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.
Background: Conventional MR imaging is essential for diagnosis and evaluation of the posterior fossa tumors Objectives: To assess the value of diffusion weighted imaging and apparent diffusion coefficient in making distinction between different histological types of posterior fossa tumors.
Type of the study: Cross-sectional study.
Methods: Brain MRI and DWI assessed 19 patients (12 female and 7 male) with MRI diagnosis of posterior fossa tumors. absolute ADC values of contrast -enhancing solid tumor region and ADC ratio of solid tumor to ADC of normal -appearing deep White matter were compared with histological diagnosis postoperatively .The m
... Show MoreBackground: Ejection fraction have been used frequently
for assessment of the left ventricular function, but can be
associated with errors in which myocardial performance
index have been used as another parameter to measure the
left ventricular function.
Objective: selecting another echocardiography parameter
for the assessment of myocardial in function instead of the
ejection fraction.
Methods: 160 patients referred to the echocardiogram unit
from the period december 2007 to august 2008 requesting
assessment of left ventricular function. After clinical
examination, routine blood tests; chest x-ray and
electrocardiographic recording have been completed. All
patients informed to come for this unit af
One of the most important problems that faces the concrete industry in Iraq is the deterioration due to internal sulfate attack , since it reduces the compressive strength and increases the expansion of concrete. Consequently, the concrete structure may be damage .The effects of total and total effective sulfate contents on high strength concrete (HSC) have been studied in the present study.
The research studied the effect of sulfate content in cement , sand and gravel , as well as comparing the total sulfate content with the total effective SO3 content. Materials used were divided into two groups of SO3 in cement ,three groups of SO3 in sand ,and two groups of SO
... Show MoreThirty pregnant albino mice with average body weight of 25-30gm and 8-14 weeks old were used to investigate the toxicity of the oral administration of anticancer methotrexate on kidneys after birth. Pregnant were received (single dose) of drug at different days of gestation and were divided into three groups (10mice / group), control groups were administered distilled water, the two remaining groups were administered by 2.5 and 7.5 mg/kg body weight of methotrexate. The changes in kidneys of newborns revealed significant (p<0.05) decrease in kidneys weights, kidneys lengths, pelvises lengths, and glomeruli diameters. The increase in concentration of methotrexate has increasing significant effect on kidneys of embryo and newborns.
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The main goal of this paper is to show that a
-arc in
and
is subset of a twisted cubic, that is, a normal rational curve. The maximum size of an arc in a projective space or equivalently the maximum length of a maximum distance separable linear code are classified. It is then shown that this maximum is
for all dimensions up to
.
Honey is one of the most products has been used as an antimicrobial agent since the ancient times. The potential antimicrobial activity of honey is arise from its physiochemical proprieties such as high osmotic pressure, low pH, in addition to other factors and enzymes that work as antimicrobial agents. All these components and characteristics of honey led to consider it as one of the most efficient, useful and natural antimicrobial agents. From this point of view, recent study aim to evaluate the antibacterial activity of bee honey on some common species of pathogenic bacteria. The study included some of both gram-positive (Staphylococcus aureus, Staphylococcus epidermidis and Streptococcus spp.)
... Show MoreBackground: cerebellar astrocytroma is the commonest paediatric posterior fossa tumor.
Patients and method: 54 patients taken from the neuro-surgical unit in the specialized surgical hospital from Aug 1995 till March 2003, all patients studied thoroughly age, gender, Presentation, Radiological diagnoses, surgery, additive therapy & final outcome including 5 years survival &
conclusion is reached.
Results and discussion: the results show that more than half of the patients were at age 5-7 years with very slight male predominance, most cases diagnosed by CT, some with MRI or MRI
alone.Surgery was done for all cases & 16 patients' preceeded by VP shunt. The final out come is compared with other si
This work presents a simple method for determination of the neutron reflection coefficient (n) as a function of different neutron reflector materials.A laboratory neutron source (Am-Be) with activity of 16 ci is employed with a (BF3) neutron detector. Am-BeThree types of reflector materials are used as samples, the thickness of each sample is (5cm).It is found that( ?7) is: -For polyethlyene = 0.818
Recently, a great rise in the population and fast manufacturing processes were noticed. These processes release significant magnitudes of waste. These wastes occupied a notable ground region, generating big issues for the earth and the environment. To enhance the geotechnical properties of fine-grained soil, a sequence of research projects in the lab were conducted to analyze the impacts of adding sludge waste (SW). The tests were done on both natural and mixed soil with SW at various proportions (2%, 4%, 6%, 8%, and 10%) based on the dry mass of the soil used. The experiments conducted focused on consistency, compaction, and shear strength. With the addition of 10% of SW, the values of LL and PI decreased by 29.7% and 3
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