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 most prevalent cancer is breast cancer, and the incidence of breast cancer in women worldwide is increasing at a remarkably rapid rate. This study was conducted on 90 samples (45 newly diagnosed breast cancer samples and 45 control group samples), ranging in age from 35 to 70 years. Blood samples were collected from the Alawia Teaching Hospital and the Oncology Teaching Hospital between October 2020 and March 2021. ELISA assessed ROS, GPX, visfatin, IGF-1, vitamin A, leptin, and soluble al-Klotho. The results indicate that the breast cancer patients had significantly higher (ROS 3.57, visfatin 17.44) (ng/mL) (p<0.0001) and leptin 16.11 (ng/mL). In the group of patients, there was a significant increase (p<0.004) compar
... Show MoreIn modules there is a relation between supplemented and π-projective semimodules. This relation was introduced, explained and investigated by many authors. This research will firstly introduce a concept of "supplement subsemimodule" analogues to the case in modules: a subsemimodule Y of a semimodule W is said to be supplement of a subsemimodule X if it is minimal with the property X+Y=W. A subsemimodule Y is called a supplement subsemimodule if it is a supplement of some subsemimodule of W. Then, the concept of supplemented semimodule will be defined as follows: an S-semimodule W is said to be supplemented if every subsemimodule of W is a supplemen
... Show MoreThe research seeks to examine the ability of fifth preparatory students in solving a mathematical problem in relation to system thinking. To this end, the researcher chose (140) fifth preparatory students from four-different secondary schools in Kirkuk city for the academic year (2016-2017). Two tests were adopted to collect study data: a test of (5) items about skills in solving math problem designed by (Al-raihan, 2006); and a test of system thinking skills designed by the researcher himself consisted of (14) items. It was divided into four skills (analyzing the main system to subsystems, eliminating all inner gaps of system, identifying the inner connection of system, and reorganizing the system). The findings indicated a good ability
... Show MoreIn this paper, we introduce and study the notion of the maximal ideal graph of a commutative ring with identity. Let R be a commutative ring with identity. The maximal ideal graph of R, denoted by MG(R), is the undirected graph with vertex set, the set of non-trivial ideals of R, where two vertices I1 and I2 are adjacent if I1 I2 and I1+I2 is a maximal ideal of R. We explore some of the properties and characterizations of the graph.
The Topography, Physical and Optical properties of as-deposited copper oxide CuO absorption layer sprayed using homemade fully computerized CNC spray pyrolysis deposition technique at different deposition speed are reported. These layers are characterized by UV-Visible spectrophotometer, optical microscope, and thickness monitor studies. The optical transmittance study indicates that these layer exhibit high absorption coefficient in the visible range. The optical band gap is found to be at about at speeds (3,6 mm/s). Better homogeneity in CuO layer is found at the speed 5 mm/s. The film thickness lies within the 129-412 nm range.
In our research, we dealt with one of the most important issues of linguistic studies of the Holy Qur’an, which is the words that are close in meaning, which some believe are synonyms, but in the Arabic language they are not considered synonyms because there are subtle differences between them. Synonyms in the Arabic language are very few, rather rare, and in the Holy Qur’an they are completely non-existent. And how were these words, close in meaning, translated in the translation of the Holy Qur’an by Almir Kuliev into the Russian language.
In this study, we propose a suitable solution for a non-linear system of ordinary differential equations (ODE) of the first order with the initial value problems (IVP) that contains multi variables and multi-parameters with missing real data. To solve the mentioned system, a new modified numerical simulation method is created for the first time which is called Mean Latin Hypercube Runge-Kutta (MLHRK). This method can be obtained by combining the Runge-Kutta (RK) method with the statistical simulation procedure which is the Latin Hypercube Sampling (LHS) method. The present work is applied to the influenza epidemic model in Australia in 1919 for a previous study. The comparison between the numerical and numerical simulation res
... Show MoreA laboratory experiment was carried out and repeated at field of College of Agricultural Engineering Sciences, University of Baghdad in 2017. First factor was three cultivars of lupine 'Giza-1', 'Giza-2' and 'Hamburg'. Second factor was three seed weights (lower weight, medium weight and higher weight) which was following the cultivars factor. Nested design was used. Results showed supremacy of 'Giza-1' cultivar significantly and gave higher germination ratio, radical length, seedling dry weight, seedling vigour index, field emergence ratio, plant height and number of leaves per plant. The treatment ('Giza-1'×higher seed weight) was supremacy significantly and gave higher germination ratio, radical length, plumule length, and seedling vigo
... Show MoreThis study introduced the effect of using magnetic abrasive finishing method (MAF) for finishing flat surfaces. The results of experiment allow considering the MAF method as a perspective for finishing flat surfaces, forming optimum physical mechanical properties of surfaces layer, removing the defective layers and decreasing the height of micro irregularities. Study the characteristics which permit judgment parameters of surface quality after MAF method then comparative with grinding
We examine the integrability in terms of Painlevè analysis for several models of higher order nonlinear solitary wave equations which were recently derived by Christou. Our results point out that these equations do not possess Painlevè property and fail the Painlevè test for some special values of the coefficients; and that indicates a non-integrability criteria of the equations by means of the Painlevè integrability.