This paper discusses an optimal path planning algorithm based on an Adaptive Multi-Objective Particle Swarm Optimization Algorithm (AMOPSO) for two case studies. First case, single robot wants to reach a goal in the static environment that contain two obstacles and two danger source. The second one, is improving the ability for five robots to reach the shortest way. The proposed algorithm solves the optimization problems for the first case by finding the minimum distance from initial to goal position and also ensuring that the generated path has a maximum distance from the danger zones. And for the second case, finding the shortest path for every robot and without any collision between them with the shortest time. In ord

In this paper, membrane-based computing image segmentation, both region-based and edge-based, is proposed for medical images that involve two types of neighborhood relations between pixels. These neighborhood relations—namely, 4-adjacency and 8-adjacency of a membrane computing approach—construct a family of tissue-like P systems for segmenting actual 2D medical images in a constant number of steps; the two types of adjacency were compared using different hardware platforms. The process involves the generation of membrane-based segmentation rules for 2D medical images. The rules are written in the P-Lingua format and appended to the input image for visualization. The findings show that the neighborhood relations between pixels o

The orbital motion and longitude for some Jupiter's satellites (Amaletha, Europa, Ganymede and Callisto) were calculated from two different locations Iraq and Syria. A program was designed, the input parameters were the desired year, month, day and the longitude of the location, the output parameters results were applied in form of a file, and this file includes the longitude, orbital motion, and local time of these satellites. A specific date 1-10-2013 was taken, the results of longitude was (20-336) º and orbital motion was (92-331) º for both Iraq and Syria location with observing time (05:24:14-15:18:10) for Iraq and (04:56:33-14:50:30) for Syria. The difference in time between the two locations was constant (00:45:00), these results

   The petroleum industry, which is one of the pillars of the national economy, has the potential to generate vast wealth and employment possibilities. The transportation of petroleum products is complicated and changeable because of the hazards caused by the corrosion consequences. Hazardous chemical leaks caused by natural disasters may harm the environment, resulting in significant economic losses. It significantly threatens the aim for sustainable development. When a result, determining the likelihood of leakage and the potential for environmental harm, it becomes a top priority for decision-makers as they develop maintenance plans. This study aims to provide an in-depth understanding of the risks associated with oil and gas pipeli

      In this paper, we introduce and study the notation of approximaitly quasi-primary submodules of a unitary left -module  over a commutative ring  with identity. This concept is a generalization of prime and primary submodules, where a proper submodule  of an -module  is called an approximaitly quasi-primary (for short App-qp) submodule of , if , for , , implies that either  or , for some . Many basic properties, examples and characterizations of this concept are introduced.

The financial analysis of the published financial statements is the means that enables businessmen, financial institutions, financial analysts and others to conduct their studies and conclusions to obtain information that helps them in the decision-making process, including decisions related to investment. National in making the decision on the investment activity, for the period from 2012 to 2018, through the information provided by the annual financial statements, by selecting a set of indicators provided by the financial statements, namely (liquidity ratio, activity percentage, profitability ratios) to measure the extent of this ability Indicators in determining their role in making an investment decision.

In this paper, the reliability of the stress-strength model is derived for probability P(Y<X) of a component having its strength X exposed to one independent stress Y, when X and Y are following Gompertz Fréchet distribution with unknown shape parameters and known parameters . Different methods were used to estimate reliability R and Gompertz Fréchet distribution parameters, which are maximum likelihood, least square, weighted least square, regression, and ranked set sampling. Also, a comparison of these estimators was made by a simulation study based on mean square error (MSE) criteria. The comparison confirms that the performance of the maximum likelihood estimator is better than that of the other estimators.

     In this paper, we design a fuzzy neural network to solve fuzzy singularly perturbed Volterra integro-differential equation by using a High Performance Training Algorithm such as the Levenberge-Marqaurdt (TrianLM) and the sigmoid function of the hidden units which is the hyperbolic tangent activation function. A fuzzy trial solution to fuzzy singularly perturbed Volterra integro-differential equation is written as a sum of two components. The first component meets the fuzzy requirements, however, it does not have any fuzzy adjustable parameters. The second component is a feed-forward fuzzy neural network with fuzzy adjustable parameters. The proposed method is compared with the analytical solutions. We find that the proposed meth

The current research aims to identify the impact of the amputated story style in the collection of sixth graders in elementary in the written expression subject.

The researcher, intentionally, chose Al-Ameen primary hybrid school which belongs to the directorate of education in Baghdad / Karkh first.  The number of people of the sixth grade three classes. The researcher chose the two classes randomly to represent one of the experimental group, the number (32) pupils (male and female) have studied the expression subject by the amputated story style. Other control group, the number (32) pupils studied according to the traditional method.

The researcher prepared the lesson plans and presented to the experts, the researc

This study aimed to extract, purify, and characterize the protease of local Okra Abelmoschus esculentus pods. The extraction process was conducted using ten extraction solutions with different pH and ionic strength values. Phosphate buffer solution with (pH 7, 0.05M, containing 2% sodium chloride) gave the highest activity which was (7.2 Unit/ml) as compared to other solutions, which ranged from 0.8-5.9 Unit/ml. The extracted enzyme purified by several stages. Being, precipitation by gradual addition of Ammonium sulphate from 20 to 85% saturation, then the precipitated enzyme was dialyzed and fractionated through DEAE-Cellulose (22X1.1cm), the enzymic fractions were pooled. The specific activity, purification fold and the enzyme yield value