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 p

Newcastle Disease is one of the most important disease world wide distributions which invade the flock in different age resulting in large economic losses. This study aimed to evaluate the effect of treatment with 4 different concentrations (0.25, 0.5, 1.0 and 2.0 %) of Sodium deoxycholate (SDC) on the vaccinal virus (La Sota) using inoculation in the fragments of Chorioallantoic membrane. The treatment with each of the above 4 concentrations of SDC resulted in an increase in the Hemagglutination titer (HA) of the virus (28, 29.6, 211.6, 214.6) respectively as compared to the HA titer value for the untreated virus (26.6). No significant differences were noticed among all concentrations with regard to their effect on the HA titer, except

New, simple and accurate batch and flow injection spectrophotometric
methods have been developed for the determinationsof tetracycline
hydrochloride (TCH) and doxycycline hyclate (DCH) in pharmaceutical
preparations. The methods are based on diazotization of
metchlopramide and coupling reaction with either TCH or DCH in alkaline
medium to form yellow–orange water soluble dye with absorption maxima
at 414 and 436 nm for TCH and DCH, respectively. A graphs of absorbance
versus concentration show that Beer’s law was obeyed over the
concentration ranges of 1 –52 μgmL-1 TCH and DCH for batch method and
of 8 – 240 μg mL-1 TCH and 5 – 350 μgmL-1 DCH for FIA method. The
limits of detection in batchmetho

Pregnancy   is one of the cases that lead to immune compression, therefore the women are exposed to different types of infections and may sequel to miscarriage. Toxoplasma gondii and urinary tract infection (UTI) are the most prevalent infectious agents in human and  have a worldwide distribution. IFN-γ and TNF-α are pro inflammatory cytokine play important role in miscarriage. This study focuses on the determination, type of aerobic bacteria , concentration of IFN-γ and TNF-α among (75) abortive women and  their relation with miscarriages  . The results indicated that S.aures was the most prevalence bacteria isolated from  aborted women infected with UTI or  compensation with toxo

Theoretical and experimental investigations of the transient heat transfer parameters of constant heat flux source subjected to water flowing in the downward direction in closed channel are conducted. The power increase transient is ensured by step change increase in the heat source power. The theoretical investigation involved a mathematical modeling for axially symmetric, simultaneously developing laminar water flow in a vertical annulus. The mathematical model is based on one dimensional downward flow. The boundary conditions of the studied case are based on adiabatic outer wall, while the inner wall is subjected to a constant heat flux. The heat & mass balance equation derived for specified element of bulk water within the annulu

This paper is employed to discuss the effects of the magnetic field and heat transfer on the peristaltic flow of Rabinowitsch fluid through a porous medium in the cilia channel. The governing equations (mass, motion, and energy) are formulated and then the assumptions of long wavelength and low Reynold number are used for simplification. The velocity field, pressure gradient, temperature, and streamlines are obtained when the perturbation technique is applied to solve the nonlinear partial differential equations. The study shows that the velocity is decreased with increasing Hartmann number while it is decreased with increasing the porosity.

Determination of isotopic composition of strontium and Rubidium in some geological samples was performed by using thermal ionization mass spectrometry. The optimum evaporation and ionization currents were determined for each of strontium and Rubidium, employing double rhenium filament by using faraday cup as detector. The results were compared  with  reference  mater ials (NBS Standards) of Sr and Rb. The

radioactive decay of 87Rb to 87Sr was also determined.

Intellectual property rights of all kinds، and their nature، are considered a tool in the hands of their owner that enables him to monopolize the benefits that you confer on them without any dispute or mediation from anyone. Intellectual property on its intellectual product، and preventing others from exploiting it without obtaining the permission of its owner All of this is reflected positively on the progress of the industrial and commercial field، and this justifies the protection provided by the laws regulating intellectual property rights to its owner، whether at the national or international level، and with our recognition of the right of the owner of intellectual property rights to enjoy the exclusive use of his right، and

The study aimed to identify the psychological counseling skills and the strength of the ego in the educational counselors, and to identify the relationship of statistical significance between the psychological counseling skills and the strength of the ego in the educational counselors, and to identify the differences of statistical significance in the relationship between psychological counseling skills and the strength of the ego in the guides according to the gender variable(male, Females), the number of sample (100) guides, including (50) males and (50) females from the area of ​​Atifiya and Qadissiya and Ameriya in the Directorate of Education Karkh / 1, the researcher adopted a scale of psychological counseling skills prepared b