Abstract

Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization al

The class of quasi semi -convex functions and pseudo semi -convex functions are presented in this paper by combining the class of -convex functions with the class of quasi semi -convex functions and pseudo semi -convex functions, respectively. Various non-trivial examples are introduced to illustrate the new functions and show their relationships with -convex functions recently introduced in the literature. Different general properties and characteristics of this class of functions are established. In addition, some optimality properties of generalized non-linear optimization problems are discussed. In this generalized optimization problems, we used, as the objective function, quasi semi -convex (respectively, strictly quasi semi -convex

يعود الأرشيف إلى تورام ايلي التاجر والذي عرف في النصوص أيضا بوكيل التجار(ugula-dam-gàr)، في دوره هذا له سلطة بين التجار في مجتمعه(مجتمع التجار)، يذكر(Garfinkle) أن التجار غالبا ما اكتسبوا ألقابهم عن طريق الوراثة ذلك قد يمنح التجار حق الدخول إلى حسابات المؤسسات العامة. كان تورام ايلي تاجرا نشيطا في أعمال قروض الفضة في أواخر عهود سلالة أور الثالثة(3)، لمدة (ثمان عشرة) سنة أعتبارا من السنة الرابعة من حكم الملك أمارسن وحتى ا

The research included studying a group of eight cuneiform texts dating back to the Old Babylonian era, specifically to the reign of King Larsa Rim-Sin, which were identified through studying the historical versions of these texts. These texts are confiscated, i.e. texts of unknown location, because they did not come through excavations, but rather came to the Iraqi Museum either by people who obtained them through digging, or stolen and smuggled texts that are retrieved by the General Authority for Antiquities; as is the case with our texts that were found smuggled to Jordan and were retrieved by the General Authority for Antiquities.

تعد النصوص المسمارية من اهم الوثائق التي رفدتنا بمعلومات غزيرة عن واقع الحياة اليومية في العصر البابلي القديم المتميز بتطور النشاط الاقتصادي فيه وازدهاره. وتضمن هذا البحث دراسة وتحليل لخمسة نصوص مسمارية اقتصادية غير منشورة وهي من نصوص المتحف العراقي (المصادرة) المجهولة الموقع والمصدر وهي ذات مضامين اقتصادية , ولم نستطع اثبات عائدية النصوص وذلك لانها لاتحمل صيغ تاريخية تشير الى عائدتيها باستثناء النص الا

A substantial portion of today’s multimedia data exists in the form of unstructured text. However, the unstructured nature of text poses a significant task in meeting users’ information requirements. Text classification (TC) has been extensively employed in text mining to facilitate multimedia data processing. However, accurately categorizing texts becomes challenging due to the increasing presence of non-informative features within the corpus. Several reviews on TC, encompassing various feature selection (FS) approaches to eliminate non-informative features, have been previously published. However, these reviews do not adequately cover the recently explored approaches to TC problem-solving utilizing FS, such as optimization techniques.

Background: To elucidate the possible role of human cytomegalovirus in pregnancy loss through induction of certain pro-inflammatory adhesion molecules.
Methods: Paraffin embedded sections of curate samples were obtained from 34 women had spontaneous abortion, and 5 women had elective termination of pregnancy (as control), and then subjected for immunohistochemistry analysis to detect human cytomegalovirus (HCMV) early protein and VCAM-1 molecule.
Results: Nine out of 34 women with spontaneous abortion were positive for HCMV early protein, with a
significantly higher expression of VCAM-1 in HCMV positive cases as compared with HCMV negative and the control groups (p = 0.05, 0.001 respectively).
Conclusion: HCMV infection may p

After the fall of the Third Dynasty of Ur at the hands of the Elamites during the reign of its last ruler, King Ibi-Sin, the Amorites continued to flow more into Mesopotamia in the form of large migrations that established a number of contemporary and conflicting ruling dynasties that formed the Old Babylonian era. Among these dynasties was the Larsa dynasty, founded by King Nablanum in the city of Larsa. The fourth king who ruled in the Larsa dynasty, Gungunum, was one of the most powerful kings who stood up to the Isin dynasty, which had until that time enjoyed great political superiority in the country. The kings who ruled after him expanded their influence and controlled a number of cities, especially the cities of Nippur and Uruk, whic