This paper describes the problem of online autonomous mobile robot path planning, which is consisted of finding optimal paths or trajectories for an autonomous mobile robot from a starting point to a destination across a flat map of a terrain, represented by a 2-D workspace. An enhanced algorithm for solving the problem of path planning using Bacterial Foraging Optimization algorithm is presented. This nature-inspired metaheuristic algorithm, which imitates the foraging behavior of E-coli bacteria, was used to find the optimal path from a starting point to a target point. The proposed algorithm was demonstrated by simulations in both static and dynamic different environments. A comparative study was evaluated between the developed algori

The soil acari fauna (Cryptostigmat) in soil of Baghdad in Jadiriya area was studied in a total of 16 monthly samples through a period of 12 months (December 2009-November 2010). A new record of one genus for Iraq named (Malloconthrius sp.), and one species named Eupelops plicatus out of seven mite group Cryptostigmata which isolated from the soil. Two species were recorded during the present study as dominants named (Ceratozetes gracilis, Perlohmania dissimilis). The Cryptostigmatid mites are the most common soil inhabiting and saprophagous animals the ordinal composition of the soil acari fauna was predominantly Cryptostigmata sp disturbance of these factors generates modifications of numerical densities and the presences of mites in a

Beta-carotene pigment was extracted from 6 strains collected from different sources related to some species of the genus Rhodotorula sp. The maximum productivity was in the strain Rhodotorula  mucilaginosa BA61 with amount 10.25 gm/l. The minimum productivity was from the strain R. minuta BA78 with amount 5.39 gm/l. The effects of the chemical mutagen (MNNG) and the physical mutagen (UVC) on the viability of the strains was studied. The results revealed that the chemical mutagen (MNNG) with the concentration 0.2 mg/ml has the clear effect on the viability of the strains , which killing percentage reached to 65.91% in the strain R. minuta BA78. Results of the study of mutagenesis with UVC showed that increase in killing percentage fo

This study aimed to evaluate good manufacturing practices in food safety of ten different restaurants in the Al-Karkh area of Baghdad, Iraq. Forty samples collected from were collected from knives, food cutting boards, tables, hands and nails workers in restaurants. In addition. 70 food handlers were selected. Through structured interviews, information on the checklist for Good Manufacturing Practices in Food Safety, Food handlers’ general checklist for good hygiene, and Personal Hygiene Checklist were collected. The overall viable bacterial count before Good Hygiene Practices was significantly higher (P<0.05) than the total bacterial counts after Good Hygiene Practices. The highest viable bacterial counts before Good Hygiene P

There is not enough studies about bacterial contamination of air condition system in the cars and houses, bacterial detection of such   surrounding is necessary for the human environment.

The object of recent study was to evaluate the level of bacterial contamination in air conditioner in cars and houses in Baghdad city, Iraq.

Air samples were taken indoor from cars and house air conditioner   in the Baghdad city.  The result indicated that gram positive bacteria more than gram negative bacteria in air conditioner. Air condition of cars (20-500 CFU) was more contaminated than of houses (10-100 CFU).

Bacillus was the most frequently bacterial isolates genus with recovery rate B

     This research was conducted to determine the effect of different concentrations of (milkthistle) Silbum marianum   leaves extracts on some plant pathogenic fungi included:      Fusarium oxysporum, Alternaria sp., and Botrytis cinerea.            Results showed the high antifungal activity of milk thistle leaves extract; this was evident at high concentration of extract (80) mg\ml, which completely inhibited the radial growth on solid media (PDA) for pathogens Fusarium oxysporum and Botrytis cinerea. While the spores of pathogen Alternaria sp. was able to  grow in all concentration which used in this study.  &n

An attempt was made to determine the insect parasites of cockroaches in Iraq. As a result of this survey three species of Hymenoptera representing two separate families, which have been reared from ootheca of cockroaches were recovered. These were: Evania dimidiata Fabricius, Evania appendigaster (Linnaeus) (Evaniidae) and Anastatus longicornis sp. n. (Eupelmidae) which described here as a new species from Iraq.

It is well known that the spread of cancer or tumor growth increases in polluted environments. In this paper, the dynamic behavior of the cancer model in the polluted environment is studied taking into consideration the delay in clearance of the environment from their contamination. The set of differential equations that simulates this epidemic model is formulated. The existence, uniqueness, and the bound of the solution are discussed. The local and global stability conditions of disease-free and endemic equilibrium points are investigated. The occurrence of the Hopf bifurcation around the endemic equilibrium point is proved. The stability and direction of the periodic dynamics are studied. Finally, the paper is ended with a numerical simul

Background: Polycythemia (or polycythaemia or erythrocytosis) is a condition in which there is a net increase in the total number of blood cells, primarily red blood cells, in the body. The overproduction of red blood cells may be due to a primary process in the bone marrow (a so-called myeloproliferative  syndrome), or it may be a reaction to chronically low oxygen levels or, rarely, a malignancy. Minerals are the building blocks of our bodies. They are required for body structure, fluid balance, protein structures and to produce hormones. They are the key for the health of every body system and function. They act as co-factors, catalysts or inhibitors of all enzymes in the body .
Patients and Methods: B

Bones were recorded in the skeleton of some species of Iraqi turtle Mauremys rivulata; the objectives of this study came in light of current conditions, environmental developments, talents and techniques of biological studies taking place in the country, need for an anatomy guide in river turtles of Iraqi species, to identify all kinds of similarities and differences with their preaching, this work or study has become written in response to those modern needs. It is designed to be one of the resources for those interested in biological studies, beginners or professionals, and veterinarians, distinguishing them from marine and global species. Turtles were dissected in the laboratories of the Research Center and Museum of Natural Hist