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 effect of chronic exposure to two different levels of cadmium chloride (CdCl2) 30 ppb and 40 ppb in drinking water for 12 weeks on thyroid function of mature male rabbits was studied. Eighteen mature male rabbits  were randomly divided into three groups (each of six ) , control group (group I ): were offered ordinary tap water , and treated groups (II and III ) were offered tap water containing 30ppb and 40 ppb respectively for 12 weeks .Serum concentration of  thyroxin (T4 ) and triiodothyronine (T3) were measured every six weeks ,as an index  of  thyroid function , further more ,  section of thyroid gland were prepared for histological studies. The results showed that  chronic exposure of male rabbits

Polymer composites were prepared using epoxy resin (EP) and unsaturated polyester (UPE) as a blend matrices, which were mixed together in different percentages (starting from 90:10) of (epoxy/polyester) respectively, and ending with (50:50) of (epoxy/polyester). The optimum mixing ratio (OMR) of the components was decided upon the results of the impact strength value of these blending ratio, which showed the highest value of (16.3) KJ/m2 for the blending ratio (80:20) of (EP/UPE) respectively.
The blend with (OMR) was chosen to be reinforced with three different weight fractions of reinforcement; the 1st one was reinforced with nano titanium oxide (TiO2) with a weight fraction (2% wt.), the 2nd one was reinforced with both nano (TiO2)

The current study aims to find a new plan to manage the water quality of the western part of the Hammar Marsh to reduce the salts that cause problems for the marshes and preserve their environmental life by isolating the southwestern part of the Hammar Marsh by closing the outlet under the railway embankment. The outlet is discharging saline water to the east-western part of Al Hammar Marsh. After isolating the southwestern part of the marsh, a new outlet is proposed. The impact of the flow hydrodynamics on improving the water quality was simulated using the SMS model. The hydrodynamics and water quality simulation models for the marsh are : a hydrodynamic model and average depth (SMS RMA2) and a two-dimensional water quality model (SMS

The current study investigated the stability and the extraction efficiency of emulsion liquid membrane (ELM) for Abamectin pesticide removal from aqueous solution. The stability was investigated in terms of droplet emulsion size distribution and emulsion breakage percent. The proposed ELM included a mixture of corn oil and kerosene (1:1) as a diluent, Span 80 (sorbitan monooleate) as a surfactant and hydrochloric acid (HCl) as a stripping agent without utilizing a carrier agent. Parameters such as homogenizer speed, surfactant concentration, emulsification time and internal to organic volume ratio (I/O) were evaluated. Results show that the lower droplet size of 0.9 µm and higher stable emulsion in terms of breakage percent of 1.12 % we

Chlorination has been the method of choice for disinfecting water used for drinking purposes. However, some stressed bacteria during chlorination are able to recover and alter the potability of water. This study assessed the recovery of stressed bacteria in dechlorinated water. Ten chlorinated water samples were collected from different points within Ilorin metropolis, Kwara, Nigeria. The samples (100ml) were dechlorinated with 0.1ml of 11.4mM sodium thiosulphate solution. The physicochemical characteristics of the chlorinated water samples were determined while bacteriological analyses were carried out on both chlorinated and dechlorinated water samples. The antibiotic susceptibility pattern of the isolates was determined using disc dif

This work was conducted to study the extraction of eucalyptus oil from natural plants (Eucalyptus camaldulensis leaves) using water distillation method by Clevenger apparatus. The effects of main operating parameters were studied: time to reach equilibrium, temperature (70 to100°C), solvent to solid ratio (4:1 to 8:1 (v/w)), agitation speed (0 to 900 rpm), and particle size (0.5 to 2.5 cm) of the fresh leaves, to find the best processing conditions for achieving maximum oil yield. The results showed that the agitation speed of 900 rpm, temperature 100° C, with solvent to solid ratio 5:1 (v/w) of particle size 0.5 cm for 160 minute give the highest percentage of oil (46.25 wt.%). The extracted oil was examined by HPLC.

    Forty-four  bottles  of drinking water  were collected from the local markets of Basra City and stored in the laboratory refrigerator  at 4ºC until the physical, chemical and biological measurements were carried out. The results showed a discrepancy in the compatibility of the specifications written on the drinking water  bottle  label with the sample measurements as well as the variation in the results with the Iraqi standards for bottled water.  The percentage of bottled water that is not safe for drinking  was 88.5% of the total samples of the study. This value is high and an indication of lack of control over marketing  from the imported or produced in the local labs, s

Trickle irrigation is one of the most conservative irrigation techniques since it implies supplying water directly on the soil through emitters. Emitters dissipate energy of water at the end of the trickle irrigation system and provide water at emission points. The area wetted by an emitter depends upon the discharge of emitter, soil texture, initial soil water content, and soil permeability. The objectives of this research were to predict water distribution profiles through different soils for different conditions and quantify the distribution profiles in terms of main characteristics of soil and emitter. The wetting patterns were simulated at the end of each hour for a total time of application of 12 hrs, emitter disch

      The present work investigates the synthesis of silver nanoparticles (AgNPs) by a biological method using L.Rosa flower extract and silver nitrate as precursors. Optimum conditions of synthesis were studies, such as pH, temperature, concentration of extract, concentration of silver nitrate, and stability with time. Characterization of AgNPs was carried out using UV-visible Spectroscopy, Scanning Electron Microscopy, X-Ray Diffraction, Fourier Transform Infrared and Transmission Electron Microscopy. The biosynthesized AgNPs exhibited inhibitory effects on creatine kinase activity in the sera of patients with myocardial infarction, compared with control subjects. Thermodynamic and kinetic studies of c