In this paper, a cognitive system based on a nonlinear neural controller and intelligent algorithm that will guide an autonomous mobile robot during continuous path-tracking and navigate over solid obstacles with avoidance was proposed. The goal of the proposed structure is to plan and track the reference path equation for the autonomous mobile robot in the mining environment to avoid the obstacles and reach to the target position by using intelligent optimization algorithms. Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) Algorithms are used to finding the solutions of the mobile robot navigation problems in the mine by searching the optimal paths and finding the reference path equation of the optimal

Abstract

Psoriasis is defined as a series of events that begins in its initial stage with dermatitis and then progresses to more widespread inflammation and increased oxidative stress. The aim of this study was to determine whether psoriasis and the levels of IL-15, IL-23, and TNF-α are related, the ELISA technique was used to detect the levels of inflammation in psoriasis patients and to compare them with healthy individuals. This study included 150 samples, including 90 patients with psoriasis and 60 healthy individuals, and the study was conducted from November 2021 to April 2022. The current study revealed that there was a significant difference in the level of TNF-α in the group of psoriasis patients compa

The purpose of this research paper is to present the second-order homogeneous complex differential equation   , where   , which is defined on the certain complex domain depends on solution behavior. In order to demonstrate  the relationship between the solution of the second-order of the complex differential equation and its coefficient of function, by studying the solution in certain cases: a meromorphic function, a coefficient of function, and if the solution is considered to be a transformation with another complex solution. In addition, the solution has been provided as a power series with some  applications.

The effects of short-range correlation on elastic Coulomb (charge) form factors, charge density distributions as well as root mean square charge radii of various  nuclei (for instance, ^{46, 48, 50}Ti, ^{52, 54}Cr, ^{56, 58}Fe, and ^{72, 74, 76}Ge nuclei) are examined. The one- and two body terms of the cluster expansion together with the single-particle harmonic oscillator wave functions are utilized. For the purpose of embedding these effects into the formulae of charge density  and form factor  we employ the correlation function of Jastrow-type. These formulae depend upon the short-range correlation parameter  (which instigates from the Jastr

The exception of contract non-Performance represents an important mechanism in the implementation of obligations. It enables a contractor to refrain from implementing its obligation until the other party has fulfilled its obligations. It is a means of defense, pressure and guarantee of its rights. It is stipulated in articles 161 of the Egyptian Civil Code and Article 123 of the Civil Code While it was not provided for in the French Civil Code except after the issuance of Order No. 2016-131 on the reform of the system of contracts and public order and the establishment of obligations in articles 1217, 1219 and 1220 thereof. These texts, although they did not show the basis on which the exception of contract non-Performance, leaving this

The contracts in restraint of trade are considered as void contracts according to the English common law, that is to say, they are prima facie void. Because their voidness is presumed and based upon a rebuttable presumption that these contracts are contrary to the public policy in principle. Owing to the unreasonableness of the  Restraint of Trade conditions or terms in which they are included. But if it is proved that they satisfy the requirements of reasonableness, in accordance with the contracting parties, and both the temporal and spatial extent of their coming into effect, as well as the public interest. The court will validate them. It is also worth-bearing in mind that this type of contracts fall under contracts void at comm

This paper presents the intricate issues and strategies related to the translation of children's books, and it particularly focuses on the comparative analysis of "The Tale of Peter Rabbit" by Beatrix Potter and "Le Petit Prince" (The Little Prince) by Antoine de Saint-Exupéry. The study finds that the typical problems in translation are, idiomatic expressions, cultural reference, and the voice preservation, along side-sheet-specific challenges which each of the text faces. The translator of Potter's work should have skills of transposing all culturally oriented peculiarities of the UK land to the international audience to keep it accessible. On the contrary, "Le Petit Prince" translation will be the process of capturing the abstra

The phenomenon of black money laundering (money laundering) receives wide and great attention from researchers of all their intellectual orientations, legal or economists, as this process acquires great importance in light of commercial developments and electronic transactions, Especially after the opening of Iraq to the outside world after 2003, and there are many factors that encourage the process of money laundering, including the large number of crimes, the prevalence of financial and administrative corruption, and the weakness of legal procedures to combat it, as the phenomenon of black money laundering is considered a criminal case that affects developed and developing countries. Because it impedes the tracking and seizure of funds

Nutlets of 22 taxa of Stachys (13 species and seven subspecies and two varieties), representing seven of the currently recognized sections distributed in northern Iraq were examined by light microscope. The basic shape of nutlets in most taxa studied is Obovoid, but Oblong also found in S.megalodanta Hausskn.& Bornm. ex P.H.Davis, S.setirefa C.A.Mey. subsp daenensis (Gandog.) Rech.f.and S. kurdica Boiss.& Hohen. var.kurdica, while the Subgloboid shape found in S. iberica M.Bieb. and S. inflata Benth., more over the Broad triangular shape was found in S. nephrophylla Rech.f. and S.lanigera (Bornm.) Rech.f.., the biggest size of nutlets was found in S.inflata L. and the smallest was in S.melampyroides Hand.-Mzt. Regarding sculpturing pa