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)

      In this study, the plasma formed by the preparation of Se and Tin (Sn) using a Nd: YAG laser with a wavelength of 1064 nm in air, which was then studied using the technique of optical emission spectrum, was presented (OES).The laser-induced plasma parameters such an electron temperature (Te) were identified using two-ratio methods, using Stark broadening methods to determine the density of electrons (n_e). According to the findings, there is a correlation between the amount of laser energy that is applied and the increase in the emission intensity of the spectral lines. In the case of Se plasma, an increase in laser energy causes a rise in the temperature of the electrons. While increasing the temperature of the elec

Physiological status and litter size can indeed have a significant impact on ewes' ‎hematological parameters, which are essential indicators of their health. Therefore, this study ‎examined the hematological profiles of ewes during pregnancy with single and twins in the ‎Awassi ewes. The present study involved 232 ewes in good health and at sexual maturity. ‎Among them, 123 ewes had single pregnancies, while 109 ewes had twin pregnancies. The age ‎range of the ewes included in the study was between 3.5 and 4.5 years. Hematological tests ‎were conducted on the sheep's blood samples promptly following collection. The findings ‎demonstrated variations in hematological parameters among pregnant

In this research, the mutual correlations between ionospheric parameters (MUF, OWF and LUF) have been suggested. The datasets of the MUF and OWF parameters have been generated using ASAPS international communication model, while the LUF parameter has been calculated using the REC533 model. The calculations have been made for the connection links between the capital Baghdad and many other locations that spread over the studied zone (Middle East region). The annual time of the years (2009 & 2014) of solar cycle 24 has been adopted to make the investigation in order to get the mutual correlation between ionospheric parameters. The test results of the annual correlation between ionospheric parameters showed that the mutual correlation be

act : A soluble cytoplasmic antigen (Brucellin) was prepared from Brucella melitensis Rev1 and used to diagnose brucellosis in experimentally infected mice with virulent strains of Brucella melitensis and Brucella abortus two weeks after infection. The best result was obtained with the third peak of the four peaks. All four peaks were used as antigen for skin test in a group of mice two weeks after vaccinated with S19 vaccine and the best result was obtained with third peak. All four peaks were also used as antigen for skin test in a group of mice previously vaccinated with Listeria monocytogenes live attenuated vaccine. All four fractions of the extracted brucellin antigens exhibited a negative skin test result in Listeria monocytogenes ex

Aflatoxin B1 (AFB1) is a mycotoxin produced mainly by fungus Aspergillus flavus in food and feed . It is considered as a carcinogenic toxin for human and animals. The current study was designed for produce antibody (IgG) against aflatoxin B1.It was achieved by immunization of experimental animals (New Zealand White rabbits) with prepared antigen consist of aflatoxin B1-BSA Conjugate (100 and 200 μg ) concentrations, and detection of produced antibody using Ouchterlony double immunodiffusion and ELISA techniques,. Ochterlony and ELISA techniques revealed that, high titer of IgG antibody was obtained by rabbit’s immunize, and the titer of antibody was increased steadily during the immunization schedule. The highest titer of antibody rea

A three-stage learning algorithm for deep multilayer perceptron (DMLP) with effective weight initialisation based on sparse auto-encoder is proposed in this paper, which aims to overcome difficulties in training deep neural networks with limited training data in high-dimensional feature space. At the first stage, unsupervised learning is adopted using sparse auto-encoder to obtain the initial weights of the feature extraction layers of the DMLP. At the second stage, error back-propagation is used to train the DMLP by fixing the weights obtained at the first stage for its feature extraction layers. At the third stage, all the weights of the DMLP obtained at the second stage are refined by error back-propagation. Network structures an