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.
The use of antibiotics (AB) in surgery focused in either treating established infection or to prevent suspected post-operative infection. Inappropriate use of antibiotic for treatment of patients with common infections is a major problem worldwide, with great implications with regards to cost of treatment and development of resistance to the antimicrobial agent. Moreover, antibiotics may often be dispensed without a clear clinical indication. This study was conducted to estimate the medication errors in using antibiotic for surgery patients which may effect their wound healing. A 260 patients with clean-contaminated and contaminated surgery were included from two teaching hospitals, 160 patient from Medical city hospital and 100 from Al-
... Show MoreMultiphase flow is a very common phenomenon in oil wells. Several correlation models, either analytical or experimental, have been investigated by various studies to investigate this phenomenon. However, no single correlation model was found to produce good results in all flow conditions. 14 models available on the Prosper software were selected for the purpose of calculating the pressure gradient inside wells within a range of different flow conditions. The pressure gradient was calculated using Prosper software, then compared with the measured gradient based on the production log test (PLT) data. This study was conducted on 31 wells from five different oil fields (Kirkuk, Jambur, Bai-Hassan, Al-Ahdab, and Rumaila). It is worth noting t
... Show MoreIn this study, A 320 clinical specimens were collected
fromIntensiveCareUnits, Surgery and burn units in educational Ramadi
hospital. The enrichment and isolation of A. baumannii from collected
specimens led to isolate 30 bacterial strains from 337 bacterial isolates with
rate (8.9%), which similar in morphology for that standard strains. The rate
of A. baumannii isolated from burn specimens was 80%, the wound specimens (13.33%), and sputum (6.67% The study detect resistance of A.
baumanniifor different antibiotics, All isolates showed multidrug resistant,
the isolates was 100% resistant for Ampicillin, Cefazolin, Cefotaxime,
Cloxacillin, Colistin and Trimethoprim, as showed high resistance to
carbapenems reach
A Strength Pareto Evolutionary Algorithm 2 (SPEA 2) approach for solving the multi-objective Environmental / Economic Power Dispatch (EEPD) problem is presented in this paper. In the past fuel cost consumption minimization was the aim (a single objective function) of economic power dispatch problem. Since the clean air act amendments have been applied to reduce SO2 and NOX emissions from power plants, the utilities change their strategies in order to reduce pollution and atmospheric emission as well, adding emission minimization as other objective function made economic power dispatch (EPD) a multi-objective problem having conflicting objectives. SPEA2 is the improved version of SPEA with better fitness assignment, density estimation, an
... Show MoreWitnessing the global arena many changes in the political, economic, social, scientific and technological have left their mark on the world as a whole, these changes require necessarily Advancement of the profession of auditing, and improve their performance, especially after the mixer skepticism the health of approach and the method followed by a check in the major audit firms global view as for the external audit of an active role in providing services to members of the community in various sectors, were to be provide these services to the highest level of quality.To ensure the quality of the audit process to be a proper planning is based on a scientific basis to be the substrate a strong underlying different audit works, and if planni
... Show MoreAccelerates operating managements in the facilities contemporary business environment toward redefining processes and strategies that you need to perform tasks of guaranteeing them continue in an environment performance dominated by economic globalization and the circumstances of uncertainty attempt the creation of a new structure through multiple pages seek to improve profitability and sustainable growth in performance in a climatefocuses on the development of institutional processes, reduce costs and achieve customer satisfaction to meet their demands and expectations are constantly changing. The research was presented structural matrix performance combines methodology Alsigma in order to improve customer satisfaction significantly bet
... Show MoreAt the local level in the early 1990s first established an Islamic bank 1993 is called Iraqi Islamic bank and was established by Dr. abdullatef hmim and with capital of 200 Million Iraqi dinars .
After 2003 began the attention of Iraqis tend to create Islamic banks until now up to 30 banks in the present , He confirmed Mr. Governor of the Iraqi Central Bank recently that there is more than 40 iintroduction licence to establish an Islamic bank in Iraq , That banking activity which is compatible with Sharia law widely welcomed by savers and those in need for more development and modernization in order to gain a greater share within the Iraqi market , and allowed the Iraqi Central Bank in recent years
... Show MoreCo(II) ion was determined by a new, accurate, sensitive and rapid method via a
continuous flow injection analysis (CFIA) with a chemiluminescence reaction based on
the oxidation of Luminol which is loaded on poly acrylic acid gel beads by hydrogen
peroxide in presence of Cobalt (II) ion as a chemiluminescence catalyst. Chemical and
physical parameters were investigated to obtain the best conditions. Linear dynamic
range of Cobalt (II) ion was from 0.1-20.0 μg.ml-1 with a correlation coefficient r =
0.9758, limit of detection (L.O.D) 0.2 ng/sample from the step wise dilution of lowest
concentration in the calibration graph with the percentage relative standard deviation for
3 μg.ml-1 Co(ll) solution is 0.8537% (n
Until recently, researchers have utilized and applied various techniques for intrusion detection system (IDS), including DNA encoding and clustering that are widely used for this purpose. In addition to the other two major techniques for detection are anomaly and misuse detection, where anomaly detection is done based on user behavior, while misuse detection is done based on known attacks signatures. However, both techniques have some drawbacks, such as a high false alarm rate. Therefore, hybrid IDS takes advantage of combining the strength of both techniques to overcome their limitations. In this paper, a hybrid IDS is proposed based on the DNA encoding and clustering method. The proposed DNA encoding is done based on the UNSW-NB15
... Show MoreIn this study, multi-objective optimization of nanofluid aluminum oxide in a mixture of water and ethylene glycol (40:60) is studied. In order to reduce viscosity and increase thermal conductivity of nanofluids, NSGA-II algorithm is used to alter the temperature and volume fraction of nanoparticles. Neural network modeling of experimental data is used to obtain the values of viscosity and thermal conductivity on temperature and volume fraction of nanoparticles. In order to evaluate the optimization objective functions, neural network optimization is connected to NSGA-II algorithm and at any time assessment of the fitness function, the neural network model is called. Finally, Pareto Front and the corresponding optimum points are provided and
... Show More