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: Polymer surfaces usually present problems in bonding and finishing due to their low hydrophilicity. The aim of this study is to investigate the effect of plasma treatment with the use of two types of gases (oxygen and argon) on surface roughness, and chemical surface properties of acrylic resin denture base polymer material. Materials and Methods: Three heat cured acrylic resin specimens of (2*8*30 mm) dimensions were prepared for each test carried out in this study. Two tests were conducted, surface roughness test and chemical surface analysis test. Results: Application of plasma treatment increased surface roughness for both oxygen and argon plasma treated acrylic resin specimen groups compared with control untreated group,
... Show MoreThe paper establishes explicit representations of the errors and residuals of approximate
solutions of triangular linear systems by Jordan elimination and of general linear algebraic
systems by Gauss-Jordan elimination as functions of the data perturbations and the rounding
errors in arithmetic floating-point operations. From these representations strict optimal
componentwise error and residual bounds are derived. Further, stability estimates for the
solutions are discussed. The error bounds for the solutions of triangular linear systems are
compared to the optimal error bounds for the solutions by back substitution and by Gaussian
elimination with back substitution, respectively. The results confirm in a very
The effects of root exudates of two sunflower cultivars (Shumoose and Sin
Altheeb) were studied on companion weeds during the growing season of 2012.
Results showed the ability of both cultivars to affect weed population and growth
with the superiority of cultivar Shumoose in suppression of weed density at 60 and
120 days after sowing compared to Sin Altheeb. Weed biomass was significantly
reduced up to 90 and 71% by Shumoose and Sin Altheeb cultivars, respectively.
Stair case experiment indicated that root exudates of Shumoose cultivar showed
more suppression to weeds than Sin Altheeb giving additional evidence for the
superiority of Shumoose cultivar in its allelopathic weed suppression. Chemical
analysis by
In this study, the flavonoid and alkaloid content in the alcoholic extract of the shoots and flowers were identified in four species of the tribe Apieae / Apiacese : Ammi majus, Ammi visgana, Anethum graveolens and Foeniculum vulgaris, and the flavonoids that were detected are (Apigenin, Coumarin, Kaempferol and Quercetin). The species Foeniculum vulgaris has recorded the highest concentration of total flavonoid content (Shoots and Flowers) among the studied species, reaching 4139.2 µg / ml. The total alkaloids are estimated for these species, and the Foeniculum vulgaris has recorded the highest concentration of the total alkaloid content as well.
Four mushrooms were used in the present study, Agaricus bisporus (B62) strain (Lelion, Varrains , France) , Pleurotus ostreatus (Blue grey-BG) and P. ostreatus (White oyster-WH) from Mushroom Box Company, United Kingdom, while P. ostreatus (P2) was the local fungus isolated and identified in this study. Radical scavenging activity of alcoholic extracts from mushrooms was found to be higher than those of aqueous extracts at the same concentration tested in all results in the present study and alcoholic extract for P. osteatus (P2) gave the highest result in concentration (25) mg/ml (60.53+0.55 %) in DPPH test , reducing power (5.4±0.1), total phenolic component (11.46+0.05) mg/g, chelating activity (75.86+16.95%) and antioxidant activity
... Show MoreApplying load to a structural member may result in a bottle-shaped compression field especially when the width of the loading is less than the width of bearing concrete members. At the Building and Construction Department – the University of Technology-Iraq, series tests on fibre reinforced concrete specimens were carried out, subjected to compression forces at the top and bottom of the specimens to produce compression field. The effects of steel fibre content, concrete compressive strength, transverse tension reinforcement, the height of test specimen, and the ratio of the width of loading plate to specimen width were studied by testing a total of tenth normal strength concrete blocks with steel fibre and one normal s
... Show MoreBackground The Medicines and Health care products Regulatory Agency stated in 2003 that doctors should endeavor to avoid using products in treatments not covered by their product license. Foley catheters are commonly used in the management of epistaxis although their product license does not cover this.
Aims : To study the extent of the use of these catheters and the knowledge that otolaryngologists had of their legal status.
Method : By undertaking a questionnaire survey of some Otolaryngologists in Baghdad
Results : Most members appear to use Foley catheters in the management of epistaxis; however most of them are not aware that the product is not licensed for this purpose. Because of this lack o
The fauna of bees (Hymenoptera, Apoidea) from different regions of Iraq is surveyed in this study; there were 16 species, 13 genera that belong to four families which are collected in this investigation.
Also, all the species that are recorded for Iraq in previous investigations are revised; totally there are 110 species, 32 genera belonging to five families: Apidae, Andernidae, Colletidae, Halictidae and Megachilidae were listed.
Fourty -tow Libyan patients with hydatidosis, which were
referred to by the physician for the detection of hydatid cyst by X - rays, Ultrasound and CT-Scan. The infection rate in females and males was(69% )and (31% )respectively .The highest rate 69% was in the liver, followed by the lung( 23.8%), the brain (4.8%) and kidney
(2.4%).
A total of 42 serum samples were gathered from Libyan patients infected with hydatidosis, 33 serum samples from patients cases with other parasitic diseases than hydatidosis and 30 serum samples from healthy normal controls and were tested by Dot-ELIZA utilizing antigen B from sheep hy
... Show More