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.
The research aims to find a contemporary model in analyzing the reasons behind the delay of the investment plan projects suffered by the North Oil Company. This model is able to understand the environment surrounding the implementation of projects in the light of the changes facing the company at the present time, which in turn requires the need to identify the most important strengths and weaknesses Internal and external opportunities and threats using the SWOT matrix and identify the appropriate strategic alternative based on clear policy, strategies and programs to address weaknesses and look to the future prospects as the company can be stronger and more flexible environmental changes surrounding the reality of implementation
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The aim of this research to try to determine the type of expected relationship between inflation as the explanatory variable and market performance as a dependent variable, for that used data issued and published by the Central Bank of Iraq and the Iraqi Stock Exchange for a sample consisting of (159) observations using the intentional or intentional sampling method for the period extending between the months (January 2010 to March 2023), in the light of each of the Consumer Price Index (CPI), the Iraqi Stock Exchange Index, the number of traded shares and the number of market capital shares to ex
... Show MoreBackground: The geriatric patients wearing removable partial dentures are increasing in proportion. At the same time, the root caries prevalence accompanied by gingival recession is increasing. A variety of vehicles can deliver fluoride into the oral cavity, including fluoride mouth-rinse, fluoride dentifrice, topical fluoride, and fluoride-releasing restorative materials, all of which effectively prevent root caries and suppress recurrent caries. This study aimed to evaluate the effect of sodium fluoride addition on some mechanical properties of heat cure acrylic denture base material. Material and method: A total of 90 samples were prepared in this study, then divided into three main groups according to the type of test used (hardness, te
... Show MoreA descriptive study was conducted at two Epidemic Hospitals in Baghdad from 1st of August( 2003) to 1st of October (2004) in order to identify the nursing staff working in AIDS word to implementation of universal precautions for patients with AIDS and relation to some variable. The sample is consisted of (50) nurses who are working in AIDS ward in Ibn- Zuheir and Ibn- Al- Kahteeb Hospitals. Instruments consist of (20) items related with demographic characteristics of nurses and universal precautions items . Validity of the instrument was established through a panel of( 4) experts in specific fields . Descrip
Background: Poly (methylmethacrylate) is the most widely used material in denture fabrication. The characteristics of acrylic resin which support microorganism development can threaten the oral health of denture users. This study was assigned to prepareand incorporate Ag-Zn zeolite powder into heat cured denture base material as antimicrobial material and to investigate its effect on some properties of heat cured acrylic denture base materials. Materials and methods: Sliver –zinc zeolite was prepared by ion exchange method and characterized then incorporated into poly (methylmethacrylate) powder in0.5% by weight. Specimens were constructed and divided into 6 groups according to the using tests; each group was subdivided into 2 groups
... Show MoreThis study aimed to synthesize a novel amide prodrug of metformin with aspirin by amide bond. The structure was characterized by (FTIR, 1H-NMR, 13C-NMR and CHNO) ,Purification of the prepared compound was using column chromatography. Using of 40 rabbit having the same weight and devided into 4 groups (4x10) the first group (G1): (the control healthy group) was given drink water and didn’t give any material, second group(G2):( the control infected group) was given hydrogen peroxide concentration % 0.5 until infecting diabetes mellitus, third group(G3): was given hydrogen peroxide concentration as in (G2) and ( 250 mg/kg) of aspirin and (348.8 mg/kg
... Show MoreBackground: Tinea versicolor is a common dermatological problem ,world wide distribution , caused by a dimorphic fungus called Malassezia furfur ,it live normally on skin as a commensal . Many factors play a role in the etiology of TV among these could be the disturbed immune system which may be related to the ability of TV alter the immune system by a process called Immunomodulation leading to subsequent infection. Immuno-inflammatory activity mediated by different cytokines could have a role in the etiology of TV.
Objective: To evaluate the serum level of the inflammatory cytokines ,IL-4andIL-8,in patients with TV as compared to immunocompramized patients and healthy groups.
Patients and methods
This research deals with the study of the relationship between the success factors as the independent variable and product strategies as the dependent variable , has reacted to these variables to form the frame , which is the research which centered research problem about the extent to which industrial companies the vision and knowledge of Muslim women survive and develop in the business market , which can be expressed about the extent of awareness of corporate success factors and the use of product strategies and what the relationship between the factors and strategies , while expressing the importance of research to make the focus on the product occupies a paramount importance in the industrial sector companies in relation to t
... Show MoreThe corrosion protection of low carbon steel in 2.5 M HCl solution by kiwi juice was studied at different temperatures and immersion times by weight loss technique. To study the determination of the optimum conditions from statistical design in evaluation of a corrosion inhibitor, three variables, were considered as the most dominant variables. These variables are: temperature, inhibitor concentration (extracted kiwi juice) and immersion time at static conditions.
These three variables are manipulated through the experimental work using central composite rotatable Box – Wilson Experimental Design (BWED) where second order polynomial model was proposed to correlate the studied variables with the corrosion rate o
... Show MoreVarious types of storing tanks are used to store municipal water at homes. This study was carried out to examine several water physical and chemical variables such as pH, EC, TSS and TDS after different storing periods. The obtained results showed no significant differences between the mean of pH values which ranged from 7.27 ± 0.04 in a water sample of galvanized tank after six days of storing to 8.10 ± 0.12 in water sample of aluminum tank after nine storing days. In case of electric conductivity, Highest mean values (1.85±0.09 μS/cm and 1.44 ± 0.21μS/cm) were found in galvanized tank samples for different storing periods while the lowest mean values (0.58±0.06 μS/cm and 1.04±0.06 μS/cm) were recorded in aluminum tank samples
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