In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and cons

The aim of this paper is to construct cyclic subgroups of the projective general linear group over  from the companion matrix, and then form caps of various degrees in . Geometric properties of these caps as secant distributions and index distributions are given and determined if they are complete. Also, partitioned of  into disjoint lines is discussed.

Strong acids were determined via the precipitation reaction of loaded copper (II) ion on strong cation exchange resin which in turn reacts with potassium hyxacyano ferrate (II). The attenuation effect of formed precipitate Cu2 [Fe (CN) 6] on (0 -180o) incident LED light was measurement via homemade AYAH 5SX4-ST-5D solar CFI analyser. Optimum parameters were 0.005M.L-1 [Fe(CN)6]-4 , flow rate of 2.4 mL.min-1 , sample volume 204 μL , sample purge time of 64 seconds was chosen, and 1.6 V for light intensity. A liner calibration graph of 0.005 -0.2 M.L-1 were obtains for HCl, HNO3, HCLO4 and H2SO4, with a linearity (r2 %) 96 -97 % and L.O.D based on gradual dilution of lowest concentration in calibration graph was 37.19 μg for HCl, 64.273

Background: Bone marrow aspiration (BMA) and biopsy is a procedure that is used to evaluate the cause of abnormal blood test results, to confirm a diagnosis or check the status of severe anemia of unknown cause, to evaluate abnormalities in the blood's ability to store iron and also to diagnose infection.

Objectives: To identify the main indications of bone marrow aspiration and the most common diagnoses encountered in children welfare teaching hospital.

Patients and methods: This was a prospective and retrospective descriptive study over 6- month period from 8th of February 2010 to 8th of August 2010 in children younger than 14 years. All bone marrow aspirate results wer

Background: Laparoscopic colectomy is performed in an increasing number of institutions as a minimally invasive treatment for benign and malignant large bowel disease. Laparoscopic rectal surgery enables more accurate visualization of the anatomical structure in the pelvic cavity for selected patients with tumors in the middle and low rectum.
Objectives: To determine the early outcome of patient who underwent laparoscopic low anterior resection using radial reload stapler.
Patients and methods: This is a prospective study of 8 patients with low or mid rectal cancer who underwent a laparoscopic low anterior resection between January 2017 till June 2017 at Saint Raphael hospital.
Results: Eight patients underwent elective laparosc

The research dealt with the effectiveness of prediction and foresight in design as a phenomenon that plays a role in the recipient's engagement with the design, as it shows the interaction between the recipient and the interior space. The designer is keen to diversify his formal vocabulary in a way that secures visual values that call for aesthetic integration, as well as securing mental and kinetic behavioral understanding in the interior space.
As the designer deals with a three-dimensional space that carries many visual scenes, the designer should not leave anything from it without standing on it with study and investigation, and puts the user as a basic goal as he provides interpretive data through prediction and foresight that le

In this paper, we will give another class of normal operator which is (K-N)*
quasi-n-normal operator in Hilbert space, and give some properties of this concept
as well as discussion the relation between this class with another class of normal
operators.

The interior spaces represent a true reflection of the concepts and values ​​of humanity and requirements; were interested in current research ongoing changes that have occurred in those human values ​​and requirements over time, even pat each time warp its values ​​and its own requirements. Those changes, which receive Bdilalha the spaces linked by a renewal which guarantees the interior design of the spaces of sustainability and bio-coordinated. Launched search from an initial perception that those associated with the changes of the spaces through time that have not been subject to examination and supervision, they will constitute a continuing threat of losing the ties with the past under the pretext of modernization and mo