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Path Planning of an Autonomous Mobile Robot using Enhanced Bacterial Foraging Optimization Algorithm
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This paper describes the problem of online autonomous mobile robot path planning, which is consisted of finding optimal paths or trajectories for an autonomous mobile robot from a starting point to a destination across a flat map of a terrain, represented by a 2-D workspace. An enhanced algorithm for solving the problem of path planning using Bacterial Foraging Optimization algorithm is presented. This nature-inspired metaheuristic algorithm, which imitates the foraging behavior of E-coli bacteria, was used to find the optimal path from a starting point to a target point. The proposed algorithm was demonstrated by simulations in both static and dynamic different environments. A comparative study was evaluated between the developed algorithm and other two state-of-the-art algorithms. This study showed that the proposed method is effective and produces trajectories with satisfactory results.

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Publication Date
Sun Jan 01 2023
Journal Name
1st International Conference On Achieving The Sustainable Development Goals
Empowerment and its impact on affordable housing sustainable planning : A case study of Al-Sultan housing complex in Al-Najaf
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The past decades of the last century and until now have witnessed many crises in the housing sector, and these crises were the result of many problems that led to a weak quality and quantity of housing stock, especially for lowincome people, and Goal 11 of the Sustainable Development Goals states, "Make cities and human settlements inclusive, safe, and capable of enduring and being sustainable, we have prepared this research that attempts to answer the following question: Is the current empowerment in the housing sector real and efficient support for people with limited income? The research assumes that empowerment in the housing sector has an important and effective role in reducing housing problems, the research aims to reach the most imp

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Publication Date
Tue Sep 04 2018
Journal Name
Al-khwarizmi Engineering Journal
Effect of Carburization Parameters on Hardness of Carburized Steel Using MOORA Approach
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In this research, (MOORA) approach based– Taguchi design was used to convert the multi-performance problem into a single-performance problem for nine experiments which built (Taguchi (L9) orthogonal array) for carburization operation. The main variables that had a great effect on carburizing operation are carburization temperature (oC), carburization time (hrs.) and tempering temperature (oC). This study was also focused on calculating the amount of carbon penetration, the value of hardness and optimal values obtained during the optimization by Taguchi approach and MOORA method for multiple parameters. In this study, the carburization process was done in temperature between (850 to 950 ᵒC) for 2 to 6

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Publication Date
Fri Jun 01 2018
Journal Name
Kerbala Journal Of Medicine
Polymerase Chain Reaction Testing in Comparison to Culture of Cerebrospinal Fluid for Diagnosis of Bacterial Meningitis in Children
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Publication Date
Tue Jun 01 2021
Journal Name
Al-anbar Medical Journal
Evaluation of Antimicrobial Activity of Plants Extract Against Bacterial Pathogens Isolated from Urinary Tract Infection among Males Patients
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Urinary tract infection (UTI) is a considerable problem aecting the health of people each year. It is caused by various Gram-positive (G+ve) and Gram-negative (G-ve) pathogens. It is an important illness in the world aecting all age groups across their life span. Objectives: To identify the most common aerobic bacteria that cause UTIs and their antibiotic susceptibility and antimicrobial activity of plant extracts of the males' patients. Materials and methods: The study involved 35 midstream urine samples from the male students (University of Baghdad, Baghdad, Iraq) with suspicious symptoms of UTI, during the period from January-March 2018. Each urine sample was cultured rst on Mannitol Salt Agar and MacConkey agar plates to dierentiate

