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alkej-317
Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
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This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of ACO algorithm for the same problem with the same environmental conditions by providing the shortest path for multiple testing environments.

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Publication Date
Sun Aug 06 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effects of Rustamiyah treatment plant effluent on concentration of some heavy metals in water and sediment of Diyala river
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      Concentrations  of  four  heavy  metals, Zinc , Copper , Lead  and  Cadimium  were  determed  in  water  and  sediment  samples   collected bi-weekly  from  six  sampling sites  on  the  lower  part  of  River  Diyala    during  low  flow  period  (August  to  October)  and   high  flow  period  (April  to  June). A  reference  point site (1)  was  situated   upstream the  effects  of  the  effluent. Present  work  describes  the  e

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Publication Date
Tue Oct 13 2020
Journal Name
Biochem. Cell. Arch
PREPARATION, CHARACTERIZATION, SPECTROPHOTOMETRIC DETERMINATION OF THE FORMULA OF ACOORDINATION COMPLEX AND BIOLOGICAL STUDIES OF SULFAMETHOXAZOLE (ANTIBIOTIC) WITH TIN DICHLORIDE
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Sn(II) complex of the type, [Sn(SMZ)2]Cl2 was synthesized by the interaction of Sulfamethoxazole ligand and Tin Chloride, the complex was confirmed on the basis of results of elemental analyses, FT-IR, UV-Vis, molar conductance (Ëm). The elemental analysis data, suggests the stoichiometry to be 1:2 (metal: ligand) and determination of the formula of a coordination a complex formed between the Sn(II) ion and the SMZ using Job’s method of continuous variations. The study of (Ëm), indicated the electrolytic nature type 1:2. The [Sn(SMZ)2]Cl2 was screened for antibacterial activity against Gram-ve (Escherichia coli and Gram+ve (Staphylococcus aureus) and (Candida albicans) antifungal. The IR spectral data suggested that the coordination sit

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Publication Date
Thu Mar 21 2019
Journal Name
Journal Of Legal Sciences
The crime of stirring up hatred "between the problematic interpretation of Quranic texts and the effectiveness of national legislation
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            That the guarantee of respect for human rights and fundamental freedoms requires that all individuals within society be treated equally, and that the State, as the primary guarantor of the rights and freedoms of individuals, must provide adequate protection and combat any cause that would create discrimination or instigate a sense of hatred among the inhabitants of our beloved country, What we know is that the greatest factor that has lost lives is the hate factor throughout history, and the extremist groups have found no more effective reason than the creation of the hate factor. Hatred was the weapon for which many people were killed. The record of preparations for the

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Publication Date
Wed Aug 03 2022
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The adequacy of foreign reserves and their role in the stability of the exchange rate of the Iraqi dinar
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Many countries are very important in their interest not only in diversifying foreign reserves, but in determining and planning their volume in accordance with the goals set, namely facing potential external shocks, as the research aims to determine the extent of the strength of foreign reserves in the possession of the Central Bank in relation to every influential variable in the Iraqi economy. , in order to determine the minimum level of reserves that requires reconsideration of the exchange rate, as the research adopted the inductive analytical method in analyzing real (Quantitative data) for the research variables in the years of study, as the research adopted a set of analytical indicators approved by the International Moneta

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Water Extracts of SomeMedicinal Plants OnGermination Percentage and Development of Plumule and Radicle Growth Anethum graveolens L.
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 An experiment was conducted at the laboratories of College of Agriculture – Kerbala University during 2016. The aim of this study was to the effect of water extracts of medicinal plants germination percentage and development of plumule and radicle growth .The completely randomized design with three replicates was usedin each experiment consisted of water extracts (T1= Distilled water),(T2= Eruca sativa Eruca sativa L),(T3= Fenugreek ﺍﻟﺤﻠﺒﺔTrigonella foenum - graecum L),(T4= Sweet FennelFoeniculum vulgare.Mill),(T5=Borage Anchusa strigosa Lab),(T6=Dill Anethum graveolens L) ,(T7=Black cuminNigella Sativa L),(T8=Cumin Cuminumcyminum L),(T9=  CorianderCoriandrum sativum L. ). Results of Lab.

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Publication Date
Thu Sep 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
A practical study of the problems of queues for vehicles in some filling stations in the city of Baghdad
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 According to the circumstances experienced by our country which led to Occurrence of many crises that are the most important crisis is gaining fuel therefore , the theory of queue ( waiting line ) had been used to solve this crisis and as the relevance of this issue indirect and essential role in daily life  .

This research aims to conduct a study of the distribution of gasoline station in (both sides AL – kharkh and AL Rusafa, for the purpose of reducing wasting time and services time through the criteria of the theory of queues and work to improve the efficiency of these stations by the other hand. we are working to reduce the cost of station and increase profits by reducing the active serv

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Publication Date
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
The Transfer Of Training In Framework Of Supporting The Work Environment Characteristics (Filed Research of The Generals lnspectors Offices)
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The  transfer of  training  process occupies a great importance in achieving the ultimate goal of participating in the training programs , it  is sure that this does not take place without the support of the working environment for trainees,  and The research aims to personification role the work environment characteristics  of supporting the transfer of training.                                    

The research problem is the weakness transfer of training to the work en

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Publication Date
Sun Mar 07 2010
Journal Name
Baghdad Science Journal
The Effect of Aqueous and Alcoholic Extracts of Punica granatum L. Pericarp on Hemolysin Production of several Bacterial species
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Four local hemolysin producer bacterial isolates were selected, tow of them gram negative bacteria (Escherichia coli ,Pseudomonas aeruginosa ) and the other two were gram positive bacteria (Staphylococcus aureus , Bacillus cereus ). Minimum inhibitory concentration of the aqueous and alcoholic extracts of Punica granatum L. pericarp were determined towards the four bacterial isolates ,results obtaind showed that MICs of the aqueous extract were 200 mg/ml for E .coli and P. aeruginosa isolates while were 5 mg/ml and 2 mg/ml for B. cereus, S. aureus , respectively The MICs for the ethanolic extract were 50 mg/ml , 20 mg/ml ,1 mg/ml ,0.5 mg/ml for E. coli ,P. aeruginosa ,B. cereus ,S. aureus , respectively. The effect of Sub-MICs o

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Takir some study of environmental factors on the weight of some phases of the screwworm fly the ancient world
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The weight of larvae virgins and Alcamlat for males more than the weight of females of the roles themselves that the highest rate of loss in weight of larvae developed to virgins when field conditions were (21.5,22,21.3) mg during June and July and August respectively, recorded the highest degrees of heat and less attributed to moisture

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Publication Date
Sat Apr 15 2023
Journal Name
Iraqi Journal Of Science
Estimating the inhibitory effect of Lactobacillus isolated from vagina against some pathogens of genital infections in group of women.
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Thirty- five vaginal swab samples were obtained from women vagina.All samples
were subjected to conventional morphological and cultural characteristics, isolates
distributed between Lactobacillus acidophillus(23)and Lactobacillus fermentum (12).
Antibacterial activities were done by well diffusion and blank disk method. The
Lactobacillus was used as aprobiotic treatment against bacteriaisolates from vagina
.The isolated bacteria had strong activity against indicator strains.The results showed
that Lactobacillus which was isolated from vagina by well diffusion method was
effective against pathogenic isolates more than the Lactobacillus isolated by blank
disc method , the highs inhibitory effect of Lactobacillus iso

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