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Path Planning and Obstacle Avoidance of a Mobile Robot based on GWO Algorithm
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planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the performance of the proposed algorithm. Simulations results showed that the proposed path planning algorithm effective performance by finding the shortest and free-collision path in different collide environments. Furthermore, the superiority of the proposed algorithm was proved through comparisons with other famous path planning algorithms with different static environments.

 

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Publication Date
Sun Jul 04 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
The Effect of Exposure to Formaldehyde Vapor on the Structure of Testes in the Rabbits.
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Background: This study has been performed to detect any structural changes in the testes of rabbits that have been exposed to formaldehyde vapor.
Materials and Methods: Eighteen male rabbits has been used in this study, 12 of them were exposed to formalin vapor for 2 month, while the other 6 were exposed to the vapor of distilled water for 2 month too. All animals were killed at the end of experiments, and then pieces of testes were prepared for light microscopic examination. Sections were collected from the paraffin wax blocks and stained by H & E and finally examined by Olympus light microscope.
Results: Most of the seminiferous tubules from the formaldehyde exposed group were atrophied with no e

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Publication Date
Wed May 01 2019
Journal Name
Iraqi Journal Of Science
Application of Static Correction Technique on 2D Land Seismic Data in the South of Iraq
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In our research, several different Statics solutions have been implemented in the processing of seismic data in the south of Iraq for (2D) line seismic survey (AK18)  of Abu-khama project with length 32.4 Km and their corresponding results have been compared in order to find optimum static solutions. The static solutions based on the tomographic-principle or combining the low frequency components of field statics with high frequency ones of refraction statics can provide a reasonable static solution for seismic data in the south of Iraq. The quality of data was bad and unclear in the seismic signal, but after applying field statics there is an enhancement of data quality. The Residual static correction improved the qualities of seis

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Publication Date
Mon Aug 01 2011
Journal Name
Journal Of Engineering
EFFECT OF STEEL FIBERS ADDITION ON THE BEHAVIOR OF HIGH STRENGTH CONCRETE CIRCULAR SHORT COLUMNS
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loaded reinforced concrete circular short columns. An experimental investigation into the behavior
of 24 short reinforced concrete columns with and without steel fibers was carried out. The columns
had a circular section (200 mm diameter and 900 mm long). Test variables include concrete
strength, spacing of spiral reinforcement, and inclusion of steel fibers. The axial stress and axial
strains were obtained and used to evaluate the effects of the presence of steel fibers. It was found
that the addition of steel fibers slightly improves the load carrying capacity of the tested columns
whereas it significantly enhances the ductility of these specimens. Test results also indicated that for
the same confinement parameter

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Publication Date
Wed Jan 05 2022
Journal Name
Iraqi Journal Of Science
The effect of Gamma radiation on The Dielectric Properties of SiO2\ Ep: TiO2 \ Ep Nanocomposite
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This research investigates the dielectric properties (impedance, dielectric constant
and dielectric loss) of SiO2\ Ep :TiO2 \ Ep nanocomposite over the frequency range
of (102-106 Hz ) at room temperature. The dielectric material used is epoxy resin,
while nano-sized titanium dioxide (TiO2) with grain size ( 30nm) , oxide silicon
(SiO2) with grain size (12nm) in state volume ratio (0,0.05 ,0.1) .The effect of
gamma by using (CS137) for period time (17) day was studied Radiation caused
decreasing in real and imaginary parts of dielectric constant and impedance .

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Publication Date
Tue Mar 14 2023
Journal Name
Iraqi Journal Of Science
Biological Activity of Some Essential Oils on Fifth Instar Nymphs of Ommatissus lybicus (Homoptera: Tropiduchidae)
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Dubas bug, Ommatissus lybicus (Asche and Wilson) is one of the major sucking pests of date palm. Both nymphs causes severe damage to the leaves by sucking the cell sap . If the damage is severe, it could cause the death of the date palms. The effect of different concentrations of some natural plant essential oils was evaluated on fifth instar nymphs of the insect. The results clearly demonstrated that the tested oils from mint (Mentha piperata), Parsley (Petroselinum sativum), Clove (Syzygium aromaticum), and Eucalyptus (Eucalyptus globules) to evaluate their effect on fecundity of fertile female resulted from these exposed instars nymphs and hatching of these egg. The corrected mortality and numbers of eggs laid, hatching, were studied.

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Publication Date
Thu Oct 01 2009
Journal Name
Iraqi Journal Of Physics
Investigation of Beta - irradiation effects on the microstructure of Low Density Polyethylene (LDPE) using (PALT)
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Beta-irradiation effects on the microstructure of LDPE samples have been investigated
using Positron Annihilation Lifetime Technique (PALT). These effects on the orthopositronium
(o-Ps) Lifetime t3, the free positron annihilation lifetime 2 t , the free-volume
hole size (Vh) and the free volume fraction (fh) were measured as functions of Beta
irradiation - dose up to a total dose of 30.28 kGy.
The results show that the values of t3, Vh and fh increase gradually with increasing Beta
dose up to a total dose of 1.289 kGy, and reach a maximum increment of 17.4%, 32.8% and
5.86%, respectively, while t2 reachs maximum increment of 211.9% at a total dose of 1.59
kGy. Above these doses, the values show nonlinear changes u

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Publication Date
Sun Oct 02 2005
Journal Name
Journal Of The Faculty Of Medicine Baghdad
effect of some adenosine compounds on smooth muscles of the sheep bladder osteius ovis L
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Background:

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Publication Date
Tue Aug 31 2021
Journal Name
Al-kindy College Medical Journal
Assessment of the Effects of SARS-Cov-2 Infection on Multiple Organs Using Laboratory Indices
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Background: Severe acute respiratory syndrome coronavirus 2 (SARS-Cov-2) is still a severe threaft for human health currently, and the researches about it is a focus topic worldwide.

Aim of the study: In this study, we will collect some laboratory results of the patients with coronavirus disease (COVID-19) to assess the function of liver, heart, kidney and even pancreas. 

Subjects and Methods: Laboratory results of the patients with COVID-19 are collected. The biochemical indices are classified and used to assess the according function of liver, heart, kidney; meantime, and blood glucose is also observed and taken as an index to roughly evaluate pancreas.

Results: There were some in

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Publication Date
Mon Apr 10 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Biological Effect of Anthocyanin Extracted From the orange Fruit on Some Types of Pathological Bacteria
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        This research includes study of the effect of two kinds of Anthocyanin  extracted  , from  extracted  orange  fruit ( Anthocyanin  Evolvulus ,Methiola  Violet ) on  two  types of pathological  bacteria  E.coli , staphylococcus aureus.     The result shows that two kinds of extraction have nearly similar effect , and  there is Inhibition zone  of  no  growth  between 10-12mm  ,and the extraction (1) that has concentration of 10-3 mol./L is more effective..

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Publication Date
Sat Jan 11 2025
Journal Name
Journal Of Baghdad College Of Dentistry
The effects of unilateral premature loss of maxillary primary molars on the dental arch dimensions
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Background: The aim of the study was to evaluate the amount of changes in the horizontal and vertical maxillary arch dimensions measurements following the premature loss of primary molars. Materials and methods: The sample consist of (50) children with unilateral prematurely extracted either first or second primary molars at the mixed dentition stage. Results and Conclusions: Results shows that there was an increase in the vertical incisor to canine distance (A) with both premature loss of first & second primary molars due to distal movement of primary canines and at the same time there were a significant loss of space in the extraction space with premature loss of second primary molar due to a mesial movement of maxillary first permanent

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