two predators. The four species interaction can be described as a food chain, where the first prey helps the second harvested prey. The first and the second predator attack the first and the second prey, respectively, according to Lotka-Volterra type functional responses. The model is formulated using differential equations. One equilibrium point of the model is found and analysed to reveal a threshold that will allow the coexistence of all species. All other equilibrium points of the system are located, with their local and global stability being assessed. To back up the conclusions of the mathema
... Show MoreIn this paper, we study the incorporation of the commensalism interaction and harvesting on the Lotka–Volterra food chain model. The system provides one commensal prey, one harvested prey, and two predators. A set of preliminary results in local bifurcation analysis around each equilibrium point for the proposed model is discussed, such as saddle-node, transcritical and pitchfork. Some numerical analysis to confirm the accruing of local bifurcation is illustrated. To back up the conclusions of the mathematical study, a numerical simulation of the model is carried out with the help of the MATLAB program. It can be concluded that the system's coexistence can be achieved as long as the harvesting rate on the second prey population is
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