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alkej-442
Applying A* Path Planning Algorithm Based on Modified C-Space Analysis
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In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and construction, and then a successful and guaranteed path from a start to goal configuration has been obtained without any collision probability. The results had been achieved by (Matlab R2015a) software, which run on Intel (R) Core (TM) i3-3120M CPU.

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Publication Date
Sun Sep 03 2017
Journal Name
Baghdad Science Journal
Effect of plant growth regulators on callus induction and Rutin production of Ricinus communis L. plant
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Ricinus communis L. is an important medical plant hence it contains many active compounds. The aim of this research is to study the effect of plant growth regulators on callus induction and Rutin concentration. A combination of Benzyle adenine (BA) and Indol Acetic acid (IAA) at (0.0,1.0,2.0) mg/L was added to the media, the highest fresh weight of the induced callus from stem explant was (4.97) gr . at (1.0,1.0) mg/L BA and IAA consenquently the same combination gave the highest dry weight of callus (0.42) gr. while the combination at (2.0,1.0) mg/L BA and IAA gave the highest fresh weight of induced callus from Leaves explant (5.28) gr., then (2.0,1.0) mg/L BA and IAA gave the highest dry weight for callus induced from leaves at (0.55

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Publication Date
Sun Feb 01 2015
Journal Name
Journal Of Engineering
Effect of Saturation of Sandy Soil on the Displacement Amplitude of Soil Foundation System under Vibration
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In this study, the response and behavior of machine foundations resting on dry and saturated sand was investigated experimentally. A physical model was manufactured to simulate steady state harmonic load at different operating frequencies. The effect of relative density, depth of embedment, foundation area as well as the imposed harmonic load was investigated. It was found that the amplitude of displacement of the foundation increases with increasing the amplitude of dynamic force and operating frequency meanwhile it decreases with increasing the relative density of sand, degree of saturation, depth of embedment and contact area of footing. The maximum displacement was noticed at 33.34 to 41.67 Hz. The maximum displacement amplitude respons

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Publication Date
Mon Aug 15 2011
Journal Name
International Journal Of Poultry Science
Effect of Dietary Supplementation with Different Levels of Arginine on Some Blood Traits of Laying Hens
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This experiment was carried out at the Field of Poultry, Department of Animal Resources, College of Agriculture, University of Baghdad, during the period from 1/5/2011 until 5/7/2011 to study the effect of adding arginine to laying hens diet on certain blood traits. A total of 100 Brown Lohmann laying hen chickens, 38 weeks of age, were randomly distributed into four treatment groups, with 25 hens for each treatment. Treatment groups were: T1: bird-fed diet with no additional arginine (control group); T2, T3, and T4: bird-fed diet supplemented with 0.4, 0.7, and 0.9%, respectively. Therefore, the total amounts of arginine in the four treatments (T1, T2, T3, and T4) become 1.1, 1.5, 1.8, and 2.0%, respectively. Results of this experiment rev

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Publication Date
Thu Sep 18 2025
Journal Name
Iraqi Journal Of Science
Effect of Diode Laser (805) nm on alpha-toxin production and antibiotic sensitivity of Staphylococcus aureus
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Publication Date
Sat Dec 31 2022
Journal Name
College Of Islamic Sciences
The effect of changing the grammatical ruling in the Qur’anic readings on changing the jurisprudential ruling
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 The study aimed to show the jurisprudential impact of the multiplicity of directing the syntactic movement of the Qur’anic readings, and it was based on the inductive, descriptive and analytical approach. , such as the difference in explaining the ruling on washing the feet, and the one who meditates on the Qur’anic readings notices in it a picture of the Qur’anic miracles, and this is what is manifested by the brevity of the speech. Collapse the research, and the research tried to trace the Qur’anic readings, contained in the verses, and the readings were limited to what is related to the explanatory meaning mentioned by the commentators, by clarifying the explanatory relationship between the Qur’anic readings and the me

