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Simulation of Obstacle Avoidance for Auto Guided Land Vehicle

This research is concerned with designing and simulating an auto control system for a car provided with obstacle avoidance sensors. This car is able to pass through predefined path an around the detected obstacles, and then come back to the intended path. The IR sensor detects the existence of the obstacle through an assumed range of detection, while the visual sensor (camera) feeds back an image including the path that contains  an obstacle, which can be useful for determining the obstacle's length, speed, and direction. According to such information, the controller creates transient away point along the longitudinal axis of the obstacle which is the same as the transverse axis of the simulator path at an assumed distance from the obstacle. The robotic car will direct toward the transient point for avoiding the obstacle, which directly comeback into the original rout once when reaching the transient point. This strategy enables the car to move far away from the obstacle and then return it into planned path.

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Publication Date
Sun Jul 02 2023
Journal Name
Iraqi Journal Of Science
Histological Study on the Effect of Ampiroxicam Drug on liver of Females Mice

Thirty females' albino mice with average body weight of 25-30gm and 10-14 weeks old were used to investigate the toxicity of the oral administration of ampiroxicam on liver. The animals were given (single dose) of drug and were divided into three groups (10mice / group), control group were given distilled water, the two remaining groups ( treated group2 were administered by 20 mg/kg of ampiroxicam for one month and treated group3 were administrated by20 mg/kg of ampiroxicam for tow month). The results showed that the changes in of tissue of liver in treated animals include: degeneration of hepatocyte and hepatic sinusoidal dilation, also lymphocyte infiltration, necrosis, dead cell, detachment of basement membranes and hypertrophy while

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Publication Date
Sun Jun 04 2017
Journal Name
Baghdad Science Journal
Texture Analysis of smear of Leukemia Blood Cells after Exposing to Cold Plasma

Plasma physics and digital image processing technique (DIPT) were utilized in this research to show the effect of the cold plasma (plasma needle) on blood cells. The second order statistical features were used to study this effect. Different samples were used to reach the aim of this paper; the patients have leukemia and their leukocytes number was abnormal. By studying the results of statistical features (mean, variance, energy and entropy), it is concluded that the blood cells of the sample showed a good response to the cold plasma.

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Publication Date
Mon Mar 15 2021
Journal Name
Al-academy
Manifestations of Selfhood and Otherness in Indian Schools of Photography: رشا اكرم موسى

The current research addressed (the manifestations of selfhood and otherness in Indian schools of photography) through studying the concept of selfhood and otherness and their manifestations in Indian miniatures scenes for the period (1625-1790). The researcher, in the first chapter, sought to clarify the research problem, importance, and the need for it, in addition to the objective of the study represented by the following: "how did selfhood and otherness manifest in the Indian schools of photography?". The researcher, then, concluded the aforementioned chapter by defining the terms that have direct relation to the title and the objectives of the research. As for the second chapter, it consists of an overview for the theoretical framew

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Publication Date
Wed Jun 27 2018
Journal Name
Iraqi Journal Of Science
The Impact of the Extreme Air Temperatures on the Characteristics of Iraq Weather

     Air Temperature is mainly affect the condition of temporal and spatial weather. This influence may be very high on some weather variables such as pressure, humidity and winds, also the Extreme of these variables can be considered as an indicator of the impact and intensity of the pressure systems. The data of the European Centre for Medium-Range Weather Forecasts (ECMWF) during the summer months (June, July and August) of the period (2006 - 2017) were used to extract the Extreme ​​of Daily Maximum Temperatures (EDMT) for four stations in Iraq (Baghdad, Basra, Khanaqin and AL-Rutba). The results that the number of extreme cases characteristics is nine, one of which is the beginning of the season, and the other

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Publication Date
Sun Oct 03 2010
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Effect of infection on semen parameters in a sample of Iraqi infertile males.

