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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
Mon May 15 2023
Journal Name
Iraqi Journal Of Science
In Vivo Effect of Catharanthus roseus Crude Extracts on Pathogenic Bacteria Isolated from Skin infections
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This study includes collection of 70 swabs samples of burns from patients were
admitted in three hospitals (Baghdad, Al- Numaan and burns injuries Hospital). All
swabs samples were cultured on blood and MacConkey agar media to isolate and
identify pathogenic bacteria according to their morphological , biochemical and
growth characters. Growth of bacteria on selective media showed the following
results: Pseudomonas aeroginosa 44.28% , Klebsiella pneumonia 30% ,
Staphylococcu saureus 8.57% , Escherichia coli 4.28% , Proteus vulgaris 4.28 % ,
Enterobacter spp. 5.71% , Acinetobacter baumanni 2.89 %. Different concentrations
were prepared from leaves ethanolic crude extract of Catharanthus roseus , then the
anti-bac

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Publication Date
Thu Dec 13 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Effectiveness of an Education Program ConcerningCardiotocography on Nurses- MidwivesPractice in Maternity Hospitals at Baghdad City.
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Objectives: To identify the effectiveness program on nurse- midwife practice concerning performed
cardiotocography to pregnant women and to find out the relationship between nurse- midwife practice and
certain studied variables.
Methodology: A quasi-experimental design (pretest-post test approach) was conducted at three sector AlRussafa
directorate, AL- Karckh directorate and Medical City Directorate from the period of March, 26th 2014
to August, 30th 2015. A non-probability sample consisted of (130) nurse -midwives were selected and divided
into two groups (65) nurses-midwives (case group) who exposed to the educational program and (65 ) nursesmidwives
who didn't expose to the program considered as control group . D

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Publication Date
Fri Aug 20 2021
Journal Name
Iraqi Journal Of Laser
The Influence of No-Core Fiber Length on the Sensitivity in Fiber Optic Strain Sensor
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The influence of sensing element length of no-core fiber strain sensor has been studied and experimentally demonstrated, four different lengths of 125 μm diameter no-core fiber is fused between two standard single-mode fibers and bi-directionally strained, the highest obtained sensitivity was around 16.37 pm με -1 which was exhibited in the shortest no-core fiber segment, to the best of our knowledge this is the first study of the influence of no-core fiber strain sensors length on sensor sensitivity. The proposed sensor can be used in many opto-mechanical applications such as, structural health monitoring, aerospace vehicles and airplane components monitoring.

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Publication Date
Sun Dec 09 2018
Journal Name
Baghdad Science Journal
Anticorrosion Behavior of Deposited Magnetite on Galvanized Steel in Saline Water Using RF-Magnetron Sputtering
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Thin films of Magnetite have been deposited on Galvanized Steel (G-S) alloy using RF-reactive magnetron sputtering technique and protection efficiency of the corrosion of G-S. A Three-Electrodes Cell was used in saline water (3.5 % NaCl) solution at different temperatures (298, 308, 318 & 328K) using potentiostatic techniques with. Electrochemical Impedance Spectroscopy (EIS) and fitting impedance data via Frequency Response Analysis (FRA) were applied to G-S alloy with Fe3O4 and tested in 3.5 % NaCl solution at 298K.Results taken from Nyquist and Bode plots were analyzed using software provided with the instrument. The results obtained show that the rate of corrosion of G.S alloy increased with increasing the temperatures from 298 t

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Publication Date
Fri Feb 08 2019
Journal Name
Iraqi Journal Of Laser
Effects of Laser Energy on n-Ge/p-SnS Hetrojunction Diode Detector in Different Environments
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In the present work, heterojunction diode detectors will be prepared using germanium wafers as a substrate material and 200 nm tin sulfide thickness will be evaporated by using thermal evaporation method as thin film on the substrate. Nd:YAG laser (λ=532 nm) with different energy densities (5.66 J/cm2 and 11.32 J/cm2) is used to diffuse the SnS inside the surface of the germanium samples with 10 laser shots in different environments (vacuum and distilled water). I-V characteristics in the dark illumination, C-V characteristics, transmission measurements, spectral responsivity and quantum efficiency were investigated at 300K. The C-V measurements have shown that the heterojunction were of abrupt type and the maximum value of build-in pot

