Finding a path solution in a dynamic environment represents a challenge for the robotics researchers, furthermore, it is the main issue for autonomous robots and manipulators since nowadays the world is looking forward to this challenge. The collision free path for robot in an environment with moving obstacles such as different objects, humans, animals or other robots is considered as an actual problem that needs to be solved.  In addition, the local minima and sharp edges are the most common problems in all path planning algorithms. The main objective of this work is to overcome these problems by demonstrating the robot path planning and obstacle avoidance using D star (D*) algorithm based on Particle Swarm Optimization (PSO)

Background: Many anti-obesity medicines have been increased in recent years to solve the problem of obesity; among these medicines are Green Lean Body Capsules (GLBCs) which contain green plants and fruits extract.
Objective: This study was designed to evaluate the effects of daily oral consumption of GLBCs on level of serum lipids, renal function tests, and the histological structure of the kidney in albino rats.
Materials and Methods: Twenty adult albino male rats weighing 240-260 g were divided into 2 equal groups: control group and GLBCs-treated group. During the 4-weeks treatment, each rat in the GLBCs-treated group was orally administered with 20 mg/kg B.W. of GLBCs, while the control rats were orally

Background: Patient satisfaction is of increasing importance and widely recognized as an important indicator of quality of the medical care. There was no homogeneous definition of patient satisfaction, since satisfaction concerns different aspects of care or settings, as well as care given by various professions.

Objective: The objective of this study is to assess the patients’ level of satisfaction with diabetes care and to identify the underlying factors influencing it.

Methods: This cross-sectional study had been conducted in the Specialized Center for Diabetes and Endocrinology in Baghdad Al- Rusafa 2018. Where150 type two diabetic patients attending their follow-up

Twenty four bacterial isolates were identified from (10) places for wandering sellers in south Baghdad city (Bayaa garage). They were Staphylococcus aureus (9 isolates), Bacillus subtilis (6 isolates), Salmonella spp. (4 isolates) and Psudomonas aeruginosa (5 isolates). Agar well diffusion method was used to definition sensitivity of the fresh and dried juice of Capsicum grossum L. and Allium cepal L. at different concentrations. The fresh juice had no inhibitory activity against the bacterial isolates in contrast to the fresh juice , dried juice which show marked activity against all bacterial isolates at (30) mg/ml.

Abstract

The current study deals with the effect of N-Diethylnitrosamine (DEN) induced traumatic brain injury on male albino rats, as well as the outcome results of treatment with paclitaxel nanoparticles for a period of 8 weeks with two-week intervals is the concern of the present study. Mean body weight, as well as brain weight, was considered as the main parameters whereas a detailed immunohistochemical study on rat brain sections was performed. Astrocytic biomarkers for the diagnosis of astrocytes by fibrillary glial acidic protein (GFAP). Neuronal GFAP staining used for various broke sections were forwarded. Comparison and Contrast of all these parameters in all steps of the experiment had been discussed. The

In this paper, quantified study of the biofilm formed by Klebsiella pneumoniae isolated from urine specimen of patient suffering from acute urinary tract infection (UTI) on catheter, stainless-steel and glass coupon surfaces, as well as determine the relationship between time contact and biofilm progression using crystal-violet binding assay based on the values of optical density at 620nm of the crystal violet stain which bonded total biofilm biomass by resolubizing with 99.9% ethanol at the specific interval times. The result showed biofilm formed on three tested surfaces but in different degrees. According to obtained data, the catheter coupons presents a higher capability to attract bacteria cell and biofilm formation followed by glas

     The present study aims to investigate the effect of wheat natural phytase, fermentation and baking processes in the destruction of phytic acid during the process of making wheat bread for some Iraqi mills. The concentration of phytic acid was (850.32, 802.14, 531.84 mg / 100g) for the flour of AL-Brairie, AL-Nesr and AL-Al-Doura mills respectively. At the end of the fermentation processes, the decrease in the concentration of phytic acid in the samples produced from the flour obtained from the three mills was (47.06, 26.98, 40.00%) respectively, while inorganic phosphorus concentration in all treatments increased by 32.4, 42.37 and 36.21 %, respectively. It was found that the activity of wheat natural phytase enz

      This study was designed to investigate the effect of sesame oil on lipid profile and liver enzyme in male albino rats treated with Carbone tetrachloride (CCl4).

    Forty adult male rats were divided into four equal groups, first group was daily administrated with tap water, the second group was injected with CCl4 (80mg/kg.BW/day), the third group was administrated with sesame oil (150mg/kg.BW/day) and the fourth group was injected with CCl4 (80mg/kg.BW/day) and was administrated with sesame oil (150 mg /kg.BW /day) for 30 days. The statistical  results of the present study showed a significant  (p<0.05) increase in the level of cholesterol , triglycerides and Low density

n the present work, a study is carried out to remove chromium (III) from
aqueous solution by: activated charcoal , attapulgite and date palm leaflet powder
(pinnae). The effect of various parameters such as contact time, and temperature has
been studied. The isotherm equilibrium data were well fitted by Freundlich and
Langmuir isotherm models. The adsorption capacity of chromium (III) that was
observed by activated charcoal , attapulgite and date palm leaflet powder (pinnae)
increased with the rise of temperature when the concentrations of Cr (III) were 600,
700 and 100mg/L respectively. The greatest adsorption capacity ofactivated
charcoal , attapulgite and date palm leaflet powder (pinnae) at 10°C was 7.51, 5.3

Objective(s): The aims of present study to findout the effect of aeromedical evacuation program on flight medics’ knowledge.
Methods: A pre-experimental design is carried in army aviation bases in Iraq, for the period of April 1st 2019 to October 25th 2019. Non-probability "purposive" sample of (30) flight medics are selected from army aviation bases. The questionnaire consisted of two main parts: the demographic characteristics of air paramedics, and the second part included five axes, which are (50) paragraphs related to the knowledge of air paramedics towards emergency injuries. The researcher used the statistical program version 20 to analyze the data, and the stability of the questionnaire was measured through the pre and post