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Self-Localization of Guide Robots Through Image Classification
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The field of autonomous robotic systems has advanced tremendously in the last few years, allowing them to perform complicated tasks in various contexts. One of the most important and useful applications of guide robots is the support of the blind. The successful implementation of this study requires a more accurate and powerful self-localization system for guide robots in indoor environments. This paper proposes a self-localization system for guide robots.  To successfully implement this study, images were collected from the perspective of a robot inside a room, and a deep learning system such as a convolutional neural network (CNN) was used. An image-based self-localization guide robot image-classification system delivers a more accurate solution for indoor robot navigation. The more accurate solution of the guide robotic system opens a new window of the self-localization system and solves the more complex problem of indoor robot navigation. It makes a reliable interface between humans and robots. This study successfully demonstrated how a robot finds its initial position inside a room. A deep learning system, such as a convolutional neural network, trains the self-localization system as an image classification problem.  The robot was placed inside the room to collect images using a panoramic camera. Two datasets were created from the room images based on the height above and below the chest. The above-mentioned method achieved a localization accuracy of 98.98%.

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Publication Date
Wed Jan 01 2014
Journal Name
Journal Of Oral And Dental Research
Ameloblastic Carcinoma of Mandible : A Case Report
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Ameloblastic carcinoma is a rare malignant odontogenic tumor that is further classified into being primary or secondary arising from a preexisting benign ameloblastoma. It affects the mandible in two thirds of the patients. there is no standard treatment protocol for this lesion but radical surgical excision with or without radiotherapy is reported in the majority of cases. In this paper we present a case of a 60 year old female diagnosed with ameloblastic carcinoma of the mandible that was treated by radical resection of the mandible with selective neck dissection and postoperative radiotherapy.

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Publication Date
Sat Dec 30 2023
Journal Name
Gsc Biological And Pharmaceutical Sciences
Checklist of insects- borne diseases in Iraq
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This study presents an updated checklist of the dipteran-borne diseases in Iraq, together with their original name combinations and synonyms. According to this checklist, 152 species, 40 genera within 14 families. Furthermore, minor corrections were applied to some authors’ names and years of publication.

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Publication Date
Thu Apr 01 2021
Journal Name
Iop Conference Series: Earth And Environmental Science
Theoretical structure of Eco-cities: subject review
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Abstract<p>Given the importance of ecology and its entry into various fields in general and the urban environment particularly; ecological cities take wide ranges of application at multiple regional and global levels. However, it repeatedly noted that there was a state of cognitive confusion and overlapping in the term ecology comes from the diversity of implementation within several disciplines. Architects, designers, and planners have instilled biological development directly into the formal principles as well as the social structures of the ecological cities. Therefore, the research presents a rapid review of the most relevant areas that dealt with the ecological cities by research and analys</p> ... Show More
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Publication Date
Thu Feb 23 2023
Journal Name
Chalcogenide Letters
Fabrication and evaluation of CuAlSe2/Si photodetector
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In this work, we have examined the spectral response of (p-CuAlSe2/n-Si) detector, (CAS) thin films deposited by thermal evaporation at RT with a thickness (450) nm, and annealing temperature at (473K) for 2 h. Optical transmission measurements displayed reasonably slight transmission besides higher absorbance trendy the visible region, energy gaps were observed by annealing, were found to be direct, and decreased with the effect of annealing. The extreme responsivity value arises at wavelength 459 nm, with improvement value of specific detectivity and quantum efficiency the annealing films be situated originate as greatest suitable aimed at numerous device application.

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Publication Date
Sun Dec 30 2012
Journal Name
Al-kindy College Medical Journal
Validety of total laryngectomy Under local anaesthesia
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BackgroundCarcinoma of the larynx represent 10% of head & neck malignancies. The treatment of advanced carcinoma of larynx may include partial or total laryngectomy, with or without laser , radiotherapy,and or chemotherapy . Carcinoma of the larynx usually affect old age , heavy smoker with possible risk of pulmonary diseases & ischemic heart disease , which add risk to the general anaesthetic complication operative & postoperative - Objectives this study was designed to assess the feasibility of total laryngectomy under local anaesthesia in medically unfit patients for general anaesthesia & to re-establish practice doing total laryngectomy under local anaesthesia in those patients.
Methods a prospective study on 12 pa

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Publication Date
Sat Jun 30 2007
Journal Name
Al-kindy College Medical Journal
Microbiological Study of Male ’ s Urethral Discharge
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Objective: To evaluate male patients complaining of
urethritis clinically according to the isolated organisms.
Method: A total of 100 male patients attending to of
Dermatological and Venereal private clinics for the period
April 2003 to November 2003 were included in the study.
Urethral swab was obtained from each male for culture and
direct immunofluorescence examination was done.
Demographic data was obtained, also.
Results: N. gonorrhoea was the predominate cause of
infection in 22%. A peak of infection was reported in the
second decade of age. Highest rate reported among single
males. A significant association was noticed between
profuse discharge and infection with gonorrhoea.
Conclusion: This

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Publication Date
Mon Jul 10 2023
Journal Name
Journal Of Engineering
Quality-Cost Analysis of Gasoline Production Process
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Process capability provides a quantitative measure for gasoline production conformance to specifications.It was measured throughout four consecutive months of the last quarter of 2011. Results revealed high percentages (up to 44%) of non conforming gasoline blends to Iraqi marketing specifications for petroleum products (2000) by inspecting 122 different samples of Iraqi regular gasoline (RON 85).
Quality cost analysis as an important financial control tool was carried out to evaluate Cost of Quality (COQ) which was large due to non conforming gasoline reached up to (722.8 M.ID) in October. In this research COQ was investigated in order to identify the opportunities of gasoline quality improvements through production process. Also cus

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Publication Date
Sun Dec 12 2021
Journal Name
Turkish Journal Of Physiotherapy And Rehabilitation
The Development of the US Federal System
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Geographical, economic, historical, environmental and security factors play a role in strengthening the drive towards union, as well as addressing the need to express regional and federal identity. This is a clear example of this tendency. One legal or one political system with the parts of this united personality retaining their privacy and identity, and there is a delegation to the central entity of the union with some of the common powers while retaining some powers for these parts or states, which means the availability of autonomy for the constituent states of the union and this is the most important characteristic of the federal states or federations It is the autonomy of each state or country participating in the union. Accordingly,

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Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
The Dynamics of Four-Species Ecological Model
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In this paper, a four species mathematical models involving different types of ecological interactions is proposed and analyzed. Holling type – II functional response is a doubted to describes the behavior of predation. The existence, uniqueness and boundedness of the solution are discussed. The existences and the stability analysis of all possible equilibrium points are studied. suitable Lyapunov functions are used to study the global dynamics of the system. Numerical simulations are also carried out to investigate the influence of certain parameters on the dynamical behavior of the model, to support the analytical results of the model.

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Publication Date
Wed May 31 2017
Journal Name
Journal Of Engineering
Stabilization of Clay Soil Using Tyre Ash
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The planning, designing, construction of excavations and foundations in soft to very soft clay soils are always difficult. They are problematic soil that caused trouble for the structures built on them because of the low shear strength, high water content, and high compressibility. This work investigates the geotechnical behavior of soft clay by using tyre ash material burnt in air. The investigation contains the following tests: physical tests, chemical tests, consolidation test, Compaction tests, shear test, California Bearing Ratio test CBR, and model tests. These tests were done on soil samples prepared from soft clay soil; tyre ash was used in four percentages (2, 4, 6, and 8%). The results of the tests were; The soil samples which

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