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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
Wed Jan 01 2020
Journal Name
Plant Archives
DETECTION OF sHLA-G PROTEINS IN THE SERA OF PATIENTS INFECTED WITH VISCERAL LEISHMANIASIS
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Visceral leishmaniasis (VL) or kala-azar is one of the worlds most neglected tropical diseases in mortality and fourth in morbidity, rK39 dipstick was used to diagnose the suspected infected patients as cheapest simple technique which can differentiate recent from chronic infection, for disease out-coming, naïve T-lymphocyte cells should be differentiated into pathogen-specific immunity responses, such as T-helper 1(Th-1) or (Th-2). HLA-G is a special protein defined as nonclassical HLA class I molecule can suppress the immune system through prevention of T-cell function by foul all T-cell mechanisms. So, this study aimed to detect and evaluate the level of sHLA-G in the sera of patients infected with VL. The results showed that there was

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Publication Date
Wed Aug 31 2022
Journal Name
Iraqi Journal Of Science
Detection of TNF Alpha Level as Biomarker in Different Stages of Cutaneous Leishmaniasis Infection
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       Leishmaniasis is a global illness that is endemic in many countries, including Iraq. The characteristic of cutaneous leishmaniasis (CL) is the development of skin ulcers that are controlled by the immune system. Tumor necrosis factor-alpha (TNF-α), a cytokine generated by the innate immune response to CL infection, can influence disease clearance in the human host. The effect of this pro-inflammatory cytokine in CL ulcer development during the infection is not well established. In this study TNF-α level was detected in the patients who suffered from cutaneous leishmaniasis. This level was also assessed in the newly diagnosed patients and others who were undergoing different stages of pentostam treatment. Notably the result

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Publication Date
Mon Oct 25 2021
Journal Name
Iraqi Journal Of Science
Estimation of the Efficiency of Corrosion Inhibition by Zn-Dithiocarbamate Complexes: a Theoretical Study
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    Seven Zn-dithiocarbamate complexes were suggested as corrosion inhibitors. Density functional theory (DFT) was used to predict the ability of inhibition. Room temperature conditions were applied to suggest the optimization of complexes, physical properties, and corrosion parameters. In addition, the HOMO, LUMO, dipole moment, energy gap, and other parameters were used to compare the inhibitors efficiency. Gaussian 09 software with LanL2DZ basis set was used. Total electron density (TED) and electrostatic surface potential (ESP) were utilized to show the sites of adsorption according to electron density.

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Publication Date
Sat Oct 01 2016
Journal Name
International Communications In Heat And Mass Transfer
Study of synthesis, stability and thermo-physical properties of graphene nanoplatelet/platinum hybrid nanofluid
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In the present study a new synthesis method has been introduced for the decoration of platinum(Pt) on the functionalized graphene nanoplatelet (GNP) and also highlighted the preparation method of nanofluids. GNP–Pt uniform nanocomposite was produced from a simple chemical reaction procedure, which included acid treatment for functionalization of GNP. The surface characterization was performed by various techniques such as XRD, FESEMand TEM. The effective thermal conductivity, density, viscosity, specific heat capacity and stability of functionalized GNP–Pt water based nanofluids were investigated in different instruments. The GNP–Pt hybrid nanofluids were prepared by dispersing the nanocomposite in base fluid without adding any surfac

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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
The influence of temperature and size on the absorption coefficient of CdSe quantum dots
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Abstract<p>Because of Cadmium selenide quantum dots (CdSe quantum dots) has a tuning energy gap in the visible light range, therefore; it is provided a simple theoretical model for the absorption coefficient of CdSe quantum dots, where the absorption coefficient determines the extent to which the light of a material can penetrate a specific wavelength before it is absorbed. CdSe quantum dots have an energy gap can be controlled through two effects: the temperature and the dot size of them. It is found that; there is an absorption threshold for each directed wavelength, where CdSe quantum dots begin to absorb the visible spectrum at a size of 1.4 nm at room temperature for a directed wavelength 3</p> ... Show More
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Publication Date
Sun Oct 30 2022
Journal Name
Iraqi Journal Of Science
Synthesis of a Series of α, β-Unsaturated Ketoximes and their Corresponding Acetate Esters
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      A series of 1,3-diarylprop-2-en-1-one oximes (7-12) were synthesized via reaction of 1,3-diarylprop-2-en-1-one (1-6) with NH2OH. HCl in dry pyridine. In order to produce the required products (13-18) as anti-isomers, these products (7–12) were then treated with acetic anhydride in dry pyridine. Different substitutes are maintained, resulting in the separation of different products in different yields The recently produced esters are thought to be useful as building blocks for the synthesis of substituted pyridines and many other nitrogen-holding complexes, which are elaborate structures in medicinal chemistry and present in a variety of pharmaceutical medications. The synthesized products were characteriz

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Publication Date
Thu Dec 01 2022
Journal Name
Baghdad Science Journal
Predictive Significance of Interleukins 17A and 33 in Risk of Relapsing–Remitting Multiple Sclerosis
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Cytokines are signaling molecules between inflammatory cells that play a significant role in the pathogenesis of a disease. Among these cytokines are interleukins (ILs) 17A and 33, and accordingly, the current case-control study sought to investigate the role of each of the two cytokines in the risk of developing multiple sclerosis (MS). Sixty-eight relapsing-remitting MS (RRMS) Iraqi patients and twenty healthy individuals (control group) were enrolled. Enzyme linked immunosorbent assay (ELISA) kits were used to determine serum levels of IL-17A and IL-33. Results revealed that IL-17A and IL-33 levels were significantly higher in MS patients than in controls (14.1 ± 4.5 vs. 7.5 ± 3.8 pg/mL; p < 0.001 and 65.3 ± 16

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Publication Date
Wed May 15 2024
Journal Name
Iraqi Journal Of Applied Physics
Effect of Solvent on Spectroscopic Characteristics and Energy Transfer Processes of Some Laser Dyes
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Publication Date
Wed Oct 28 2020
Journal Name
Iraqi Journal Of Science
Molecular Study of Regulatory Gene (Ler) in Enteropathogenic Escherichia Coli (EPEC) of Diarrheagenic Patients
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The locus of enterocyte effacement LEE-encoded regulator (Ler( is a global regulator of multiple virulence genes expression in the Enteropathogenic Escherichia coli (EPEC), including those encoding the type III secretion pathway and adhesion proteins such as intimin. Ler is central to the process of the formation of the attaching and effacing (AE) lesions. This study aimed to perform the molecular detection of Ler gene in EPEC, since there is no related previous study in Iraq. Two hundred and fifty stool specimens from children under two years of age for both sexes were collected from some Iraqi hospitals. All isolates were diagnosed according to morphological characteristics and biochemical tests. The results showed th

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Publication Date
Thu May 28 2020
Journal Name
Iraqi Journal Of Science
Assessment of Genotoxicity of Citrobacter freundii Bacteriocin on Bone Marrow Cells in Albino Mice
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Genotoxic effects of crude bacteriocin extracted from Citrobacter freundii were detected on albino mice bone marrow cells in vivo, using micronucleus (MN) and comet assay. The mice were administered intraperitoneally with 37.5, 75, 150 and 300 mg/kg of the extract for 24 hours. C. freundii was isolated from patients suffering from urinary tract infections (UTI). The bacteriocin producing isolates were determined using cup assayand the most efficient bacteriocin producers were selected. Bacteriocin was extracted from the efficient isolates via the induction with Mitomycin-C (2 mg/ml). Bacteriocin activity (320 U/ml) was determined by well diffusion method, while the protein concentration (2900µg/ml) was estim

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