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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 Mar 01 2015
Journal Name
Baghdad Science Journal
Influence of MHD on Some Oscillating Motions of a Fractional Burgers' Fluid
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This paper presents a study for the influence of magnetohydrodynamic (MHD) on the oscillating flows of fractional Burgers’ fluid. The fractional calculus approach in the constitutive relationship model is introduced and a fractional Burgers’ model is built. The exact solution of the oscillating motions of a fractional Burgers’ fluid due to cosine and sine oscillations of an infinite flat plate are established with the help of integral transforms (Fourier sine and Laplace transforms). The expressions for the velocity field and the resulting shear stress that have been obtained, presented under integral and series form in terms of the generalized Mittag-Leffler function, satisfy all imposed initial and boundary conditions. Finall

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Publication Date
Sun Mar 01 2009
Journal Name
Baghdad Science Journal
Effect Of Chlorothalonil On Some Cytogenetic Parameters Of Human Peripheral Blood Lymphocytes
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The study aimed to investigate the effect of fungicides chlorothalonil at different concentrations ( 0.1 , 0.5 , 5 , 25 , 50 ) × 10 - 5 M on some cytogenetic parameters of human peripheral blood lymphocytes . The genotoxicity parameters were estimated by the number of chromosomal aberrations (CAs) and their types and by estimating the induced micronuclei (Mn) . Cytotoxic effect recorded by estimating the mitotic index (MI) . Results revealed that the fungicide increased the CAs in dose – response pattern with positive correlation coefficient ( r = + 0.964) , there was a significant differences among the concentrations (P<0.01) . The major CAs records chromosomal breakage at concentrations. 0.5 , 5 , 25 , and 50 , while the lowest concen

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Publication Date
Tue Nov 30 2021
Journal Name
Iraqi Journal Of Science
Application of q-Mittag-Leffer Function on Certain Subclasses of Analytic Functions
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The main objective of this paper is to introduce and study the generality differential operator involving the q-Mittag-Leffler function on certain subclasses of analytic functions.  Also, we  investigate the inclusion properties of these classes, by using the concept of subordination between analytic functions.

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Publication Date
Fri Sep 15 2023
Journal Name
Bionatura
Effect of Freezing On Some Morphometric Features of Planiliza Abu ( Hekel,1843)
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The present study attempts to determine the effect of freezing for different periods on preserved bodies of fish in the laboratory to keep for the research and diagnosis of taxonomic studies and not for consumption. It also endeavors to identify the effect of freezing on some morphometric features of the preserved bodies of fishes. Planiliza abu fish were used to conduct the present study. Fish were frozen by regular freezing in the home refrigerator freezer with temperatures reaching four degrees centigrade below zero. Freezing time is distributed over four months; biometric measurements of frozen fish have been taken in these periods represented by body total length, Standard length, and Head length in centimeters using a ruler ve

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Publication Date
Thu Apr 28 2022
Journal Name
Iraqi Journal Of Science
Effect of Gamma irradiation on The Optical properties of (PVA: CuCl2) films
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The study effect irradiation on optical properties of film (PVA: CuCL2) prepared by casting method, with thickness of (30±1) μm. And used Cs137 to obtained Gamma ray with energy (662)keV and time irradiation(5,6 and 7) weeks and affectivity (4.3) ci. The spectra absorbance and transmittance register in range (300-1100) nm .
Results show that the optical band gap for (PVA: CuCl2) decreasing after irradiation with gamma ray from (3.2,3.1,3 and 2.7)eV, urbach energy values increase with the increasing time radiation. And the absorption constants (α,k,n,) and the optical conductivity are changing after irradiated with gamma ray .