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Publication Date
Sun Feb 10 2019
Journal Name
Iraqi National Journal Of Nursing Specialties
Effectiveness of Education Program on Secondary Schools Students Knowledge about Dysmenorrhea in Alnasiriya City Schools
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Abstract:

Objective: The study aim is to assess knowledge of secondary schools female students regarding dysmenorrhea; find out the effectiveness of education program on secondary schools students and also to identify relationship between education program and certain variables.
Methodology: The quasi-experimental design (pretest and posttest) on one hundred students 4th year in Khawla Bint Al-Azwar secondary school for females at morning shift in Al Nasiriya City, data collection started at 4th March to 18th March 2018. A non-probability (purposive) sample of (100) students (50) student from scientific branch and (50) students from literary branch. Data have been collected through using a questionnaire modeled and made up of

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Publication Date
Sun Jan 30 2022
Journal Name
Iraqi Journal Of Science
Biochemical Tests as an Indicator for the Effects of Electrical Generator Exhausts on Human Health
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       Diesel generators are used in various locations throughout Baghdad city, central Iraq, when the public electricity  power is in outage. The main purpose of the current research is to investigate possible changes in certain biochemical parameters in the blood of operators of diesel generators in different locations Baghdad city, at both Rusafa and Karkh sides. The workers were divided according to the number of working years.

       Serum urea, creatinine, alkaline phosphatase (AlP), aspartate aminotransferase (AST), alanine aminotransferase (ALT), albumin, total serum bilirubin (TSB), and glomerular filtration rate (GFR) were analyzed in samples from forty wo

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Scopus Crossref
Publication Date
Wed May 25 2022
Journal Name
Iraqi Journal Of Science
Using Persistence Barcode to Show the Impact of Data Complexity on the Neural Network Architecture
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    It is so much noticeable that initialization of architectural parameters has a great impact on whole learnability stream so that knowing  mathematical properties of dataset results in providing neural network architecture a better expressivity and capacity. In this paper, five random samples of the Volve field dataset were taken. Then a training set was specified and the persistent homology of the dataset was calculated to show impact of data complexity on selection of multilayer perceptron regressor (MLPR) architecture. By using the proposed method that provides a well-rounded strategy to compute data complexity. Our method is a compound algorithm composed of the t-SNE method, alpha-complexity algorithm, and a persistence barcod

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Publication Date
Sun Mar 13 2011
Journal Name
Baghdad Science Journal
Effect of crude alcoholic celery (Apium graveolens) leaves extract on fertility in albino female mice
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Sixty albino female mice were used in this experiment to study the possible effect of the crude alcoholic extract of the celery leaves on their fertility. These animals were randomly and equally divided into three experimental groups (20 females/group). The first and second groups were orally given a daily dose of 500 and 1000 mg/kg body weight, respectively, of the crude alcoholic extract, while the third group (control) was similarly treated, at the same time, with 0.1 ml/gm body weight of physiological saline for comparison. The treatment, however, lasted for 25 consecutive days. On day 26, after treatment was stopped, the life body weight of all animals was recorded before sacrificing the animals. Thereafter blood

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Publication Date
Fri Jun 07 2024
Journal Name
Asian Pacific Journal Of Cancer Prevention
The Effect of NF-κB Deactivation on Cancer Cell Response to ALA Mediated Photodynamic Therapy
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due to the presence of chemoresistance and the risk of tumor recurrence and metastasis. There is a pressing necessity to develop efficient treatments to improve response for treatment and increase prolong survival of breast cancer patients. Photodynamic therapy (PDT) has attracted interest for its features as a noninvasive and relatively selective cancer treatment. This method relies on light-activated photosensitizers that, upon absorbing light, generate reactive oxygen species (ROS) with powerful cell-killing outcomes. Nuclear factor kappa B (NF-κB), a transcription factor, plays a key role in cancer development by regulating cell proliferation, differentiation, and survival. Inhibiting NF-κB can sensitize tumor cells to chemotherapeuti

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