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 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 MoreSerum alkaline phosphatase activity has been investigated in three major types of tuberculosis (TB). These were Extra pulmonary primary, Acute miliary, and Primary tuberculosis. Activities were found elevated in these cases studied at basic PH and 37 C. The study concentrated an a comprehensive determination of the rate reaction kinetics of the enzyme reaction in both normal and TB sera. The pseudo first — order plot reflects both values of the first — order association constant (K I) and the half life time (t1/2) of the enzymatic reaction. The activation energy of the reaction (ES-complex formation) with Hill coefficient (n) were both estimated using Arrhenius and Hill plots respectively.
In this research project, a tip-tilting angle of a photovoltaic solar cell was developed to increase generated electrical power output. An active, accurate, and simple dual-axis tracking system was designed by using an Arduino Uno microprocessor. The system consisted of two sections: software and apparatus (hardware). It was modified by using a group of light-dependent resistor sensors, and two DC servo motors were utilized to rotate the solar panel to a location with maximum sunlight. These components were arranged in a mechanical configuration with the gearbox. The three locations of the solar cell were chosen according to the tilt angle values, at zero angles, which included an optimal 33-degree angle for the Baghdad location and
... Show MoreUsing a reduction of TRIM simulation data, the sputtering yield behaviour of Zinc target bombard by heavy Xenon ions plasma is studied. The sputtering yield as a function of Zinc layer width, Xenon ion number, energy of ions, and the angle of ion incidence are calculated and illustrated graphically. The corresponding energy loss due to ionization, vacancies and phonons, are graphically shown and discussed. Further, we fit the calculations and expressions for fitted curves are presented with its coefficients.
The thermal stability of previously prepared tetraphenanthroporphyrazine (TPPH2) and its complexes with VO(IV) , Co(II) , Cu(II) , Zn(II) , Mg(II) , Ca (II) ions were studied by thermogravimetric analysis (TG & DTG) at temperature range (20-1000oC). The results indicated that these compounds have a high thermal stability comparable to those of phthalocyanine compounds (PC) and higher than those of hemiporphyrazine compounds (HP) . In general metal complexes were more stable than parent ligand . Data of magnetic susceptibility and electrical conductivity were also obtained as further support for the studied compoundes .
Samples of tea leaves (Green tea, Gugarate tea and Black tea used commonly in Iraq) are dried, grinded, pressed and submitted for the elemental analysis by x-ray fluorescence technique (XRF). The concentrations of major, minor and trace elements are determined. The major elements were Na, Mg, Al, K, Si, Ca, Mn, Fe, S and P. Of these elements, Ca, concentration in Gugarate tea leaves is three times, it's level in the other types of tea. Titanium, Cl, Rb and Sr are found as minor elements, while other elements such as Cu, Zn, V, Cr, Co, ...etc are found as trace elements. Of these trace elements considerable concentration values are found for some toxic elements Hg, Cd, Pb and As. Green tea contains 1.1 ppm Hg and 4.4 ppm Pb. Gugarate tea
... Show MoreThis research includes new series of polymers were synthesized starting from polymerization of poly maleic anhydride (3), which were mono esterfication with absolute methanol to give polymer (4 ), then the acid side chlorination with thionyl chloride to give polymer (5) , which was subjected to esterfication with two different protected sugar moiety (1 and 2 ) to afford modified polymers (6 and 7). Furthermore the hydrazide polymers ( 8 and 9) were prepared through addition of hydrazine hydrate to polymers ( 6 and 7 ), which upon condensation with different free mono saccharides to give the target polymers( 10-13) respectively. The prepared polymers identified by physical properties and spectral methods (FT-IR ,1H-NMR,13C-NMR) .
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Tin Oxide (SnO2) films have been deposited by spray pyrolysis technique at different substrate temperatures. The effects of substrate temperature on the structural, optical and electrical properties of SnO2 films have been investigated. The XRD result shows a polycrystalline structure for SnO2 films at substrate temperature of 673K. The thickness of the deposited film was of the order of 200 nm measured by Toulansky method. The energy gap increases from 2.58eV to 3.59 eV when substrate temperature increases from 473K to 673K .Electrical conductivity is 4.8*10-7(.cm)-1 for sample deposited at 473K while it increases to 8.7*10-3 when the film is deposited at 673K
The main aim of this paper is to introduce the relationship between the topic of coding theory and the projective plane of order three. The maximum value of size of code over finite field of order three and an incidence matrix with the parameters, (length of code), (minimum distance of code) and (error-correcting of code ) have been constructed. Some examples and theorems have been given.