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Publication Date
Wed May 24 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effects of Licorice Extract on Sperm Motility of Chilled Stored Ram Semen
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  This study was designed to investigate the effects of licorice extract (Glycyrrhiza glabra L.) addition to semen diluters on ram sperm progressive motility during storage at 5 ËšC for 72 h. Semen was collected from 3 proven Awassi rams. Licorice extract powder was added at levels of 1, 5, 10, 50 and 100 µg per ml. of diluter. Diluter containing no licorice extracts served as control (0).Progressive motility was estimated subjectively after dilution (0h), and at 24, 48, and 72 h of storage. The experiment was replicated 2 times with egg yolk-tris (EYT) diluter and 2 times with yolk- glucose-citrate diluter. Progressive motility increased significantly (p < 0.01) in levels of licorice extract 1, 5, 10, 50 and 100 µg / ml

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Publication Date
Wed May 29 2019
Journal Name
Iraqi Journal Of Physics
The effect of the cold atmospheric plasma on the number of platelets
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This study includes the direct influence of (single & multi) dose of Cold Atmospheric Plasma (CAP) on the no. of platelets for mice for different exposure time (15, 30, 60, and 120) sec. the influence of CAP on mice was measured after 1, 2, 3, 7, and 14 day from exposure.
The results obtained in this study indicate that the effect of low doses of CAP on platelets was stimulatory effect in the first few hours from exposure (1day) but the high dose was inhibitory, It was found that after two weeks of exposure that the number of platelets became normal comparable to the control one, and this indicates that plasma effect was removed after this period.

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Publication Date
Sat Jul 22 2023
Journal Name
Journal Of Engineering
Effect of Steel Fibers on the Properties of Refractory Free Cement Concrete
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Free cement refractory concrete is a type of refractory concrete with replacing alumina cement by bonding materials such as white kaolin, red kaolin and fumed silica. The free cement refractory concrete used in many applications like Petrochemicals, iron furnaces and cement production industries. The research clarifies the effect of steel fibers with two types crimped steel fibers and hooked steel
fibers with percentages 0.5%, 1% and 1.5% by volume from weight of bauxite aggregates. The additions of steel fibers with two types gave good properties in high temperatures where the specimens keep the dimension without failure and the properties made the best. the percentage of increasing for thermal conductivity was 44% for 1.5% crimped

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Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
Some Metal Complexes of a New Carboxylate Derivative of L-Ascorbic Acid
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(4R)-2, 3-(2`-chloro-2`- carboxyl)-1, 3-dioxolano-4- (2- dimethyl –dioxolane -yl) ascorbic acid (HL), a derivative of L-ascorbic acid was prepared by the reaction of 5,6-O-isopropylidene–L-ascorbic acid with trichloroacetic acid in alkaline medium. Seven new metal ion complexes of this ligand (HL) were prepared through its direct reaction with the chlorides of Mn(II), Co(II), Ni(II), Cu(II), Zn(II), Cd(II) and Hg(II) ions respectively. The new ligand and its ion metal complexes were characterized applying elemental analyses,1H and 13C NMR, IR as well as UV-Visible spectra. Spectroscopic data showed that the ligand (C11H11O8Cl) was coordinated to the metal ions through the two oxygen atoms of the carboxyl group as abidentate ligan

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Publication Date
Sun Nov 08 2020
Journal Name
Journal Of The Faculty Of Medicine Baghdad
the The Role of Ultrasound in the Diagnosis of Malignant Thyroid Nodules
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Background: Thyroid nodules are very common in clinical practice. Although most of thyroid nodules are benign, it is crucial to checkout which nodules are more likely to be malignant. Ultrasound is a major diagnostic tool for screening and evaluating thyroid diseases because it is safe, non-invasive, non-radioactive and effective.
Objective: The aim is to identify the role of ultrasound in assessing thyroid nodules and to review various ultrasound criteria predicting malignancy.
Patients and methods: A case series study conducted during the period from January 2015 to February 2016 at the First Surgical Unit, Department of Surgery, Baghdad Teaching Hospital by a team of surgeons. One hundred eighty Patients who underwent surgical i

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