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.
Background: Breast cancer is the commonest type of malignancy worldwide and in Iraq. It is a serious disease that affects the general health and cause systemic changes that affect the physical and chemical properties of saliva leading to adverse effects on oral health. This study was conducted toassess the tumor marker CA15-3 and selected elements in saliva and their relation to oral health status among breast cancer patients compared to control group. Materials and Methods: The total sample consisted of 60 women aged 35-45 years. 30 women were newly diagnosed with breast cancer before taking any treatment and surgery (study group) and 30 women without clinical signs and symptoms of breast cancer as a control group. Dental caries was record
... Show MoreBackground: Blood group system and the ability to taste phenylthiocarbamide (PTC) are the most studied traits in human genetics which have been extensively used in describing genetic variations among human populations around the world that may had an effect on dental caries. The aims of present study were to investigate the caries experience among students with different bitter taste threshold in relation to blood type. Materials and Methods: The sample of present study includes dental students female aged19-21 years. The diagnosis of dental caries was done according to the criteria of Manjia et al, 1989 recording decayed lesion by severity (D1-4) MFS. Furthermore, bitter taste sensitivity was measured according to PTC (phenylthiocarbamid
... Show MoreThis paper deals with the blow-up properties of positive solutions to a parabolic system of two heat equations, defined on a ball in associated with coupled Neumann boundary conditions of exponential type. The upper bounds of blow-up rate estimates are derived. Moreover, it is proved that the blow-up in this problem can only occur on the boundary.
The research aims to clarify the response of the GDP to the M1 shock. It includes access to the results using standard methods, where the standard model was built according to quarterly data using the program STATA 17. According to the joint integration model ARDL, the research found a long-term equilibrium positive for the relationship between GDP and the money supply in Iraq, as the change in the money supply by a certain percentage will lead to a change in GDP by about 71% of that percentage. In the event of a shock in the Iraqi economy, the impact of the M1 will differ from what it was before the shock, as the shock will increase its effectiveness towards GDP by about 10% more than before the shock. At the same time, the relationship
... Show MoreThis study aimed at identifying the counseling needs for classroom teachers specialization in
Jerash university. The sample of the study consisted (112) students. To achieve this goal a
scale with (39) items was built by the researcher, this scale has four domains they are as
follows; family, social, psychological and academic domain. The results of this study showed
that counseling needs obtain the heighest average. As well as, the results of the study revealed
that there were statistical differences in favor of gender and teaching year variable. Finally the
study stated a list of recommendations.
Plant tissue culture considers a benefit biotechnological technique for scientific research especially the production of undifferentiation callus cells and regeneration through suspension or static media. The seedlings of Peganum harmala was used as a source to produce callus mass in vitro in static media through different tissue culture media supplemented by varying combinations of plant growth regulators (PGR). The result illustrates that 2 mg/l of Kinitine with 0.5 mg/l of 2, 4-D was efficient to stimulate callus induction with percent 100% in stem and root of P. harmala and this combination gave a high fresh weight, 1954 mg in root and 1170
mg in stem and high dry weight in root and stem was 74.6
This study was aimed to investigate the role of crud alcoholic extract of Lallemantia royleana seeds in reducing the hepatotoxicity and side effect of rifadin drug in liver. The animals (40 mice) were divided into four groups, the first group was treated with normal saline (0.9%) for 28 days as a control and the second group was treated with rifadin (1.5 mg/kg/day) for 28 days and third group was treated with acoholic extract of Lallemantia royleana seeds (1% w/v) for 28 days, while the forth group was treated with alcoholic extract of seeds alone for 5 days and with alcoholic extract and rifadin for 28 days, so the total period of this group is 33
... Show MoreThis research aims to utilize a complementarity of field excavations and laboratory works with spatial analyses techniques for a highly accurate modeling of soil geotechniques properties (i.e. having lower root mean square error value for the spatial interpolation). This was conducted, for a specified area of interest, firstly by adopting spatially sufficient and well distributed samples (cores). Then, in the second step, a simulation is performed for the variations in properties when soil is contaminated with commonly used industrial material, which is white oil in our case. Cohesive (disturbed and undisturbed) soil samples were obtained from three various locations inside Baghdad University campus in AL-J
... Show MoreSince decades silver was depended worldwide as a treatment to a lot of diseases
ranging from burn infections, anthrax, and typhoid fever to bacterial conjunctivitis
in stillbirth, but its effectiveness against biofilms is still undetermined. Salmonella is
a major cause of food poisoning outbreaks especially in the third world countries.
Thus, in the present study; the antimicrobial activity of silver nanoparticles (Ag-
NPs) against Salmonella enterica biofilm was examined; their activity was
compared with amino acid; D-Glycin and imipenem antibiotic. The result of the
study revealed that Ag-NPs exhibited considerable antimicrobial property against
Salmonella enterica biofilm where the minimum inhibitory concentrat
A new tridentate ligand has been synthesized derived from phenyl(pyridin-3-yl)methanone. Three coordinated metal complexes were prepared by complexation of the new ligand with Cu(II), Ni(II) and Zn(II) metal salts. The new Schiff base “benzyl -2-[phenyl(pyridin-3-yl)methylidene]hydrazinecarbodithioate” and the new metal complexes were characterized using various physico-chemical and spectroscopic techniques. From the analysis results, the expected structure to the metal complexes are octahedral in geometry for Cu(II) complex, square planner for Ni(II) and tetrahedral for Zn(II) complex. The new compounds are expected to show strong bioactivity against bacteria and cancer cells.