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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
Tue Jan 02 2018
Journal Name
Journal Of Educational And Psychological Researches
The impact of learning strategies in the collection of biology and their systemic thinking
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Research Summary The aim of the search for knowledge of the effect generative learning strategy in: 1 - Achievement of the second grade. 2 - Systemic thinking for the second grade students when studying the biology. The study sample increased (60) students distributed into two equal experimental and control groups. Prepare the test of 40 pieces of multiple choice type and prepare a test for systematic thinking according to three skills 1. Understand the relationships between the parts of the systemic form and complement the sentences given 2 - complement the relationships between parts of the systemic form 3. Building the systemic form. It was a search result 1- There is a difference of statistical significance (at level 0.05) between th

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Publication Date
Sun Oct 22 2023
Journal Name
Iraqi Journal Of Science
Determination of the MESEP Events of 2-9th April 2001 According to ERNE/SOHO
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On 2-9th April 2001 the Energetic and Relativistic Nuclei and Electron (ERNE)
instrument on the Solar and Heliospheric Observatory (SOHO) observed three
gradual solar energetic particle (SEP) events separated by 9 hour and 7days
respectively, in association with three effective solar flares and coronal mass
ejections (CMEs).
In this paper, a study of MESEP events was considered. As the definition of this
phenomenon suggested there might be many sources for each MESEP event. This
event has been examined in order to view the different sources that might relate to
suspected accelerator of the SEPs. A careful analysis for the spectra and associated
emission with such eruptions was made. Soft X-ray emission was obse

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Publication Date
Mon Jan 01 2024
Journal Name
Sustainable Construction Materials And Technologies (scmt)
TRIAXIAL TEST OF HYDRATED LIME ON THE MECHANICAL PROPERTIES OF HOT MIX ASPHALT CONCRETE
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This paper reports on the experimental study, which conducted a series of triaxial tests for the asphalt concrete using hydrated lime as a mineral additive. Three HMA mixes, prepared by the specification for wearing, levelling and base layers, were studied under three different temperatures. The test results have demonstrated that, compared with the control mixes excluding HL, the permanent deformation resistance of the HL modified mixes has significant improvement. The deformation has been reduced at the same load repetition number, meanwhile the flow number has been considerably increased. The degree of improvement in permanent deformation resistance using HL is more pronounced at high stress deviation states and high temperature.

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Publication Date
Tue Jan 21 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Effect of systemic administration of Simvastatin on dental implant stability: A random clinical study
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Background: the primary objective for many researches carried out in dental implantology was to reduce the period needed for functional implant loading, simvastatin (cholesterol lowering medication) had many pleiotropic effects, one of which was increasing bone density around titanium implants (1) and subsequently establishing faster osseointegrated dental implants (2,3). This study aims to reduce the period of time needed to establish secondary stability of dental implant measured in ISQ (Implant Stability Quotient) by investigating the effect of orally administered simvastatin on bone. Materials and methods: simvastatin tablets (40mg/day for three months) were administered orally for 11 healthy women aged (40-51) years old who received 1

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Publication Date
Tue Dec 30 2014
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Influences of Operating Variables on Hydrodynamic Performance of Plunging Water Jet Downflow Bubble Column
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The hydrodynamics of a co-current down flow bubble column has been investigated with air – water system. A Perspex bubble column of 5cm in diameter and 1.5m height is used as a test contactor using nozzles of 7, 8 and 9 mm diameter for air-water distributing. The column is provided with three electro-resistivity needle probes for bubble detection.
Experimental work is carried out with air flow rates from 0.09 to 0.45 m3/hr and liquid flow rates from 0.65 to 1.1m3/hr in order to study the effects of superficial gas velocity, nozzle diameter and liquid flow rate on the characteristics of hydrodynamic interactions viz. gas hold up, bubble diameter and bubble velocity by using two technical methods, direct height measurements for air-wa

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Publication Date
Thu Feb 28 2019
Journal Name
Journal Of Biodiversity And Environmental Sciences
Estimation of blood lead level and its effect on hormonal responses of exposed men
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Publication Date
Thu Jul 25 2019
Journal Name
The Eurasia Proceedings Of Science Technology Engineering And Mathematics
Impact of the Chemical Mutagenesis on Biomass and Productivity of some Micro Green Algae
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The Eurasia Proceedings of Science Technology Engineering and Mathematics | Volume: 6

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Publication Date
Wed Mar 27 2019
Journal Name
Iraqi Journal Of Science
Petrophysical characterizations of Mishrif Formation in Selected Wells of Tuba Oil Field, Southern Iraq
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The current study includes building (CPI) & Petrophysical Evaluation of the Mishrif Formation (Cenomanian-Early Turonian) in Tuba oilfield, southern Iraq by using Interactive Petrophysics Program v3.5 (IP)  to evaluate different logs parameters that control the reservoir quality of Mishrif Formation such as shale volume, effective porosity, and water saturation. Mishrif Formation is subdivided into several units, which are characterized by different reservoir properties. These units are Top of Mishrif, MA, CR2, MB1, and MB2.The results of computer processed interpretation (CPI) show that the major  reservoir unit are (MB1 and MB2), which are characterized by high effective porosity and oil saturation. In addition, these uni

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Publication Date
Sat Apr 30 2022
Journal Name
Sport Tk-revista Euroamericana De Ciencias Del Deporte
Effect of a training program on the development of physical abilities in football goalkeepers
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The primary aim of this study was to find out the effect of a training program on the development of physical abilities in football goalkeepers. The current study was conducted on goalkeepers of the Academy of Espanyol Sports Club in the premises of Haifa Sports Club Stadium. The study was completed by the researchers within the timeline of May 2021 to August 2021. A total of 7 goalkeepers falling within the age group of 15-17 years were recruited as the sample participants for the study. Out of 7 goalkeepers, 5 goalkeepers were included in the primary experiment and 2 of them were excluded. The training program applied had a positive effect on the development of physical abilities in the football goalkeepers of the sa

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Antibacterial activity of ginger extracts and its essential oil on some of pathogenic bacteria
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The antimicrobial activity of ginger extracts ( cold-water, hot-water, ethanolic and essential oil ) against some of pathogenic bacteria ( Escherichia coli , Salmonella sp , Klebsiella sp , Serratia marcescens, Vibrio cholerae , Staphylococcus aureus , Streptococcus sp) was investigated using Disc diffusion method , and the results were compared with the antimicrobial activity of 12 antibiotics on the same bacteria . The results showed that the ginger extracts were more effective on gram-positive bacteria than gram-negative . V. cholerae and S. marcescens,were the most resistant bacteria to the extracts used , while highest inhibition was noticed against Streptococcus sp (28 mm) . The ethanolic extract showed the broadest antibacterial ac

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