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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 Mar 06 2022
Journal Name
Al–bahith Al–a'alami
DEPENDENCE OF MEDIA OFFICES ON THE CABINET'S WEBSITE AS A SOURCE OF INFORMATION
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     The research aimed to identify the extent to which the media offices in the ministries depend on the website of the Iraqi Council of Ministers as a source of information. Such goal includes a set of sub-goals: Knowing the reasons for media offices' reliance on the information provided by the Cabinet's website; and revealing the benefit derived from relying on the Cabinet's website.

The researcher used the survey method to screen and comprehend the extent to which the media offices in the ministries depend on the website of the Iraqi Council of Ministers as a source of information.

The mechanism of comprehensive account of the limits of research wa

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Publication Date
Mon Mar 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
مدى ملائمة خصائص العمل البيئية لتخطيط وتصميم مساحات المصنع دراسة ميدانية في الشركة العامة للصناعات الإنشائية (مصنع الأنابيب البلاستيكية) والجلدية (مصنع الدباغة) في الزعفرانية
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 The Problem of the research  is Limited with the ambguity of environmental work Characterstics role and among them the natural Working Conditions: Temproture, Lighting, Noise, Colours,and Smells, in the Decisions that rule the Planning and Designing work of the industrial Location and it 's targets are Limited with discovering the effect of environmental work Characterstics in planning and designing the industrial Companies and to reach to the most important properties that distinguish the industrial Location Within the frame of dealing with the nature Conditions in the dry, hot regions and the dfining of the relationship between them on the assumption that the Characterstics of environmental work have agreat effect in

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Publication Date
Tue Jan 01 2019
Journal Name
Indian Journal Of Public Health Research & Development
Effects of Artificial Aging on Some Properties of Room-Temperature-Vulcanized Maxillofacial Silicone Elastomer Modified by Yttrium Oxide Nanoparticles
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Abstract Background: The daily usage of maxillofacial prostheses causes them to mechanically deteriorate with time. This study was aimed to evaluate the reinforcement of VST50F maxillofacial silicone by using yttrium oxide (Y2O3) nanoparticles (NPs) to resist aging and mechanical deterioration. Materials and Method: Y2O3 NPs (30–45nm) were loaded into VST50F maxillofacial silicone in two weight percentages (1 and 1.5 wt%), which were predetermined in a pilot study as the best rates for improving tear strength with minimum increase in hardness values. A total of 120 specimens were prepared and divided into the control and experimental groups (with 1 and 1.5 wt% Y2O3 addition). Each group included 40 specimens, 10 specimens for each paramet

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Publication Date
Tue Apr 10 2018
Journal Name
Ibn Al-haitham Jour. For Pure & Appl. Sci.
Effect of Scan Rate and pH on Determination Amoxilline Using Screen Printed Carbon Electrode Modified with Functionalized Graphene Oxide
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Graphene oxide GO was functionalized with 4-amino, 3-substituted 1H, 1, 2, 4 Triazole 5(4H) thion (ASTT) to obtain GOT. GOT characterized by FT-IR, XRD.via modification of the working electrode of the SPCE with the prepared nanomaterial (GOT) the effect of scan rate and pH on the determination of Amoxilline (AMOX) was studied using cyclic voltammetry. AMOX show various responses at pH ranging from 2 to 7 and also was observed sharp increase in the oxidation peaks in the pH 3. The formal potential (midpoint) for AMOX was highly pH-dependent. From the effect of scan rate, surface coverage concentration Γ of electroactive species the values of the electron transfer coefficient and the electron transfer constant rate ket was obtained as 5.39×

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Publication Date
Fri Sep 15 2017
Journal Name
Journal Of Baghdad College Of Dentistry
An Analysis of the Efficacy of Platelet-Rich Plasma Injections on the Treatment of Internal Derangement of a temporomandibular Joint
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Background: A Temporomandibular joint (TMJ) internal derangement (TMJID) is a disruption within the internal aspects of the TMJ in which the disc is displaced from its normal functional relationship with the mandibular condyle, after which the articular portion of the temporal bone causes joint dysfunction, joint sound, malocclusion, and locking of the mouth. Conservative and invasive techniques can be used for the treatment of TMJID. A platelet-rich plasma (PRP) injection is a simple, less invasive surgical procedure for the treatment of internal derangement. The objective of this study was to evaluate the efficacy of PRP injections in decreasing or eliminating pain, clicking, and limitation of mouth opening in patients with TMJID after th