Background: Several studies were carried out on association of infection with male infertility, which revealed great variations in the prevalence of genital infection in different parts of the world. This work was designed to study the effect of infection on semen parameters in a sample of Iraqi infertile males.
Methods: A sample of 400 infertile male patients attending the High Institute for Embryo Research and Infertility Treatment for laboratory investigations and treatment were selected. This study was carried out during the period Nov. 2002 to April 2003, inclusive. Seminal fluid analysis was performed on samples obtained by masturbation into a glass container after 48 to 72 hours from of abstinence from&

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Publication Date
Thu Sep 01 2016
Journal Name
Journal Of Engineering
Effect of Lime Addition Methods on Performance Related Properties of Asphalt Concrete Mixture

In the recent years, some of the newly constructed asphalt concrete pavements in Baghdad as well as other cities across Iraq showed premature failures with consequential negative impact on both roadway safety and economy. Frequently, load associated mode of failure (rutting and fatigue) as well as, occasionally, moisture damage in some poorly drained sections are the main failure types found in those newly constructed road.

In this research, hydrated lime was introduced into asphalt concrete mixtures of wearing course in two methods. The first one was the addition of dry lime on dry aggregate and the second one was the addition of dry lime on saturated surface dry aggregate moisturized by 2.0 to 3.0 percent of wa

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Publication Date
Wed Jul 31 2019
Journal Name
Journal Of Engineering
Experimental Investigation of Vibration Stress Relief of A106 Steel Pipe T-Welded Fittings

This research examines the use of vibratory treatments to reduce residual stresses in small welded parts. In this experimental investigation, a post weld vibration treatment was applied to T- A106 steel pipe fitting specimens to study the effect of the treatment on the residual stress and the hardness of the material. The vibratory stress relief treatment was carried out at different vibration frequency. The results have demonstrated that post-weld vibratory stress relief of small size fittings is possible and residual stress may be relieved, and the treatment may be an alternative method for heat treatment especially when unchange in dimensions and material stability are required.

 

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Publication Date
Sun Mar 07 2010
Journal Name
Baghdad Science Journal
Impact of maternal risk factors on the outcome of pregnancy in Baghdad city

To find out the impact of maternal risk factors on the outcome of pregnancy in Baghdad city. A descriptive purposive study was carried out on 100 postpartum women who had delivered for 1 hr. to 24 hrs. ago . the study sample was selected from three hospitals in Baghdad city ( Baghdad teaching hospital ,Fatima Al-Zahra'a maternity and pediatric teaching hospital and Al-Yarmook teaching hospital),during the period from 25 Jan. to 25 Feb. 2006. The data were collected through the use of questionnaire format reviewing pregnants' records and personal interview and were analyzed by using descriptive and inferential statistical approaches. The finding revealed that maternal pregnancy complications had weak effects on pregnancy outcome , while mate

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Publication Date
Thu Jun 15 2017
Journal Name
Journal Of Baghdad College Of Dentistry
Evaluation Of Stainless Steel Intermaxillary Fixation Screws In Treatment Of Favorable Mandibular Fractures

Background: Numerous methods have been described for achievement of Intermaxillary fixation in the treatment of fractures of facial skeleton. Conventional methods like Erich arch bars and eyelet wires are currently the most common methods for achieving intermaxillary fixation (IMF), however, they have their own disadvantages. Since 1989, IMF using intraoral self-tapping IMF screws has been introduced for treatment of mandibular fractures. The aim of this study was to evaluate the efficacy, advantages, disadvantages and potential complications associated with using of self-tapping IMF screws in the treatment of mandibular fractures. Material and Methods: Twenty patients with favorable mandibular fractures, attended to Oral and Maxillofacial

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Publication Date
Fri Jun 30 2023
Journal Name
College Of Islamic Sciences
The artistic image of flowers in the poetry of Abi Waki` al-Tanisi

 

Man was closely associated with nature in its various forms, as it represented the incubator for him in all areas of his life, so writers often made it a material for their literature and a fertile ground for their productions, so it appeared in its various forms and man’s need for it, its good and its bad in literature throughout history, and the Arabs are like Other nations, since the pre-Islamic era, nature was an important outlet and a refuge for poets in the production and creativity of literature and to this day, and when we talk about a poet from the Fatimid state, we find that nature - especially spring and its flowers - in that period took its take from literature and represented a phenomenon for many Among the

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