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.
Objective(s): To determine the impact of health education program toward their end-stage renal failure (ESRF)
patients’ knowledge through a follow-up approach each two months post program implementation for six months.
Methodology: "Follow-up" longitudinal design by using time series approach of data analysis and the application of
pre-post tests approach for the study group and the control group. The study is conducted in Al-Shahid Ghazi Hariri
Teaching Hospital for Surgical Specialties/Centre for Disease and Renal Transplant, and Al-Khayal private Hospital for
renal disease and transplantation during the period from August, 29th
, 2010 through February, 28th
, 2011. To achieve
the objectives of the study, purp
Wheat (Triticum aestivum L.) is one of the Poaceae family (Gramineae). Is momentous for human nutrition, and the stresses can affect strongly on the phenotype characteristics of the plant. The aim of this study was to determine how electric shock on germinated grain (for 2.5, 5, and 7.5 mins.) and heat shock at ( 35 oC, 40 oC and 45 oC) applied after phase out the radical length of 2-5 mm, from the grain of two wheat Varieties: “Baghdad 1” and “Babylon 113”. The electric shock for 2.5 mins., lead to delay of flowering, from day to 50 % flowering was 93 day, as well as, gave lowest value of plant height 64.5cm and lowest spike length was 10.7 cm. While The highest flag leaf area was obtained by electric shock for 5 mins. was 56.6
... Show MoreThis paper presents experimentally a new configuration of shear connector for Steel-Concrete-Steel (SCS) sandwich beams that is derived from truss configuration. It consists of vertical and inclined shear connectors welded together and to cover steel plates infilled with concrete. Nine simply supported SCS beams were tested until the failure under a concentrated central load (three- point bending). The beams were similar in length (1100mm), width (100mm), and the top plate thickness (4mm). The test parameters were; beam thickness (150, 200, 250, and 300mm), the bottom plate thickness (4, and 6mm), the diameter of the shear connectors (10, 12, and 16mm), and the connector spacing (100, 200, and 250mm). The test results sh
... Show MoreBackground: Acute appendicitis is the most common surgical abdominal emergency with a life time prevalence of 1 to 7 individuals. Because the clinical diagnosis of acute appendicitis remains a challenge to surgeons, so different aids were introduced like different scoring systems, computer aided programs, ultrasonography, computerized tomography, Magnetic resonance imaging, Gastrointestinal tract contrast studies and laparoscopy to improve the diagnostic accuracy.
Objective: To evaluate ultrasound in the diagnosis of acute appendicitis in those patients clinically diagnosed with histopathology as gold standard.
Methods: A cross sectional study carried in Al-kindy Teaching
... Show MoreIn this research, Schiff bases derived from the reaction of anthrone with different heterocyclic amines have been described. The resulted Schiff base compounds were reacted with various nucleophiles in order to obtain new heterocyclic derivatives. Chemical structures of all products were confirmed by IR, 1H-, 13C-NMR spectral data and elemental analysis. All synthesized compounds were in vitro tested against a standard strain of pathogenic microorganism including Gram +ve bacteria (Staphylococcus aureus), Gram –ve bacteria (Escherichia coli), and fungi (Candida albicans).
To know the effect of bio-enhancer (zeolite), biohealth, mineral fertilizers and their interactions, the possibility of replacing mineral fertilizers with bio-enhancers and bio-enhancers, and their effect on some potato yield measurements. A field experiment was conducted at one of the field stations of the College of Agricultural Engineering Sciences, University of Baghdad, near the electronic calculator center, research station (F) in Al-Jadriya region in the loam mixture soil during autumn season 2021-2022 AD, It was designed using a completely randomized block design (RCBD) with three replicates. The factors of the study experiment included three levels of zeolite (0, 6 tons ha-1, and 12 tons ha-1), which were symbolized by (Z0)
... Show MoreThe aim of this study was to investigate the effect of operating variables on, the percentage of removed sludge (PSR) obtained during re-refining of 15W-40 Al-Durra spent lubricant by solvent extraction-flocculation treatment method. Binary solvents were used such as, Heavy Naphtha (H.N.): MEK (N:MEK), H.N. : n-Butanol (N:n-But), and H.N. : Iso-Butanol (N:Iso:But). The studied variables were mixing speed (300-900, rpm), mixing time (15-60, min), and operating temperature (2540, oC). This study showed that the studied operating variables have effects where, increasing the mixing time up to 45 min for H.N.: MEK, H.N.: n-Butanol and 30 min for H.N.: Iso-Butanol increased the PSR, after that percentage was decreased; increasing t
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