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 current experiment was conducted to explore the effect of soil crude oil ( crude oil ) pollution on some wood properties of Casuarina equisetifolia. Four levels of pollution were applied on 40 (one-year) old seedlings . Measurements were taken by cutting the trees after two growth seasons from date of pollution .The studied Properties were fiber length, diameter, wall thickness, and specific gravity of external and internal wood. Results showed an adverse effect of pollution on fiber diameter more than on fiber length. While wall thickness did not affect. Fiber dimensions of external wood showed higher values than that of internal one, especially for fiber
... Show MoreBackground: Alum has been used as a treatment medication in cases of oral and gingival ulcers, and also as antiseptic mouthwash. This study aimed to examine the effects of different concentrations of Alum on inhibition zone, viability counts and adherence ability of Mutans streptococci compared with deionized water and chlorhexidine gluconate in vitro. Materials and methods: The study dealt with an in vitro study to establish a concentration of Alum mouthrinse that would have the minimum inhibitory concentration and minimum bacteriocidal concentration. The second part evaluated the anti-adherence ability of the experimental agents. Results: This study found that the antibacterial effect of Alum increases with its concentration from 50 to 1
... Show MoreThe ability of different alumina-grafted particles was examined for adsorption of phenol and p-chlorophenol under different conditions (i.e. concentrations and temperatures). Dispersion stability of alumina in liquid medium (water) was studied using settling under gravity technique. The result shows the settling initial rate of the alumina-grafted acrylic acid particles was faster than initial rate of settling when alumina-graft acrylic acid monomer adsorbed phenol and p-chlorophenol and vice versa to the alumina-graft poly(acrylic acid) polymer.
Thermodynamic parameters values (DG, DS, DH) were calculated for adsorption processes of phenol and p-chlorophenol adsorbed onto different surfaces. The
... Show MoreThe field experiment was conducted at botanical garden of Department of Biology, College of Education for Pure Science/ Ibn-Al-Haitham, University of Baghdad to study the effect of Lepidium sativum leaves extract and pumpkin seeds Cucurbita pepo in two concentrations 10% and 20% on physiological characters ofPimpinella anisum. The results showed that in either concentration plant heights, dry weight, biological yield, economic yield, weight of 100 fruits, harvest index, absolute growth rate (AGR) were all increased and percentage of oil in fruits as compared with control plants
This study focused on the bactericidal potency of toluidine blue” TBO”photosensitizer and red laser radiation of 635nmwith different doses against multi-drug resistant streptococcus pyogenes (S. pyogenes) isolated from infected burns wounds to see if it is susceptible to photodynamic inactivation .
Atotal of 45 isolates were collected from 38” patients” with infected burnwounds samples were collected from September to December 2019.Burns wounds swabs were employed using standard procedures of swab collection. Among these, eleven isolates were multidrug resistant”S.pyogenes”. More resistant isolates that has been proved to all antibiotics used. This multidrug resistant isolate used in
... Show MoreThree formations were studied from seven outcrops extend from Surdash to
Shaqlawa (Cenomanian – Santonian), they comprise Dokan, Gulneri and Kometan
Formations. Four microfacies and eight submicrfacies are identified depending on
this microfacies, we determine the depositional environments. Dokan Formation is
deposited in open-marine deep shelf environment; it could be deposited at deeper
shelf to slope and basinal settings. While Gulneri Formation deposited in open sea
shelf, as well as at outer shelf settings, the sediments consist of organic–carbon rich
black shale and consider a record of the ocean anoxic event 2, Kometan Formation
represent pelagic sediments characterize the deep-marine basins in open mar
The Islamic Arts which include calligraphy and specifically the third line of the greatest
manifestation of Islamic civilization affair, and it was the mosques and mosques and holy
shrines scattered in the city of Baghdad, which had a deep impact in enhancing
communication
This means research study (third line aesthetics diversity of tactics in the architecture of
mosques) It is located in four seasons, which included the first chapter the research problem
represented by asking the following - :
-What are the methods of implementation of the third line in the architecture of mosques ?
And reflected the importance of research in it represents a serious attempt to investigate the
diversity in the organization des
Metal enhanced fluorescence (MEF) is an unequaled phenomenon of metal nanoparticle surface plasmons, when light interacts with the metal nanostructures (silver nanoparticles) which result electromagnetic fields to promote the sensitivity of fluorescence. This work endeavor to study the influence of silver nanoparticles on fluorescence intensity of Fluoreseina dye by employment mixture solution with different mixing ratio. Silver nanoparticles had been manufactured by the chemical reduction method so that Ag NP layer coating had been done by hot rotation liquid method. The optical properties of the prepared samples (mixture solution of Fluoreseina dye solutions and colloidal solution with 5 minutes prepared of Ag NPs) tested by using UV-V
... Show MoreNanocomposite of carbon nanotube add to epoxy resin material of weight fraction ( 0.25, 0.5, 0.75 1.0, 1.25, 1.5, 1.75 , 2 & 2.5 wt. % ) were fabricated by dispersing within an epoxy resin using a Ultrasound machine followed by mechanical stirring. The samples were heat treated at temperature ( 80 °C for 3 hrs) The mechanical properties of the composites were investigated. Wear and hardness properties measurements indicated higher wear rate and hardness with increasing concentration of MWCNTs . The MWCNTs significantly improved the wear resistance and hardness when compare than the pure epoxy. These note show too after heat treatment of composite with ( 80 oC for 3 hrs ).