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.
An increasing interest is emerging in identifying natural products to overcome drug resistance in cancer patients. In this context, the present study was conducted to investigate the cytotoxic effects of neem plant (Azadirachta indica) oil in three different biological models (breast cancer cell lines, Allium cepa root tip, and mice vital organs). The cytotoxic potential of the neem oil was evaluated with two human cell lines (MCF7 and MDA-MB231) and an Allum cepa root tip bioassay. Histopathological analysis was conducted on the neem oil-treated and untreated control mice. The results revealed an anti-proliferative effect for neem oil on both estrogen receptor-positive (MCF7) and estrogen receptor-negative (MDA-MB231) breast cancer cell li
... Show MoreForty one isolates of genus Proteus were collected from 140 clinical specimens such as urine, stool, wound, burn, and ear swabs from patients of both sex. These isolates were identified to three Proteus spp. P. mirabilis, P. vulgaris and P. penneri .The ability of these bacteria to produce L-asparaginase II by using semi quantitative and quantitative methods was determined. P. vulgaris Pv.U.92 was distinguished for high level of L-asparaginase II production with specific activity 1.97 U/mg. Optimum conditions for enzyme production were determined; D medium with 0.3% of L-asparagine at pH 7.5 with temperature degree 35°C for incubation. Ultrasonication was used to destroy the P. vulgaris Pv.U.92 cells then ASNase II was extracted and pu
... Show MoreGlutathione-S-transferases (GSTs) play a role in the detoxification of environmental chemicals and mutagens, such as those inhaled during tobacco smoking. There have been conflicting reports concerning GST polymorphisms as risk factors in the development of lung cancer. No studies focused on Arab populations exposed to Waterpipe (WP) tobacco smoke have been undertaken. Here Polymerase Chain Reaction-Restriction Fragment Length Polymorphism (PCR-RFLP) and gene sequenc- ing were applied to analyze allelic variations in GSTP1-rs1695 and -rs1138272 amongst 123 lung cancer patients and 129 controls. The data suggest that WP smoking raised the risk of lung cancer more than three-fold (OR 3.6; 95% CI 2.1–6.0; p < 0.0001). However, there was no s
... Show MoreLet be a right module over a ring with identity. The semisecond submodules are studied in this paper. A nonzero submodule of is called semisecond if for each . More information and characterizations about this concept is provided in our work.
High Q-factor based on absorption can be achieved by tuning (the reflection and the transition percentage). In this work, the simple design and simulated in S-band have been investigated. The simulation results of G-shape resonator are shown triple band of absorption peaks 60%, 91.5%, and 70.3%) at resonance frequency 2.7 GHz, 3.26 GHz, and 4.05 GHz respectively. The results exhibited very high of the Q-factor ( 271 ) at resonance frequency ( 3.26 GHz ). The high Q-factor can be used to enhance the sensor sensing, narrowband band filter and image sensing.
A submodule N of a module M is said to be s-essential if it has nonzero intersection with any nonzero small submodule in M. In this article, we introduce and study a class of modules in which all its nonzero endomorphisms have non-s-essential kernels, named, strongly -nonsigular. We investigate some properties of strongly -nonsigular modules. Direct summand, direct sums and some connections of such modules are discussed.
The Log-Logistic distribution is one of the important statistical distributions as it can be applied in many fields and biological experiments and other experiments, and its importance comes from the importance of determining the survival function of those experiments. The research will be summarized in making a comparison between the method of maximum likelihood and the method of least squares and the method of weighted least squares to estimate the parameters and survival function of the log-logistic distribution using the comparison criteria MSE, MAPE, IMSE, and this research was applied to real data for breast cancer patients. The results showed that the method of Maximum likelihood best in the case of estimating the paramete
... Show MoreIn this study, iron was coupled with copper to form a bimetallic compound through a biosynthetic method, which was then used as a catalyst in the Fenton-like processes for removing direct Blue 15 dye (DB15) from aqueous solution. Characterization techniques were applied on the resultant nanoparticles such as SEM, BET, EDAX, FT-IR, XRD, and zeta potential. Specifically, the rounded and shaped as spherical nanoparticles were found for green synthesized iron/copper nanoparticles (G-Fe/Cu NPs) with the size ranging from 32-59 nm, and the surface area was 4.452 m2/g. The effect of different experimental factors was studied in both batch and continuous experiments. These factors were H2O2 concentration, G-Fe/CuNPs amount, pH, initial DB15
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