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.
Geotechnical characterization of the sites has been investigated with the collection of borehole data from different sources. Using the data, grain size distribution curves have been developed to understand the particle size distribution of the alluvium present. These curves were further used for preliminary assessment of liquefiable areas. From geotechnical characterization, it has been observed that the soil profile in the two sites is dominated by sand and silty sand.Seed and Idriss (1971) approachhas been usedevaluatethe liquefaction potentialbydeterminationof the relation between the maximum ground acceleration (a max/g) valuesdue to an earthquake and the relative density of a sand deposit in the field. The results reveal that
... Show MoreOils were extracted from seeds of Trigonella foenum graecum as well as from seeds of Elettaria cardamomum, then separated and characterized by Gas Chromatography with Mass spectra GC/MC twelve different compounds of Trigonella foenum graecum oil were identified, the highest rate was for the compound 9, 12-Octadecadienoic acid (Z,Z) which was found with rate of 38.97
،%then accompanied with 31.85% of 9-Octadecenoic acid (Z)-, methyl ester.
On other hand fifty four (54) different compounds were separated from fixed oils of Elettaria cardamomum , the highest rate for the compound 3-Cyclohexene-1-methanol, .alpha.,.alpha.,4-trimethyl-, acetate which was 22.88% then the compound Butyl 9,12-octadecadienoate with a rate of 21.22 % .
T
Background: Hyperthyroidism is a serious public concern, due the continuous increase in its prevalence and its impact on the mortality rates. Autoimmune hyperthyroidism is seen as a thyroid gland problem. Pro-inflammatory cytokines are crucial for the growth and development of hyperthyroidism, it was shown that the level of several pro-inflammatory cytokines were higher in the hyperthyroidism patients. Objective: This work was aimed to assessment the concentration of certain cytokine in hyperthyroid patients. Materials and Methods: Sixty hyperthyroidism patients and 30 healthy individuals with age range from (30-65) years old were enrolled in this study through their presence at the National Center for Diabetes Treatment and Research in Bag
... Show MoreThe study aims to detect the presence of carbapenems genes and the prevalence of antibiotic-resistant E. coli in the Tigris River. Samples were collected from three sites of the Tigris River: S1Adhamiya, S2 Medical city hospital, and S3 Abu Nuwas. It diagnosed 40 isolates of E. coli out of 67 isolates of bacteria by Vitek2. The antibiotic sensitivity was determined by the disk diffusion method. E.coli isolates were tested against 7 antibiotics these belonged to β-lactam, Carbapenem. Also, the resistance genes) blaVIM and blaNDM) detected for these isolates of E. coli. The results appeared resistance of E.coli against AMC 82.5%, PRL 62.5%, AM 55%, and moderate resistance
... Show MoreA spectrophotometric study of Fe(III) mixed ligand complex has been
performed involving 1,4 phenylenediamine (A) and anthran i lic acid (B) ligand at 25°C and aconstant ionic strength of µ= 0.05M NaC I04• The optimum pH was found to be pH=4.l. The format ion rat io of the new complex is determined to be 2:1:4 of Fe(III):(A):(B). The molar absorptivity was determined to be :::::: 0.5 x I 04• Stepwise spectrum change of the complex formation is recorded by continuous flow system. Keywords: Mixed ligand
... Show MoreIn this study the melting point and hardness of the paraffin wax was improved by mixing it with 1:1 ratio of micro crystalline wax then adding weight percentage wt% of locally produced nano particles (CuO,ZnO,AI2O3 and bentonite ) for each addition to the wax mixture. The results showed an increase in the melting point and hardness values of the prepared samples by increasing the weight percentage of each nano particles additives. . It was found that the addition of nano bentonite to the wax mixture gave high melting point values (122.5°C)and hardness (81.2)followed by melting point value (97°C)and hardness(68.2)resulting from the addition of CuO nano particles to the wax mixture compared to other used nano particles.
Abstract
This research shows the history of political conflicts in Zimbabwe, the
merits of the political struggle for power in this country since the British
colonial period, especially after the British administration announced that
Zimbabwe is a local colony of the British Crown in 1923, as the settlement
process against the wide white deprive local people to own and lease land
and low income, as well as the 1961 Constitution, which granted access to
the white powers in accordance with the authority of the top menu for the
existing lower allocated to blacks.
These events and factors led to a national rejection in Zimbabwe,
which crystallized in the form of parties and political organizations through the
The current study included bioremoval of chromium metal ions from aqueous solution by using seventeen Pseudomonas aeruginosa species isolated from different environments. The experimental results showed that isolates Pseudomonas aeruginosa have high efficiency in removal of chromium where the P. aeruginosa p.8 was the most efficient (P≥0.001) in bioremoval of chromium with a removal capacity reached 92.5 mg/L and removal index reached (96.5%). While P. aeruginosa p.4 was the least efficient (P≥0.001) in bioremoval of chromium from aqueous solutions reached 74.6 mg/L and removal index reached (79.8%). The REP-PCR detection using BOX-primer, showed genetic relatedness among the isolates of P.aeru
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