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.
This study is considered to be the first on this sector of Tigris River after 2003, to evaluate the effect of Tharthar Arm on the composition and diversity of Copepoda in Tigris River. Six sampling sites were selected; two on the Tharthar Arm and four sites along the Tigris River, one before the confluence as a control site and the others downstream the confluence; thirty-five copepod taxa were recorded, 34 taxa in the Tigris River and 25 taxa in the Tharthar Arm.
The highest density of Copepoda was in site 2 at Tharthar Arm was 265584.2 Ind./m3 lead to an increasing in Copepoda density in Tigris River from 63878.2 Ind./m3 in site 1 before the confluence to 127198.3 Ind./m3 in site 4 immediately downstream the confluence. Also, the me
The present work was conducted in the fields of Al-Sewarah and Kurkok stations which belong to the State Board of Agricultural Researches, Ministry of Agriculture, Iraq during the growing season of 2018. The goal of the study was to test the effects of the application of cyanobacteria (Anabaena circinalis and Nostoc commune) alone or in combination with reducing the dose of chemical fertilizers (CFs), which consisted of diammonium phosphate (DAP) and urea (46% nitrogen), on growth, yield and yield components of wheat cv. IPA99. Application of 50% and 100% of CFs without cyanobacteria as well as control (without cyanobacteria and CFs) were also included in this study for comparison.
The resul
... Show MoreDue to the increasing interest in the quality of auditing by writers, researchers and regulators of the auditing profession. The matter necessitated a statement of the extent to which the auditor practices professional skepticism, because of its significant impact in discovering errors and material misrepresentations contained in the financial statements in order to give the financial community confidence in them and the success of the audit process. The research aims to clarify the concept and importance of the practice of professional skepticism and its effect on the quality of the auditor's performance in Iraq. To achieve the research objectives, the two re
... Show MoreIn this research, we studied the effect of concentration carriers on the efficiency of the N749-TiO2 heterogeneous solar cell based on quantum electron transfer theory using a donor-acceptor scenario. The photoelectric properties of the N749-TiO2 interfaces in dye sensitized solar cells DSSCs are calculated using the J-V curves. For the (CH3)3COH solvent, the N749-TiO2 heterogeneous solar cell shows that the concentration carrier together with the strength coupling are the main factors affecting the current density, fill factor and efficiency. The current density and current increase as the concentration increases and the
Epilepsy is considered as one of the common neurological disorders.About 50 million persons have affected by epilepsy .Carbamazepine is one of the common drugs used by pregnant women with epilepsy. The aim of the present study is to investigate the effect of carbamazepine on the process of brain development during day 13 of pregnancy.Fifty pregnant albino mice have been used. They were divided into two groups. The control group that had been orally drenched with normal saline. The other group was treated group that had been given 15 mgKg of Carbamazepine orally. The fetuses have been collected after killing of the mice. Boun’s solution was selected as fixative. 5-8 µm thick sections from the fetuses were cut to be stained with hematoxyli
... Show MoreLabrotary experiment was conducted to study the effect of different levels of nematode population densities of Meloidogyne spp on seed germination percentage and seedling characteristics of Vigna sinensis, Ahelmoschus esculentus, Cicer arietinum, Helianthus annuus and Rap-hanus sativus. Four different levels of nematode populat-ion densities ranged from 1 to 4 prepared from radish in-fected roots and used as inoculating agent to infect all seed types in the experiment Seed germination percentage of Vigna sinensis and Ablemoschus eseulentus were highly reduced (at 0.01 level of significance) with increased nematode population level from 1 to 4. Seedling length of the remaining seed types were significantly reduced (at 0.01 level of signif
... Show MoreField trial was conducted in Research Field equipped with rainfall transparent
shade, Biology Department, College of Science, Baghdad University during the
growing season of 2012 to test the potential of sorghum water extract in improving
yield and yield components of local cultivar of mung bean crop grown under
different moisture deficit stresses. The water stresses were applied by irrigated the
plots to field capacity and withheld the next irrigation until the soil water deficit
reaches 80, 50 and 30% of field capacity for control, mild water stress and higher
water stress, respectively. Foliar application of sorghum water extract at 0 ( control),
2.5 and 5% (W/V) was made at preflowering, flowering and fruiting
In this study the (geoelectric – hydrogeologic) parameters which are obtained by the
quantitative interpretation of (80) Schlumberger Vertical Electrical Sounding (VES)
points distributed in six linear profiles within the study area are used in addition to
(6) pumping test locations for the groundwater reservoir located to the south of Jabal
Sinjar (Sinjar anticline). The studied area covers about 7920Km2. The (VES) field
readings were interpreted manually by using the auxiliary point method-partial
resistivity curve matching,then the interpreted results enhanced by using computer
software specialized for the 1D- (VES) resistivity curves interpretation. The (VES)
results analyzed by using modern techniques in or
The cellular and molecular toxicity effect of Aloe Vera crude extract on meristem cells of onion (Allium cepa) roots were studied . Different concentrations of this crude extract 20% ,10% ,5% ,2% ( and 40%) were used at different periods ; 24 ,48 and 72 hour . Number of chromosomal aberrations and the mitotic index was calculated . In addition, the genetic effects were observed by using randomly amplified polymorphic DNA ( RAPD ) technique . The results showed that the gel crud extract of Aloe vera had inhibition effects on the growth of the onion roots with 10% EC50 value. Significant effects of this gel crud extract were also observed on the chromosomal a
... Show MoreThis research aims to know the role of strategic flexibility in achieving organizational effectiveness by studying the dimensions of strategic flexibility (capacity flexibility, resource flexibility, information flexibility, and coordination flexibility) on the dimensions of organization effectiveness (environmental adaptation, productivity and achieving goals) through an analytical study conducted in six directorates in the office of the Iraqi Ministry of Education.
The research problem was represented in the form of questions, the most prominent of which was "What is the role of strategic flexibility in achieving organization effectiveness?" The descriptive analytical approach was relied on in applying
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