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 proposed method success to find a complete, optimal, and collision free path for all robot.
Gas Chromatography GC, Gas Chromatography–Mass spectrometry GC/MS techniques used for analysis of the crude oils that taken from (10) producing wells in Nasiriyah oil field including (NS-1, NS-3, NS-4, NS-5, NS-6, NS-7, NS-8, NS-9, NS-10, and NS-12) from Mishrif reservoir . This reservoir is one of the important reservoirs in Al-Nasiriyah oil field, and it will be the main subject in the current study in order to provide information of crude oil analysis in this area, also to provide information on its characterizations. Mishrif Formation is one of the principle carbonate reservoir in central and southern Iraq. It is part of the wasia group and widespread throughout the Arabian gulf, It is deposited during Cenomanian-Early Turonian cyc
... Show MoreAutoimmune hepatitis is an inflammatory disease and its incidence has been increasing. The features of hepatitis are the release of inflammatory cytokines, the elevation of AST and ALT, and hepatocyte apoptosis and necrosis. Concanavalin A considered as essential model represents the acute immune-mediated liver damage in rodents. Thymoquinone is well known herbal compound that exert hepatoprotective, anti-inflammatory, and antioxidant activity. In this study, we focus on the immunoregulatory and liver protective effect of thymoquinone in a mouse model of concanavalin A-induced liver injury.
Twenty-four male mice were randomly divided into four groups each containing six animals: Negative control group, concanavalin A model group,
... Show MoreSelexipag is an orally selective long-acting prostacyclin receptor agonist, which indicated for the treatment of pulmonary arterial hypertension. It is practically insoluble in water ( class II, according to BCS). This work aims to prepare and optimized Selexipag nanosuspensions to achieve an enhancement in the in vitro dissolution rate. The solvent antisolvent precipitation method was used for the production of nanosuspension, and the effect of formulation parameters (stabilizer type, drug: stabilizer ratio, and use of co-stabilizer) and process parameter (stirring speed) on the particle size and polydispersity index were studied. SLPNS prepared with Soluplus® as amain stabilizer (F15) showed the smallest particle size 47nm wi
... Show MoreThe Yamama Formation was studied in three wells (Fh-1, Fh-2, and Fh-3) within Faihaa oil field, south Iraq. Thin sections were studied by using the polarizing microscope examination in order to determine microfossils and biozone. Thirty-five species of benthic foraminifera were recognized, including four index species. In addition, twelve species of calcareous green algae were recognized, including two index species. Other fossils that were recognized in Yamama Formation include Gastropoda, Bryozoa, Coral, Rudist, and Pelecypoda.
Six biozones were observed, which are Charentia cuvillieri sp. (Range Zone of Berriasian age), Psudochryalidina infracretacea
... Show MoreThis study includes isolation, purification, and identification of algae from the canal around Baghdad university Al-jadriah. Four unialgal cultures were obtained. These algal cultures included 3 species of cyanophyta ( Nostoc carneum, Westillopesis prolifica, Chroococcus turgidus), 1 species of chlorophyta (Chlorella vulgaris) . Different plants belonging to different families were collected and extracted for their oils which were Ricinus communis and Sesamum indicum (seeds), Matricaria chamomilla (flowers) .However, antialgal activity of the extracted oils were evaluated the isolated algae with 7 concentrations (0.09, 0.3, 0.5, 1, 10, 20 , 30) % using the agar wells diffusion method. Results showed that R. communis oil was more effecti
... Show MoreThe research aims to determine the strength of the relationship between time management and work pressure and administrative leadership, where he was taken a sample of (47) of the administrative leadership at the Higher Institute of security and administrative development in the Ministry of Interior was used questionnaire as a key tool in collecting data and information and analyzed the answers to the sample surveyed by using Statistical program (spss) in the arithmetic mean of the calculation and test (t) and the correlation coefficient, the research found the most important results: the existence of significant moral positive relationship between both time management and work pressure and administrative leadership, the leadership of th
... Show MoreFifty celiac disease (CD) patients (21 males and 29 females) with an age range of 2-35 years and 25 apparently healthy controls were investigated for 10 autoantibodies (anti-tissue transglutaminase IgA antibody; ATA, anti-tissue transglutaminase IgG antibody; ATG, anti-gliadine IgA antibody; AGA, anti-gliadine IgG antibody; AGG, anti-nuclear antibody; ANA, anti-double strand DNA antibody; AdsDNA, anti-thyroid peroxidase antibody; ATP, anti-phospholipid antibody; APP, anti-myeloperoxidase antibody; AMP and anti-proteinase 3 antibody; AP3) in their sera. Six autoantibodies (ATA, ATG, AGA, AGG, AMP and AP3) showed significant variations between CD patients and controls. The first four antibodies were not detected in sera of controls, while
... Show MoreThe research aims to evaluate the direct deduction department’s procedures for the process of collecting income tax using the direct deduction method for state departments and the public sector in light of direct deduction tax instructions No. (1) of 2007 and Income Tax Law No. (113) of 1982 (amended) through Giving a clear idea of the reality of tax collection procedures because this type of tax is one of great importance because it contributes to the provision of financial revenues to the state to finance its expenses and direct the economy towards achieving its social, economic and political goals. The researcher makes comparisons between the procedures of the General Tax Authority in collecting the tax and what was approved b
... Show MoreWe have studied the effect of applying an external magnetic field on the characteristics of iron oxide (IO) nanoparticles (NPs) synthesized by pulsed laser ablation in dimethylformamide (DMF). The NPs synthesized with and without applying of magnetic field were characterized by Fourier transformation infrared spectroscopy (FT-IR), UV–Vis absorption, scanning electron microscope (SEM), atomic force microscope (AFM), and X-ray diffraction (XRD). SEM results confirmed that the particle size was decreased after applying magnetic field.
Abstract
The research aims to investigate the private sector attitudes toward operational contracting in special education schools. The research adopted the qualitative approach by using personal interviews with a sample of (45) private school owners and managers in Oman. The results of the research revealed that there is an agreement among the majority of respondents on the ability of the private sector to manage special education schools, the advantages of the partnership, as well as the need for guarantees to support this partnership. The government should fully assume it. The role of the private sector remains to raise the operational efficiency of schools. Opinions vary about the level of powers granted to t
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