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Publication Date
Sun Mar 13 2011
Journal Name
Baghdad Science Journal
Evaluation the efficiency of Trichomonas vaginalis depending on clinical sings , direct examination ,culturing and serological test
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The adequacy of diagnostic tests, together with trichomoniasis associated clinical symptoms, were investigated in females suffering vaginitis, and they were referred to the Gynecology Department, Al-Yarmouk Teaching Hospital during the period December 2004 – June 2005. The total number of patients was 250 cases (age range: 18 - 52 years), and each patient was examined using a sterile speculum to obtain vaginal swabs for examination. The diagnosis with T. vaginalis was done in many methods. The direct methods included wet and stained (Leishman's stain) examinations and cultivation in different culture media (Kupferberg Trichomonas Broth Base;, Trichomonas Agar Base; TAB and Trichomonas Modified CPLM), while the indirect methods were serol

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Publication Date
Sat Feb 27 2021
Journal Name
Journal Of Engineering
Effect of Web Stiffeners on The Flexural Behavior of Composite GFRP- Concrete ‎Beam Under Impact Load
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In this paper, numerical and experimental studies on the elastic behavior of glass fiber reinforced ‎polymer (GFRP) with stiffeners in the GFRP section's web (to prevent local buckling) are presented. ‎The GFRP profiles‎ were connected to the concrete deck slab by shear connectors. Two full-scale simply supported ‎composite beams (with and without stiffeners) were tested under impact load (three-point load) to ‎assess its structural response. The results ‎proved that the maximum impact force, maximum ‎deflection, damping time, and ‎damping ratio of the composite beam were affected by the GFRP ‎stiffeners‎. The experimental results indicated that the damping ratio and deflection were diminished compare

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Publication Date
Tue Dec 06 2022
Journal Name
Iraqi National Journal Of Nursing Specialties
Effectiveness of Health Educational Program on Nurses' Knowledge toward children pneumonia in Al-Amara City Hospitals
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Abstract:

Objective(s): The present study aims to evaluate the effectiveness of Health educational program on nurses' knowledge toward children pneumonia at Al-Amara City hospitals..

 

Methods: A quasi –experimental study design two-study group (pretest-posttest 1 and posttest 2) carried out at Alzahrawy Hospital and Child and maternity hospital in Al Amara City to identify the effectiveness of the Health educational program on Nurses Knowledge toward Children pneumonia; the study was conducted between 1 of September 2019 to 1 of April 2020. A Purposive (Non-probability) sample is chosen for the present study. The size of sample is (60) nur

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Publication Date
Thu Nov 14 2024
Journal Name
Journal Of Studies And Researches Of Sport Education
The Effect Of Suggested Exercises On Developing Some Mental Abilities For Children Aged 4-6 Years
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The purpose of the current article lies in determining  the impact of the suggestive  exercises on the development of  the mental capabilities of children. The researchers used the experimental method with a single-group design, which was appropriate for the core of the current article . The study samble  has been specified as children aged 4-6 years in Umm Al-Rabi'een Kindergarten, with a total of 95 children. The study samble  (15 children) was randomly selected.  . After the exercises were completed, the post-tests have been carried out  on the sample  with similar circumstances as that of  pre-tests.  Researchers used statistical methods in the SPSS program. After the results were presented, analyzed, and discussed, The resear

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Publication Date
Fri Jan 01 2021
Journal Name
E3s Web Of Conferences 318, 03006 (2021)
Effect of External Post-Tensioning Strengthening Technique on Flexural Capacity of Simple Supported Composite Castellated Beam
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This research is carried out to study the effect of the external post-tensioning technique on the flexural capacity of simply supported composite castellated beam experimentally. In this research, seven composite castellated beams having the same dimensions and material properties were cast and tested up to failure by applied two concentrated loads at 700 mm from each end. Two external strands of 12.7 mm diameter were fixed at each side of the web of strengthening beams and located at depth 180 mm from top fiber of the section (dps) at each end of the beam. The strands have been tensioned by using a hydraulic jack with a constant stress of 100 MPa. This research aims to study the effect of the strengthening by different shapes of st

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