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Publication Date
Tue Feb 26 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Use the Style of the Activity Based Cost time Drivine (TDABC) and its Impact on the Untapped Resources: Empirical study in the General Company for Textile Industries - Wasit
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   The research aims to identify the importance of using the style of the cost on the basis of activity -oriented in time TDABC and its role in determining the cost of products more equitably and thus its impact on the policy of allocation of resources through the reverse of the changes that occur on an ongoing basis in the specification of the products and thus the change in the nature and type of operations . The research was conducted at the General Company for Textile Industries Wasit / knitting socks factory was based on research into the hypothesis main of that ( possible to calculate the cost of activities that cause the production through the time it takes to run these activities can then be re- distributed product cost

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Publication Date
Sun Feb 03 2019
Journal Name
Journal Of The College Of Education For Women
تحلیل محادثة منتدى: نص مختار من مجلة بول كیمب الالكترونیة: تحلیل محادثة منتدى: نص مختار من مجلة بول كیمب الالكترونیة
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الخلاصة:
ان المحادثة كانت الشغل الشاغل لكثیر من العلماء المھتمین بدراستھم بھذا المجال من امثال ساكس
.( واخرون ( ١٩٧٤ ) وغرایس ( ١٩٧٥ ) و شكلوف و اخرون ( ١٩٧٧ ) و دانكن ( ١٩٧٢ ) و بیرتن ( ١٩٨٠
قدمت بیرتن ( ١٩٨٠ ) تحلیلا لمسرحیة النادل الابكم لغرض تقدیم طریقتھا. تتوخى الباحثة من
تقدیم ھذا البحث تحلیل تركیب المحادثة منتدى حول القصة الادبیة و القصة الروائیة باستعمال نموذج بیرتن
١٩٨٠ ). و یمیل البحث الى الاجابة عن ا

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Publication Date
Fri Jun 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
تأثير خصائص السلوك الأخلاقي الجامعي في مستوى الأداء الجامعي "دراسة في عينة من كليات الإدارة والاقتصاد في المنطقة الجنوبية"
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يهدف البحث إلى الكشف عن تأثير الممارسات الأخلاقية الجامعية (السلبية والإيجابية) في تحديد مستوى جودة الأداء الجامعي، اختار الباحثان عينة من كليات الإدارة والاقتصاد في جامعات المنطقة الجنوبية مجالا للدراسة، واعتمد فرضية مفادها (يعتمد مستوى الأداء الجامعي على تجنب الممارسات السلبية في السلوك الأخلاقي الجامعي والالتزام بالممارسات الإيجابية).  توصل البحث إلى مجموعة من الاستنتاجات من

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
A discoursal analysis of the plot unity in one- act play
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Publication Date
Thu Jun 27 2024
Journal Name
Iraqi Journal Of Pharmaceutical Sciences( P-issn 1683 - 3597 E-issn 2521 - 3512)
Impact of Gliclazide Modified Release or Glimepiride as Add-on Therapy to Metformin on Glycemic and Oxidative Stress Parameters in Type 2 Diabetic Patients
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Background: Type 2 diabetes mellitus is a condition characterized by an elevation of oxidative stress, which has been implicated in diabetic progression and its vascular complications. Aim: Assessing the impact of gliclazide modified release (MR) versus glimepiride on oxidative stress markers, glycemic indices, lipid profile, and estimated glomerular filtration rate in uncontrolled type 2 diabetic patients on metformin monotherapy. Methods: This was an observational comparative study conducted in Thi-Qar specialized diabetic, endocrine, and metabolism center. Sixty-six patients were randomized into two groups based on the addition of the sulfonylureas (SUs). Group 1 (33 patients) was on gliclazide MR, whereas Group 2 (33 patients)

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