Abstract

Much attention has been paid for the use of robot arm in various applications. Therefore, the optimal path finding has a significant role to upgrade and guide the arm movement. The essential function of path planning is to create a path that satisfies the aims of motion including, averting obstacles collision, reducing time interval, decreasing the path traveling cost and satisfying the kinematics constraints. In this paper, the free Cartesian space map of 2-DOF arm is constructed to attain the joints variable at each point without collision. The D*algorithm and Euclidean distance are applied to obtain the exact and estimated distances to the goal respectively. The modified Particle Swarm Optimization al

Background: Directly observed therapy-short course (DOTS) had been adopted by World Health Organization (WHO) as hopeful strategy for treatment of tuberculosis (TB) since early nineties. Iraqi health authorities started DOTS implementation since 2001 in Baghdad. Coverage expanded gradually till 100% in 2004. War and unstable security condition hit Iraq since March 2003. Objective: The objective of this study was To evaluate the DOTS implementation program in Baghdad in different periods including 2 unstable periods for proper assessment of war and instability on treatment of TB. Patients and methods: This study had been conducted in Baghdad during four different periods (before and during 2003 war, after war; without and with DOTS). Dire

This study aimed to determine the extent matching his chemistry for fourth grade scientific quality standards, from the point of view of male and female teachers. The study sample consisted of (96) as a teacher and school representing schools six Baghdad educations (Rusafa - Karkh), and search tool consisted of identifying closed, accounting standards and specifications should be available in a chemistry book, after it has been ascertained from the sincerity and persistence. The percentage used Pearson correlation coefficient and the Fisher equation and weight percentile, as a means to describe the statistical analysis and interpretation of the results that have been reached. The results revealed that the percentage of matching s

Background: Osteoarthritis (OA) is a degenerative joint disease. It is one of the major causes of disability in developed and developing countries. Human leukocyte antigen (HLA) as part of immune system has a role in the disease process.Objectives: To investigate whether there is an association between HLA class II-DRB and OA.Methods: A case control study with 26 patients with osteoarthritis and 22 apparently healthy obese control persons matching in ethnicity were enrolled in this study during the period between October 2012 till March 2013. Direct interview was done with each patient and HLA typing was done by molecular method using Sequence Specific Primer (PCR-SSP) method using One Lambda Kit-USA. Results: The results showed that fem

Out of 180 children, 60 (33.3%) have Amoebiasis infection as diagnosed by direct wet smear and Saturated Salt Solution (SSS). SSS method is more significant (P=0.001) in diagnosis of the disease. Number of children infected with Amoebiasis infection is higher in infants aged 1-6 months, but without any significant difference to ages 6-12 or 12-18 months. In contrast, infants aged 18-24 months are significantly differant (P=0.01) as the infection rate is 16.6%. Gender also is seen to be reduced in significance (P= 0.001) for females aged 18-24 months. Blood profile of the involved infants has shown a significant variation (P=0. 01) for all blood profile parameters (RBC (P=0.05), WBC (P=0.001), Lymphocytes (P=0.05), Granulated WBC (P=0.05),

Shade in house gardens is one of the problems that hinder the growth of lawn and its distribution in the soil, where the types of lawns differ in their durability and adaptation to shade. The research aims to know the resistance of some species of lawn plants to shade and to know the appropriate fertilization procedures that can be followed to reduce the negative effects. The study was conducted in the Amiriya district of Baghdad in a house garden. Three varieties of lawn plants Bermuda, Gazon, and Trifoglio were planted. Five fertilization treatments (contained N and P elements) and the control were used. The sunlight density with the temperature of the study field locations were estimated using the AMT-300 and the vegetation coverage perc

to evaluate the effect of various Nd:YAG frequency doubled laser parameters on the acid
dissolution and the progression of in vitro caries like lesions in human enamel.
Materials and Methods: Human extracted caries free upper first premolar teeth were collected for
this study. The irradiated teeth were divided into two groups. The first group was irradiated with
continuous Nd:YAG laser radiation, and the second group was irradiated with chopped Nd:YAG laser
radiation. For the first group, power and exposure time were changed while for the second group
power and number of pulses were changed. The spot diameter was kept constant for all the samples.
Results: using 1.5 W and 3 seconds (exposure time), best results among