Manufacturing systems of the future foresee the use of intelligent vehicles, optimizing and navigating. The navigational problem is an important and challenging problem in the field of robotics. The robots often find themselves in a situation where they must find a trajectory to another position in their environment, subject to constraints posed by obstacles and the capabilities of the robot itself. On-line navigation is a set of algorithms that plans and executes a trajectory at the same time.         The system adopted in this research searches for a robot collision-free trajectory in a dynamic environment in which obstacles can move while the robot was moving toward the target. So, the ro

The purpose of this study was to measure serum levels of insulin-like growth factor-binding protein (IGFBP7), Insulin-like Growth Factor 1 (IGF-1), Growth Hormone (GH), Interleukin 6 (IL-6) and insulin in acromegaly patients and healthy controls. The acromegaly group had 60 patients, while the population group had 30 people who had never had acromegaly before. The concentration of IGFBP7, IGF-1, GH, IL-6, and insulin were determined. The results of the present study indicate that IGFBP7 level in the acromegaly group was significantly lower (1.690.07 ng/mL vs. 2.740.12 ng/mL, respectively, p = 0.001). IGF-1, GH, IL-6, and insulin concentrations were also significantly higher in acromegaly patients. The diagnostic accuracy (2.194) was exce

  The cytotoxic effect of different concentrations of Crude extracts of  Bidens tripartita , Panex ginseng , Ceylon cinnamon and Citrullus colocynthis on  mice mammary adenocarcinoma cell line were studied . The concentration used were 125 , 250, 500, 1000 Microgram/militer . The exracts were prepared by using hot water method . The preliminary chemical tests revealed acidic pH of all  extracts. The time of exposure used were 24, 48 and 72 hrs.The results showed  a clear  toxic effect of all extracts depending on the time of exposure  and the dose . The Ceylon cinnamon had the highest effect on adenocarcinoma 87.33% , followed by  Bidens tripartita 86.79%, Citrullus colocynthis 74.39% and the lowes

The ligand 4-amino-N-(5-methylisoxazole-3-yl)-benzene-sulfonamide(L1) (as a chelating ligand) was treated with Pd(II),Pt (IV) and Au(III) ions in alcoholic medium in order to prepare a series of new metal complexes. Mixed ligand complexes of this primary ligand were prepared in alcoholic medium in presence of the co-ligand 4,4'-dimethyl-2,2'-bipyridyl(L2) with Cu(II) ,Pd(II) and Au(III) ions. The complexes were characterized in solid state using flame atomic absorption, elemental analysis C.H.N.S, FT-IR, UV-Vis Spectroscopy, conductivity and magnetic susceptibility measurements. The nature of some complexes formed in ethanolic solution has been studied following the molar ratio method, also stability constant was studied and the complexes f

Background: thyroid carcinoma is the most common endocrine carcinoma as it accounts for almost 90% of all endocrine malignancies. The term incidental denoted malignant tumors of the thyroid gland detected by post-operative biopsy results of the resected specimens resected from benign thyroid diseases. Among the incidental thyroid malignancies, papillary carcinoma is the commonest pathological type.
Objectives : To determine the incidence of incidental thyroid carcinoma and to insist on accurate preoperative diagnostic work up of patients with thyroid diseases.
Patients & Methods: A prospective study, which was conducted during the period from March 2013 to April 2014 at Baghdad teaching hospital first surgical unit by the same

     In this work, the characterization and application of thin films composite incorporated titanium dioxide (TiO₂) (0.8)% volume ratio for (Rutile) nanostructure with poly [2- methoxy-5-(2’-ethylhexoxy-p-phenylene vinylene] (MEH-PPV) were deposited by a spin-coating technique. The optical properties for deposited (MEH-PPV/TiO₂) nanocomposite thin films have two peaks which are the Q-band in the visible region and B-band in ultraviolet. This study shows that the absorption spectrum of organic polymer mixing with TiO₂ increased with increasing the volume ratios TiO₂. The I-V characteristic of nanocomposite thin films shows that the current at dark and light condition

Background: Transitional cell carcinomas (TCC) of the bladder are a major health problem. Recently, some studies link high risk Human papilloma viruses' type 16 and type 18 with bladder carcinoma.
Materials and methods: Fifty formalin fixed, paraffin embedded tissues with TCC of the bladder from Specialized Surgical Hospital in Baghdad were included in this study. In addition, ten
apparently normal bladder autopsies were collected from the Forensic Medicine Institute Archives and used as control group. Tissue blocks were sectioned and sticked on charged slides and used for the detection of HPV-16 and HPV-18.
Results: The expression of HPV-16 and HPV-18 DNA signals in TCC of the bladder tissues in the&nbs