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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
Tue Nov 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
mathematical model for segmentation of the overall planning of puplic redemption company- ministry of industry and minerals
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Abstract

The study presents a mathematical model with a disaggregating approach to the problem of production planning of a fida Company; which belongs to the ministry of Industry. The study considers disaggregating the entire production into 3 productive families of (hydraulic cylinders, Aldblatt (dampers), connections hydraulics with each holds similar characteristics in terms of the installation cost, production time and stock cost. The Consequences are an ultimate use of the available production capacity as well as meeting the requirements of these families at a minimal cost using linear programming. Moreover, the study considers developing a Master production schedule that drives detailed material and production requi

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Publication Date
Tue Nov 06 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Effectiveness of Nursing Management Education Program upon the Nurse Managers' Knowledge about Planning in Baghdad City Hospitals
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Objective: To determine the effectiveness of the Nursing Management Education Program upon the Nurse
Managers' Knowledge about planning in Nursing Management at Baghdad City Hospitals.
Methodology: A Quasi-experimental study in which a purposive "non-probability" sample of (50) Nurse
Managers was selected from Baghdad City Hospitals. These Managers were divided into two equal groups of
(25) Nurse Managers for each (study and control ones). A questionnaire was developed as a tool for data
collection. A pilot study was carried out to test the reliability of the questionnaire for the period from April 2nd to
June 20th 2007. The pre-post test approach was applied to the study and control groups as mean for the quasiexperime

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Publication Date
Mon Dec 30 2024
Journal Name
International Journal Of Sustainable Development And Planning
The Impact of Unregulated Urban Sprawl on Public Services and Quality of Life in Baghdad: A Case Study of Al-Dora District Using Spatial Analysis
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The rapid and uncontrolled expansion of urban sprawl in Baghdad, particularly after 2003, has significantly transformed the city's landscape. This expansion stems from socio-political instability, a lack of affordable housing, and inadequate urban planning frameworks. As informal settlements encroach on agricultural lands, the city's infrastructure—including water, sanitation, and transportation systems—faces mounting pressure. This situation presents critical challenges to the sustainability of Baghdad’s public services and the quality of life for its residents. This study aims to evaluate the impact of unregulated urban sprawl on Baghdad’s public services and infrastructure, focusing on how informal growth has undermined the city'

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Publication Date
Wed Jun 26 2024
Journal Name
University Of Baghdad
Preparation, identification, theoretical study and biological activity of new metal complexes containing a heterocyclic
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Publication Date
Sun Dec 31 2017
Journal Name
معرفة
تصميم و تصنيع جهاز لقياس القدرة الحركية البصرية لحركة الطعن بسلاح الشيش
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المالكي، فاطمة عبد مالح مطر ونور حاتم رضا وأسيل ناجي فهد. 2017. تصميم و تصنيع جهاز لقياس القدرة الحركية البصرية لحركة الطعن بسلاح الشيش. مجلة دراسات و بحوث التربية الرياضية،مج. 2017، ع. 53.

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Publication Date
Thu Feb 15 2024
Journal Name
Journal Of Al-turath University College
A Comparison of Traditional and Optimized Multiple Grey Regression Models with Water Data Application
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Grey system theory is a multidisciplinary scientific approach, which deals with systems that have partially unknown information (small sample and uncertain information). Grey modeling as an important component of such theory gives successful results with limited amount of data. Grey Models are divided into two types; univariate and multivariate grey models. The univariate grey model with one order derivative equation GM (1,1) is the base stone of the theory, it is considered the time series prediction model but it doesn’t take the relative factors in account. The traditional multivariate grey models GM(1,M) takes those factor in account but it has a complex structure and some defects in " modeling mechanism", "parameter estimation "and "m

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Publication Date
Mon Jun 05 2006
Journal Name
College Of Education For Women
The Image of the Teacher in Selected Novels by Kingsley Amis Muriel Spark and C. P. Snow
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The study introduces the twentieth century background where the image of teacher is shaped by various factors according to the wide emergence of new educational institutions in the aftermath of the Second World War. A group of writers mirrored the influence of the war on educational institutions and accordingly on the image of teacher in their novels whose main action is set in and around the campus of a university. The genre dates back to the nineteen forties. where they show the foibles of human nature and reactions to external pressures. One of the early examples of this genre is Lucky Jim (1954). The image of teacher is swinged in many shapes from the tyrant to the rebellion to the defiant. All is personified in the characters of these

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Publication Date
Mon May 01 2023
Journal Name
Journal Of Pure And Applied Microbiology
The Immunohistochemical Staining of Vimentin and E-Cadherin in Bladder Cancer Patients Infected with Hepatitis C Virus
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Scopus
Publication Date
Wed Mar 29 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Possible Augmentive Effect of Antioxidant Vitamin C in Patients with Essential Hypertension Treated with Amlodipin or Enalapril
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Hypertension is identified as one of the most significant risk factors for cardiovascular diseases (CVDs). There is growing evidence showing that oxidative stress plays a major role in hypertension. Increased production of reactive oxygen species and decrease bioavailability of antioxidant have been demonstrated in experimental and human hypertension. The present study was directed to determine the beneficial effect of the antioxidant vitamin C in patients with essential hypertension treated with the calcium channel blocker (amlodipine) or with the angiotensin converting enzyme inhibitor (enalapril). Ninety six patients (50 females and 46 males) with essential hyp

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Publication Date
Thu May 18 2023
Journal Name
J Pure Appl Microbiol.
The Immunohistochemical Staining of Vimentin and E-Cadherin in Bladder Cancer Patients Infected with Hepatitis C Virus
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The invasion and spread of cancer cells are two of the most notable characteristics of malignant tumors. Recent studies suggest that the epithelial-mesenchymal transition (EMT) has been linked to this significant occurrence. It is linked to the absence of the epithelial brow and the presence of mesenchymal facial hair. The aims of the present study were to explore the immunohistochemical staining of vimentin and E-cadherin ex vivo as EMT markers and assess their potential as predictive biomarkers for transitional cell cancer (TCC). In this study, 55 paraffin-embedded biopsies from TCC patients and 10 autopsies that appeared to be normal were included. Immunohistochemistry was used to produce patterns of vimentin and E-cadherin expression. W

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