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Path Planning of an autonomous Mobile Robot using Swarm Based Optimization Techniques
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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.

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Publication Date
Sun May 15 2022
Journal Name
Bionatura
Isolation of different parasites from the freshwater of Euphrates River in Anbar Province, Iraq
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Intestinal parasites present in freshwater from the Al- Fallujah, Al- Habbaniyah and Al-Alwarar, of the Euphrates river in Iraq are Cryptosporidium spp (25.3%), Giardia sp (3.3%), Eimeria sp (3.3%), Pinworm eggs (3.3%), Naegleria sp (15.3%), Lecane niwati (1.3%), Trichomonas hominis (19.3%), Acanthamoeba spp (24.6%), Entamoeba coli (20.6%), Balantidium coli (12%), Ascaris sp (3.3%), Volvox sp (26%), Chilomastix mesnili (4%), Pelomyxa palustris (2.6%), Trinema enchelys (2.6%), Actinophrys Sol (7.3%), Amobea Vespertilio (9.3%), Rhabditea (5.3%), paramecium bursaria (9.3%), cyst of cestode (6%), Oocyst protozoa (16%), Euglena gracilis (10.6%).were isolated. The study's goal was to isolate some of the parasites that pollute the Euphrat

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Publication Date
Mon Apr 29 2024
Journal Name
Euphrates Journal Of Agricultural Science
Effect foliar of some organic fertilizers on growth and yield of four potato cultivars
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Publication Date
Sat Apr 20 2024
Journal Name
Int J Eng Res Technol
Effect of irrigation levels and organic matter on water use efficiency of chilli pepper
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Publication Date
Sun Sep 22 2019
Journal Name
Baghdad Science Journal
Spectral Properties of Hybrid of Rhodamine (6G) Dyes Doped Epoxy Resin Dissolved in Chloroform
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            The research is dealing with the absorption and fluorescence spectra for the hybrid of  an Epoxy Resin doped with organic dye Rhodamine (R6G) of different concentrations (5*10-6, 5*10-5, 1*10-5, 1*10-4, 5*10-4) Mol/ℓ at room temperature. The Quantum efficiency Qfm, the rate of fluorescence emission Kfm (s-1), the non-radiative lifetime τfm (s), fluorescence lifetime τf and the Stokes shift were calculated. Also the energy gap (Eg) for each dye concentration was evaluated. The results showed that the maximum quantum effi

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Publication Date
Fri Jan 01 2021
Journal Name
Family Medicine & Primary Care Review
Assessment of depressive symptoms among students at Al-Kindy College of Medicine in Baghdad
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Publication Date
Tue Jan 08 2019
Journal Name
Iraqi Journal Of Physics
Effect of sputtering power on optical Properties of RF sputtering deposited Ti6Al4V Thin Films
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Ti6Al4V thin film was prepared on glass substrate by RF
sputtering method. The effect of RF power on the optical properties
of the thin films has been investigated using UV-visible
Spectrophotometer. It's found that the absorbance and the extinction
coefficient (k) for deposited thin films increase with increasing
applied power, while another parameters such as dielectric constant
and refractive index decrease with increasing RF power.

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Publication Date
Sat Nov 03 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Prevalence of Hypochondriasis Disorder among Iraqi Former Prisoners of Iraq-Iran War, 1980-1988
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Objective : To find out the prevalence of Hypochondriasis among Iraqi repatriated prisoners of
Iraq-Iran war, and the relationship with some variables.
Methodology: A descriptive study was carried out from Jan. 2nd , 2006 through May 4th , 2006. A
non-probability accidental sample of 400 repatriates who had visited; Ministry of Human Rights,
Ministry of Health, and Ministry of Defense. A questionnaire was constructed for this purpose, which
consisted of 6 items for demographic data, and 14 items for measuring Hypochondriasis. Reliability
and validity of the questionnaire had been determined through the pilot study (Test and retest) and the
experts panel. Data were collected with using the constructed questionnaire an

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Publication Date
Tue Apr 20 2021
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Efficiency Evaluation of Solar Concentrator without Tracking System Type of Compound Parabolic Concentrator (CPC)
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      It is useful to analyze any optical system theoretically before proceeding with its design in order to ensure the effectiveness of the design through computer simulations that are important and useful in designs for the ability to predict the performance of solar concentrator under any conditions.  For this design, non-sequential ray tracing mode wasused in the Zimax program with a light source that simulated solar radiation.  The purpose of the design of a compound parabolic concentrator (CPC) is to take advantage of the solar radiation that falls on it without the need for an efficiently tracked system within certain limits of the angle of solar radiation fall known as the acceptance angle.&nbsp

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Publication Date
Mon Apr 23 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Teratogenic Effect of Levetiracetam Drug on the Development of the Kidney in Embryo Rat
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      The new antiepileptic drugs, levetiracetam (LEV), are used to treat tonic-clonic seizures and myoclonic seizures in adults and children. Thirty pregnant rats were enrolled, which were divided into two groups A control (10), B treated (20). Group (A) were given distilled water orally for 15 days of pregnancy period. The other group was subdivided into two subgroups B1, B2 (each with 10 rats), which were treated with LEV for 14 days for subgroup (B1) and 15 days for the other subgroup (B2). The drug (350 mg/kg/day) is administered orally. Based on our results there was damage in the kidney due to the toxicity of the drug. The histopathological effects is represented

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Publication Date
Mon Jan 20 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Expression of matrix metalloproteinase-2 in the extracellular matrix of osseointegrated and diseased implants
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Background: Recently with improvement of dental implantology science, osseointegrated implants show a considerable durability, however; failures are not completely avoidable. Matrix metalloproteinase-2 (MMP-2) expression is disturbed in many pathological conditions such as peri-implantitis and periodontitis. This study was carried out to investigate the tissue expression of MMP-2 in the extracellular matrix of osseointegrated and diseased implants. Subjects and methods: Gingival biopsies were collected from six patients having osseointegrated or working implants and twenty with diseased or non osseointegrated implants and (6) controls having no implants. In situ hybridization technique was used to analyze the changes in immunoreactivity of

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