In this paper, we proposed a hybrid control methodology using improved artificial potential field with modify cat swarm algorithm to path planning of decoupled multi-mobile robot in dynamic environment. The proposed method consists of two phase: in the first phase, Artificial Potential Field method (APF) is used to generate path for each one of robots and avoided static obstacles in environment, and improved this method to solve the local minimum problem by using A* algorithm with B-Spline curve while in the second phase, modify Cat Swarm Algorithm (CSA) is used to control collision that occurs among robots or between robot with movable obstacles by using two behaviour modes: seek mode and track mode. Experimental results show that the p

     In the current study, 2D seismic data in west An-Najaf (WN-36 line) were received after many steps of processing by Oil Exploration Company in 2018. Surface Consistent Amplitude Compensation (SCAC) was applied on the seismic data. The processing sequence in our study started by sorting data in a common mid-point (CMP) gather, in order to apply the velocity analysis using Interactive Velocity Analysis Application (INVA) with Omega system. Semblance of velocity was prepared to preform normal move-out (NMO) vs. Time. Accurate root mean square velocity (V_RMS) was selected, which was controlled by flatness of the primary events. The resultant seismic velocity section for the study area shows that the veloci

سلمان، ندى نجيب. 2015. التباين المكاني السكان الأميين في الوطن العربي للمدة 1990-2009. مجلة آداب ذي قار،مج. 4، ع. 15، ص ص. 101-126.

Visceral Leishmaniasis (VL) is a disseminated protozoan infection caused by Leishmania donovani parasites which affects almost half a million persons annually. Classical diagnosis methods of VL still not very sensitive and time consuming. In this study, we reported the success of polymerase chain reaction (PCR) method to identify L. donovani based on kinetoplast deoxyribonucleic acid (kDNA) for the diagnosis of the parasite using in vitro promastigote cultures. LdI species - specific primer was used to identify L. donovani and the result showed a single band of about ~600bp. It can be recommended that this primer is to be used for detection the visceral L. donovani.

Our research will highlight the most prominent measures taken by international organizations to address the most prominent effects of armed conflict and genocide that result in large numbers of corpses and the mechanisms for searching human remains and identifying identification.

Fungi produce a series of toxic compounds on corn, especially Fumonisin B1 (FB1) toxin produced by Fusarium spp. and promoting cancer activity in humans and animals. This study aimed to the isolation and identification of fungi associated with local corn seeds and the detection for the presence of FB1 by using ELISA technique. Thirty samples of corn ears were collected from silos and markets in Baghdad city during the period from November 2018 to March 2019. The present study found that Fusarium was the dominant isolate among fungi in terms of the relative density 57.07%, followed by Aspergillus 31.17%, Rhizopus 3.36%, Alternaria 2.88%, Mucor 2.16%, Penicillium 1.92%, Trichothecium 0.96%, and Helminthosporium 0.48%. FB1 was detected in a

Electrochemical corrosion of hydroxyapatite (HAP) coated performance depends on various parameters like applied potential, time, thickness and sintering temperature. Thus, the optimum parameters required for the development of stable HAP coatings was found by using electrophoretic deposition (EPD) technique. This study discusses the results obtained from open circuit potential-time measurements (OCP-time), potentiodynamic polarisation and immersion tests for all alloy samples done under varying experimental conditions, so that the optimum coating parameters can be established. The ageing studies of the coated samples were carried out by immersing them in Ringer’s solution for a period of 30 days indicates the importance of stable HAP c

Carbon nanotubes were prepared by an arc-discharge method,
under different values of pressure of oxygen gas. The structure of
multi-walled carbon nanotubes powders has been characterized by
low-angle X-ray diffraction .The morphology of carbon nanotube
powder was examined by transmission electron microscope. The
capacitance-voltage and current- voltage (dark and illumination
current) characterization were measured under different values of
pressure (10-3, 10-4, 10-5) mbar of oxygen gas

Magnetic Resonance Imaging (MRI) is a medical indicative test utilized for taking images of the tissue points of interest of the human body. During image acquisition, MRI images can be damaged by many noise signals such as impulse noise. One reason for this noise may be a sharp or sudden disturbance in the image signal. The removal of impulse noise is one of the real difficulties. As of late, numerous image de-noising methods were produced for removing the impulse noise from images. Comparative analysis of known and modern methods of median filter family is presented in this paper. These filters can be categorized as follows: Standard Median Filter; Adaptive Median Filter; Progressive Switching Median Filter; Noise Adaptive Fuz