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Publication Date
Tue Jun 01 2021
Journal Name
Al- Anbar Medical Journal
Evaluation of Antimicrobial Activity of Plants Extract Against Bacterial Pathogens Isolated from Urinary Tract Infection among Males Patients
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Publication Date
Sat Dec 01 2018
Journal Name
Al-khwarizmi Engineering Journal
Classical and Statistical Optimization of Medium Composition for Promoting Prodigiosin Produced by Local Isolate of Serratia Marcescens
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Prodigiosin is a ‘natural red pigment produced by Serratia marcescens which exhibits immunosuppressive and anticancer properties in addition to antimicrobial activities. This work presents an attempt to maximize the production of prodigiosin by two different strategies: one factor at time (OFAT) and statistical optimization. The result of OFAT revealed that sucrose and peptone were the best carbon and nitrogen sources for pigment production with concentration of prodigiosin of about 135 mg/ L. This value was increased to 331.6mg/ L with an optimized ratio of C/N (60:40) and reached 356.8 with pH 6 and 2% inoculum size at end of classical optimization. Statistical experimental design based on Response surface methodology was co

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Publication Date
Fri Jun 30 2023
Journal Name
Biomedical And Pharmacology Journal
Study the Bacterial Activity Isolated from Colon and Rectal Cancer Biopsy in Cell Lines Culture
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Colorectal cancer (CRC) is the most common disease and cause of death globally. The aim of the study is investigation and detection of some bacterial interfering with CRC occurrence and progression. The study conducted between September 2022 till February 2023, a total of 50 specimens were collected from confirmed CRC patients. In addition, 50 stool specimens were collected from Healthy volunteers, considers as control group. Isolation and identification of bacteria in all collected specimens were done by using cultural and differential media (blood agar, macconkey agar and Pfizer agar), as well as the VITEK- 2 compact system. The bacterial species, in the specimens of control were ( Escherichia coli 50 (86.20%), Klebsiella Pneumoni

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Publication Date
Thu Jan 24 2019
Journal Name
Al-kindy College Medical Journal
Bacterial Profile and Antimicrobial Susceptibility in Neonatal sepses, Al -Alwyia Pediatric Teaching Hospital in Baghdad
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Background: Neonatal septicemia is a major health problem in developing countries furthermore data on bacteriological profile in early onst sepses (EOS) and late neonatal sepsis (LOS) are lacking in context of  continuous change in bacteriological profile and increasing resistant strains. Objectives: The study done to determine the pattern of organisms implicated in neonatal septicemia in a neonatal care unit and to measure the degree of bacterial resistance to some antibiotics.

Type of the study : cross –sectional study.

Methods: Confirmed cases of neonatal septicemia admitted at Al-Alwyia pediatric teaching hospital for the period from January 20

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Publication Date
Mon Jan 26 2026
Journal Name
International Journal Of Data And Network Science
Multi-objective of wind-driven optimization as feature selection and clustering to enhance text clustering
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Text Clustering consists of grouping objects of similar categories. The initial centroids influence operation of the system with the potential to become trapped in local optima. The second issue pertains to the impact of a huge number of features on the determination of optimal initial centroids. The problem of dimensionality may be reduced by feature selection. Therefore, Wind Driven Optimization (WDO) was employed as Feature Selection to reduce the unimportant words from the text. In addition, the current study has integrated a novel clustering optimization technique called the WDO (Wasp Swarm Optimization) to effectively determine the most suitable initial centroids. The result showed the new meta-heuristic which is WDO was employed as t

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Publication Date
Tue Jan 01 2019
Journal Name
Abu Dhabi International Petroleum Exhibition & Conference
Influence of pressure and temperature on CO2-nanofluid interfacial tension: Implication for enhanced oil recovery and carbon geosequestration
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Nanoparticles (NPs) based techniques have shown great promises in all fields of science and industry. Nanofluid-flooding, as a replacement for water-flooding, has been suggested as an applicable application for enhanced oil recovery (EOR). The subsequent presence of these NPs and its potential aggregations in the porous media; however, can dramatically intensify the complexity of subsequent CO2 storage projects in the depleted hydrocarbon reservoir. Typically, CO2 from major emitters is injected into the low-productivity oil reservoir for storage and incremental oil recovery, as the last EOR stage. In this work, An extensive serious of experiments have been conducted using a high-pressure temperature vessel to apply a wide range of CO2-pres

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