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.
This research aims to identify the vigilant personality of University teachers in term of gender. To this end, the researcher used the scale of Al-tememe (2017) for the vigilant personality, the scale was administered to the sample of the study which was (100) male and female teachers. The results have shown that university teachers generally have a vigilant personality, as well as the result showed a difference between male and female teachers on the level of vigilant personality in favor of males. In the light of these results the researcher has come with a number of recommendations and suggestions.
Clerodendrum plant is believed to be very useful in many countries for treating various health disorders .“in this study was undertaken to assess antimicrobial activity of ethanol and aqueous extracts of clerodendrum plant”. Display my alcoholic extract higher inhibition of the aqueous extract all of the bacteria (Esherichia Coli , Pseudomonas aeruginosa, Bacillus subtilis). While the inhibition of the aqueous extract bacteria (Streptococcus, Shigelladysenteria) in higher alcoholic extract. However, the bacteria (Klebseillapneumoniae) did not shown any inhibition zone for both aqueous and alcoholic extracts. From the above results,“ it is concluded the antibacterial properties of Clerodendrum against life threatening pathogens”. So,
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The quadrupole moment of 14B exotic nucleus has been calculated using configuration mixing shell model with limiting number of orbital's in the model space. The core- polarization effects, are included through a microscopic theory which considers a particle-hole excitations from the core and the model space orbits into the higher orbits with 6ħω excitations using M3Y interaction. The simple harmonic oscillator potential is used to generate the single particle wave functions. Large basis no-core shell model with (0+2)ћω truncation is used for 14B nucleus. The effective charges for the protons and neutrons were calculated su |
The aim of this research is to measure the logical maturity of kindergarten children. To achieve this aim, the researcher adopted the scale of Gold Schmid and Bentler (1968), which was translated to the Arabic language by Shabili (1988). The scale was administered to a sample of (100) kindergarten children were chosen randomly from a number of kindergartens in Baghdad city for the academic year (2017-2018). SPSS was used to analyze the collected data. The results revealed there is a level of logical maturity among the kindergarten children. The researcher came out with a number of recommendations and suggestions. &
... Show MoreThe present study refers to a ready-made three components epoxy based paint made by the Modern Paints Industries Company (Al-Za'farania, Baghdad) subjected to several tests in order to improve its specifications by optimizing the application conditions. The paint components are under the trade names: Resin (D-5547), Hardener (H-1457) and Thinner (P-851). The paint is used for painting drinking water reservoirs from inside.
This paper deals with finite element modeling of the ultimate load behavior of double skin composite (DSC) slabs. In a DSC slab, shear connectors in the form of nut bolt technique studs are used to transfer shear between the outer skin made of steel plates and the concrete core. The current study is based on finite element analysis using ANSYS Version 11 APDL release computer program. Experimental programmes were carried out by the others, two simply supported DSC beams were tested until failure under a concentrated load applied at the center. These test specimens were analyzed by the finite element method and the analyses have shown that these slabs displayed a high degree of flexural characteristics, ultimate strength,
... Show MoreIn this study, the kinetics for the reaction of tert-butanol esterification with acetic acid in the presence of Dowex 50Wx8 catalyst was investigated. The reaction kinetic experiments were conducted in 1000 milliliter vessel at temperatures ranged from 50 - 80 oC, catalyst loading 25-50 g/L, and the molar ratios of acetic acid to tert-butanol from 1/3 – 3/1. The reaction rate was found to increase with increasing temperature and catalyst loading. It was also found the conversion of the tert-butanol increases as the molar ratio of acid to alcohol increases from 1/3 – 3/1. The Non-ideality of the liquid phase was taken into account by using activities instead of molar fractions. The activity coefficients were calculated according to th
... Show MoreBackground: Ameloblastoma is the most common clinically significant odontogenic tumor, known for its locally invasive potential and frequent recurrences unless treated radically. Endocan is a soluble proteoglycan which is reported to have prognostic implications in multiple human diseases and tumors. This study aims to describe the expression of endocan in ameloblastoma. Materials and methods: With immunoperoxidase method; tissue sections of formalin fixed- paraffin embedded blocks for ameloblastomas were stained with monoclonal antibodies to endocan, the localization of the endocan expression was examined and the resulting scores of the tissue sections were analyzed according to age, sex, site and tumor subtype. Results: endocan was found
... Show MoreChristianity has rites and rituals that they should perform, and are indispensible. They say that these are sacred ordinances by Jesus Christ (PBUH) including the secret of priesthood. The origin of this secret as they claim is Christ. He puts the foundation of priesthood in Christianity. He has chosen twelve disciples and then seventeen whom he ordinated to obtain the honor of spreading the message of Christ among people. He appointed among the priests a divine message which the first fathers from the disciplesthemselves. The disciples are ones who take the secret and deliver it to the ones after them. The disciples took that sacred secret from Christ. Therefore, the secret is used when granting any religious position in the church. That s
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