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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 Aug 14 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Using Low Level Laser (LLL for Treatment of Infected Mice with Carcinoma by Activating the Lymph Node Action without Drugs
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Regional immune response with mammary gland carcinoma was
studied statistically. However, the prognostic value remains
conflicting. Thirty mice were used in this study which infected
were with mammary gland carcinoma. The tumor size of the animals
under study were measured before and after laser irradiation by using
a vernier and compared these results were with that of non irradiated
animals with laser (control group)
The aim of this study was to evaluate the effect of low level laser
therapy (LLLT) on increasing the response of immune system by
stimulating the lymph node action to decrease the cancer cell activity
and then decreasing the tumor size of an infected mice.
The results of the gross observati

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Publication Date
Fri Jun 24 2022
Journal Name
Iraqi Journal Of Science
Investigating the Adjuvanticity of K. pneumoniae Capsular Polysaccharide with Formalin-Killed S. aureus Against Live S. aureus Infection in Mice
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Klebsiella pneumoniae capsular polysaccharide (CPS) antigen was evaluated for their capability to increase immune responses. And, CPS neutralizing antibodies were approved as the main response to vaccination in many disease. Therefore, killed Stapthylococcus aureus bacteria was employed to evaluate K. pneumoniae CPS adjuvanticity. The mice groups were immunized (orally, intra-peritoneally and by swab skin)with a dose of (25μl of formalin killed S. aureus (1.5 x 108) with a CPS at dose 175μl/kg at a conc.50 μg/ml) vaccination occurred in first day then recurrent vaccination as booster dose beyond seven days. After first 7 days, the results revealed elevation of IL2,4,10,12 and IgG levels occurred mainly in oral and swab skin groups, an

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Publication Date
Tue Oct 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Achieving Educational Service Quality by applying international standard (ISO21001:2018) case study / university of technology – electromechanical engineering department – energy branch
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The research examines the mechanism of application of )ISO 21001: 2018( in the Energy Branch- Electromechanical Engineering at the University of Technology to achieve the quality of the educational service to prepare the branch to obtain the certificate of conformity with the requirements of) ISO 21001: 2018(, the necessary data were collected Depending on the (CHEKLIST) of (ISO 21001: 2018), field interviews and records of the concerned department, The researchers reached a number of results, the most prominent of which was the adoption of high quality leadership leaders and their willingness to implement the standard requirements, The university has a basic structure that qualifies it to implement the international standard, as

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Publication Date
Sun Jun 01 2014
Journal Name
Baghdad Science Journal
Study the Spectral Properties of Coumarine -47 Dissolved in Chloroform: Rafah Abdul Hadi Omer|Mohammed T. Hussian|Lamia Kand Kalif
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The spectral propetties (absorption and fluorescence) of Coumarine-47 laser dye have been studied. This type of laser dye belong the Coumarine family and it has dissolved in chloroform at different concentrations (1x10-5, 5x10-5, and 1x10-4 M) at room temperature. The achieved results have been pointed out to increase in the absorption and fluorescence as the concentration increased which are agreements with Beer – Lambert law. These have been also showed an expansion in the spectral range of absorption and fluorescence with a noticed shift in the direction of longer wavelength (Red-shift) with increasing concentration. The quantum efficiency of the dissolved C47 in chloroform has been computed by using the brevious concentrations

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Publication Date
Tue Oct 30 2018
Journal Name
Acs Omega
Catalytic Hydrogenation of <i>p</i>-Chloronitrobenzene to <i>p</i>-Chloroaniline Mediated by γ-Mo<sub>2</sub>N
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Promoting the production of industrially important aromatic chloroamines over transition-metal nitrides catalysts has emerged as a prominent theme in catalysis. This contribution provides an insight into the reduction mechanism of p-chloronitrobenzene (p-CNB) to p-chloroaniline (p-CAN) over the γ-Mo2N(111) surface by means of density functional theory calculations. The adsorption energies of various molecularly adsorbed modes of p-CNB were computed. Our findings display that, p-CNB prefers to be adsorbed over two distinct adsorption sites, namely, Mo-hollow face-centered cubic (fcc) and N-hollow hexagonal close-packed (hcp) sites with adsorption energies of −32.1 and −38.5 kcal/mol, respectively. We establish that the activation of nit

