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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
Mon Oct 01 2012
Journal Name
Iraqi Journal Of Physics
Sttudy tthe oriienttattiion and diisttance ffacttors effffectts on tthe llower usablle ffrequency ((LUF)) over miiddlle eastt regiion
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In this research, the influence of the orientation and distance factors on the lowest usable frequency (LUF) parameter has been studied theoretically. The calculations of the (LUF) parameter have been made using the (VOACAP) international communication model for the connection links between the capital Baghdad and many other locations that distributed on different distances and directions over the Middle East region. The results shown in this study indicate there is a slight affection of the link direction (orientation) on the LUF parameter, while the influence of the distance factor is more significant on the values of the LUF parameter. The day/night effect appears for the long distance HF links (i.e. more than a 500 Km)

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Publication Date
Mon Apr 20 2020
Journal Name
Neuroquantology
The Role of Water Absorption on Thermal Conductivity and Mechanical Properties for (Recycling HDPE-Coal Ash) Composite
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Publication Date
Wed Jan 05 2022
Journal Name
International Journal Of Aquatic Science
Effects of Selenium Sources and Concentrations on the Performance, Meat Quality, and Tissue Properties of Broiler Chickens
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We wanted to find out how selenium (Se) affects broiler chicken performance, meat physicochemical properties, and selenium deposition in the tissues of broilers. Each of the 96 experimental pens had 30 chickens and included a total of 2,880 one-day-old broilers (Cobb 500 strain). A factorial design of four-by-three (SY + SS) and eight replicates (SY + SS) was used for the 12 experimental treatments, with selenium levels ranging from 0.15 to 0.60 ppm and organic (SY) or inorganic (SS) sources of selenium and their relationship (SY + SS). There were no differences in performance (P > 0.05) across Se levels or sources. 106 g/day of ADFI, 63 g/day of ADG, and 1.6844 kg/kg of FCR were found to be the averaging values for these three parameters:

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Publication Date
Sun Nov 01 2020
Journal Name
Systematic Reviews In Pharmacy
The antihyperglycemic effect of n-butanol leaves extracts of iraqi fumaria parviflora on alloxan-prompt diabetic rats
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Publication Date
Tue May 22 2012
Journal Name
Thesis
Production and characterization of methionine γ- lyase from Pseudomonas putida and its effect on cancer cell lines
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Production and characterization of methionine γ- lyase from Pseudomonas putida and its effect on cancer cell lines

Publication Date
Mon Aug 11 2025
Journal Name
Journal Of Physical Education
Unbalanced Strength Exercises Using Designed Tools and Their Effects on Some Biomechanical Variables in Young 110m Hurdles
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Publication Date
Sat Jan 01 2022
Journal Name
Proceeding Of The 1st International Conference On Advanced Research In Pure And Applied Science (icarpas2021): Third Annual Conference Of Al-muthanna University/college Of Science
Effect of etching time on the track density of fission fragments human teeth samples with Lexan detector
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Publication Date
Sun Dec 03 2017
Journal Name
Baghdad Science Journal
Effect of Diffusion Temperature on the some Electrical Properties of CdS:In Thin Films Prepared by Vacuum Evaporation
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CdS films were prepared by thermal evaporation technique at thickness 1 µm on glass substrates and these films were doped with indium (3%) by thermal diffusion method. The electrical properties of these have been investigated in the range of diffusion temperature (473-623 K)> Activation energy is increased with diffusion temperature unless at 623 K activation energy had been decreased. Hall effect results have shown that all the films n-type except at 573 and 623 K and with increase diffusion temperature both of concentration and mobility carriers were increased.

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
The impact of volatile oils of three medicinal plants on the bacteria isolated from patients with tonsillitis
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Were collected three types of medicinal plants from their natural habitat after Astkhalasalziot volatile manner steam distillation and determine the quality and quantity of vehicles chemical for each of the oils obtained using a technique JC discouraged when you merge oily thyme and lemon grass against bacteria either when using oils in three did not have a different effect

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Publication Date
Wed Oct 11 2017
Journal Name
International Journal Of Science And Research
Effect of Elevated Temperature on the Compressive Strength of Reactive Powder Concrete (RPC) Containing Polyvinyl Chloride (PVC)
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Fire is the most sever environmental condition affecting on concrete structures, thus investigating for fire safety in structural concrete is important for building construction. The slow heat transfer and strength loss enables concrete to be effective for fire resistance. Concrete structures withstand when exposed to fire according to: their thermal properties, rate of heating, characteristic properties of concrete mixes and their composition and on the duration of fire, and concerned as thermal property with other factors such as loss of mass which affected by aggregate type, moisture content, and composition of concrete mix. The present research goal is to study the effect of rising temperature on the compressive strength of the rea

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