Finding a path solution in a dynamic environment represents a challenge for the robotics researchers, furthermore, it is the main issue for autonomous robots and manipulators since nowadays the world is looking forward to this challenge. The collision free path for robot in an environment with moving obstacles such as different objects, humans, animals or other robots is considered as an actual problem that needs to be solved.  In addition, the local minima and sharp edges are the most common problems in all path planning algorithms. The main objective of this work is to overcome these problems by demonstrating the robot path planning and obstacle avoidance using D star (D*) algorithm based on Particle Swarm Optimization (PSO)

The aim of study to evaluated cinnamic acid and its activity on complete blood count(RBC,WBC,HG,HCV,MCH,MCHC and Plat.)and removed the cytoxan damage which caused bone marrow failure and leukemia and other that due to linked the cytoxan in 7- nitrogen of guanine based of DNA that lead to dead cells. Two concentration from pure cinnamic acid (5.6, 2.8 mg ? mice weight) in first step to choice the perfect concentration in comparison with each negative control ,positive control of cytoxan and the comparison group represent vitamin C. The second step to understand cinnamic acid mechanism activity towards cytoxan by used pre- cytoxan and post – cytoxan in interaction with perfect concentration of cinnamic acid dose (2.8 mg ? mice we

This study is directed at investigating the liquefaction potential within earth dams using numerical modelling by two-dimensional finite element analyses method for considering the Makhool earth dam on the Tigris River in Iraq. The effect of peak ground acceleration of 0.02g, 0.04g, 0.06g, and 0.08g is viewed for a shell, and the crest is presented for all scaled earthquake duration 25 s, 50 s, 75 s, and 100 s. The current study program comprises selecting a representative history point within the Makhool earth dam as a case study. Many points were allocated at different locations within the shell and crest to observe the fluctuation in the factor of safety against liquefaction. The seepage analysis results viewed graphically for the operat

The international standing has an impact on the strategic importance of the country in its relations with other regional and international countries. The strategic position of Taiwan has an impact on the US-Chinese relations, as it is one of the most important issues that raise dispute between the two countries. The while the Chinese consider Taiwan is an ancient legacy of their republic, and an integral part of it, the Americans consider it as an area linking the U.S. to the Asia-Pacific region, through which it intends to help its allies (Japan and South Korea). Moreover, Taiwan has huge economic importance as it is one of the largest manufacturers of electronic chips and semiconductors. This fact represents one of the most important issu

The aim of this study was to increasing natural carotenoides production by a locally isolate Rodotorula mucilagenosa M. by determination of the optimal conditions for growth and production of this agents, for encouragest to use it in food application permute artificial pigments which harmfull for consumer health and envieronmental. The optimal condition of carotenoides production from Rhodotorula mucilaginosa M were studied. The results shows the best carbon and nitrogen source were glucose and yeast extract. The carotenoids a mount production was 47430 microgram ̸ litter and 47460 microgram ̸ litter, respectively, and the optimum temperature was 30°C, PH 6, that the carotenoides a mount was 47470 microgram ̸ litter and 47670 microgr

     Pseudomonas aeruginosa produces an extracellular biofilm matrix that consists of nucleic acids, exopolysaccharides, lipid vesicles, and proteins. Alginate, Psl and Pel are three exopolysaccharides that constitute the main components in biofilm matrix, with many biological functions attributed to them, especially concerning the protection of the bacterial cell from antimicrobial agents and immune responses. A total of 25 gentamicin-resistant P. aeruginosa selected isolates were enrolled in this study. Biofilm development was observed in 96% of the isolates. In addition, the present results clarified the presence of pelA and pslA in all the studied isolates. The expression of these genes was very low. Even though all biof

A pot culture experiment was conducted at the greenhouse of soil and water resources department in College of Agriculture, University of Baghdad in Abo-Ghraib at season 2009-2010 to investigate the effects of using foliar application of some macro and micronutrients in induce antioxidant enzymes in wheat grown under salt stress . Doar85 planted under three levels of salt stress, and three combinations of foliar application were used from nutrients (K+ Ca) at 3000 and 1500 mg.L-1 respectively, and (Fe + Zn + Mn) at 30, 20, and 10 mg.L-1 respectively , and ( K+ Ca) + (Fe+ Zn + Mn). The results showed that increasing levels of sodium chloride in the irrigation of water significantly increased at p<0.05 level SOD and POD activity