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Publication Date
Sun Mar 04 2018
Journal Name
Iraqi Journal Of Science
Measurement of the radioactivity in raw materials used in the ceramic industry in AL-Ramadi ceramic factory using (HPGe) detector
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In this research, we have measured specific activity concentrations in five samples for raw materials used in ceramic industry in AL-Ramadi ceramic factory by using (HPGe) detector. The results have shown that, the average specific activity, for 238U, 232Th and 40K are equal to (18.300±6.4 Bq/kg), (17.988±6.1 Bq/kg), (167.952±63.5 Bq/kg), respectively.  In order to assess the radiological hazards of the radioactivity in samples, radium equivalent activity, absorbed gamma dose rate, indoor and outdoor annual effective dose rates, gamma Index and both (external and internal) hazard effects have been calculated. All results were found to be less than the allowed global limit given by (UNSCEAR, 2000).

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Publication Date
Thu Feb 01 2024
Journal Name
Baghdad Science Journal
Mangrove Landscaping As An Adaptation Pattern To Reduce The Impact of Climate Change in Segara Anakan Lagoon, Cilacap Regency Indonesia
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Mangrove landscaping in the Segara Anakan Lagoon (SAL) is an adaptation pattern of mangrove ecosystems to live and grow in unstable areas. This research aimed to develop a mangrove landscape to mitigate the impacts of ocean waves, currents, and inundation due to climate change. The study was conducted in SAL and Cilacap Coast (CC) using the environmental properties and climate change data. The data obtained were analyzed using mapping and trendline analyses. The results showed that mangrove landscaping in Segara Anakan had four zones with Nypa frutican, Rhizophora styllosa, Aegiceras corniculatum, Rhizophora apiculata, Avicennia marina, Sonneratia alba identified as the best adaptation of mangrove species. Climate change give a high impa

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Publication Date
Wed Jun 26 2019
Journal Name
Iraqi Journal Of Science
Assessment the Modulation effect of using Green synthesis ZnO NPs against Multidrug Resistant Klebsiella pneumoniae isolated from respiratory tract infection
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Klebsiella pneumoniae is one of common hospital-acquired bacteria causing nosocomial pneumonia, urinary tract infections, and intra-abdominal infections. The aim of this study is investigating the Modulation effect of Zinc Oxide nanoparticles (ZnO NPs) against multidrug resistant K. pneumonia which was isolated from Respiratory Tract Infections (RTIs). The results of isolation and characterization of bacterial specimens showed that 20.81% of RTIs were Klebsiella pneumoniae. The strongest isolate showed resistant for most usable antibiotics selected. Simultaneously, ZnO NPs were produced by an aqueous extract of Green Tea leaves as a reducing and stabilizer agent. The Ultraviolet-Visible (UV-Vis) spectrum was indicated a successful produc

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Publication Date
Tue Jul 01 2014
Journal Name
Political Sciences Journal
Article International attitudes to change in the Arab countries in the positions of analytical Read (United States, European Union, Russia)
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المواقف افي الدول العربية قراءة تحليلية في مواقف لدولية من التغيير (الولايات المتحدة - الاتحاد الاوروبي - روسيا)

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Publication Date
Mon Jun 20 2022
Journal Name
Bulletin Of The Iraq Natural History Museum (p-issn: 1017-8678 , E-issn: 2311-9799)
DESCRIPTION OF THE PREDATOR BUSH CRICKET, SAGA EPHIPPIGERA FISCHER VON WALDHEIM, 1846 (ORTHOPTERA, TETTIGONIIDAE) FROM ERBIL PROVINCE, KURDISTAN REGION- IRAQ
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The predatory bush crickets Saga ephippigera Fischer Von Waldheim, 1846 is the largest Iraqi orthopterans and one of the most active and successful predators in the Kurdistan region. The nymphs and adults prey on all the stages of various species of insects. Twelve adult specimens were collected from Erbil Province during May 2018 and June 2021. Morphological structures of the adult insects were described and illustrated in details; important taxonomic characteristics of body regions with their appendages were chosen; and the results indicated the importance of morphological characteristics which confirmed the identification of this species correctly.

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