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Simulation of Pose to Pose Moving of the Mobile Robot with Specified GPS Points
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The applications of mobile robots in rescue scenarios, surviving to search, and exploration for outdoor navigation have received increasing attention due to their promising prospects. In this paper, a simulation of a differential wheeled mobile robot was presented, implementing a Global Positioning System (GPS) data points to specified starting points, final destination, and total error.

In this work, a simple kinematic controller for polar coordinate trajectory tracking is developed. The tracking between two points, pose to pose, was specified by using the GPS data points. After that, the geodesy (GEO) formulation was used to convert the geodesy coordinate to Euclidean or polar coordinate. The Haversine equation obtained the distance between the two points.

The system performance and stability of the tracking controller are proved using the Lyapunov theorem of the stability. A python script was used in this work as a simulator. Computer simulation with pose to pose trajectory strategy conform to the simplicity of the proposed controller.

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Publication Date
Sat Oct 01 2022
Journal Name
Baghdad Science Journal
The Immunohistochemically Estimation of CD63 in Iraqi Patients with Gastric Cancer
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CD63 is -one of the tetraspanin family proteins, which are regarded as: hallmark exosomal markers because it is absent from other types of vesicles. It is expressed in the cell membrane of cancer cells, and cytoplasm of stromal cells. Objective: To assess CD63 expression in gastric cancer (GC) patients, and detected if it could be used as a predictive marker. Furthermore, the current study aimed to find the correlation between CD63 expression and clinicopathological parameters as: gender, age, invasion depth, histopathological type, involvement of lymph nodes, grade and stages of GC (TNM). The current study is a retrospective study in the period time from (2018 to-2020); 50 randomly patients formalin-fixed paraffin embedded blocks (FFPE)

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Publication Date
Mon Mar 02 2026
Journal Name
Ultrastructural Study Of The Placenta In Women Complication With Diabetes Mellitus
Ultrastructural Study of the Placenta in Women Complication with Diabetes Mellitus
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Diabetes mellitus is a multifaceted, chronic disease that happens either when the pancreas does not produce enough insulin or when the human body cannot competently use the insulin it produces. The study was aimed to determine and show the ultrastructural changes of cells in the placenta of women suffering from diabetes mellitus disease. In this study, a total of 102 placentas were investigated by transmission electron microscopy, which includes 34 placentas with gestational diabetes, 34 placentas with pregestational diabetes, and 34 placentas with normal pregnancy as a control group. Placental vascular-syncytial membrane, trophoblastic basement membrane, villous stroma, and fetal vessel were investigated for their thickening basement membr

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Publication Date
Tue Jan 01 2019
Journal Name
Plant Archives
The role of some cytokines in diabetic patients infected with toxoplasmosis
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Toxoplasmosis is the term for infection and disease in man and animal caused by a parasite called Toxoplasma gondii. The more susceptible to infect with toxoplasmosis is the Diabetic patients, due to low level of immunity response. The aim of current study is to investigate the immune status of diabetes mellitus type 2. One hundred and seventy five samples of both diabetes mellitus type 2patients and controls which had been tested by ELISA technique to detect anti-Toxoplasma Abs (IgG and IgM). The positive toxoplasmosis samples were tested to detect the level of TNF alpha and MIG. Results for all samples clarified that seronegative for IgM antibodies while 53 (53%) diabetic patients were seropositive for IgG antibodies and for toxoplasmosis

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Publication Date
Thu Sep 11 2025
Journal Name
مجلة الدراسات اللغوية و الترجمية
Adjectives with the meaning of color in the novel by Sholokhov M. «Quiet Flows the Don”
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Abstract Definition of the specifics of color designation and color painting by M. Sholokhov. The general goal of the study determined the formulation and solution of the following tasks: -identify the color words «black» and «white» in the book of the novel, determine their semantics and frequency of use; -show the compatibility of color words in order to detect typical contexts for the implementation of aesthetic and social meanings of color vocabulary,. We determined the composition of the lexical-semantic group is based on the commonality of the logical-subject content of adjectives or their individual meanings, which is detected by the presence of connections between lexical meanings. Semantic connections between lexical meanings a

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Publication Date
Wed Jun 01 2011
Journal Name
Journal Of Economics And Administrative Sciences
The relationship of empowering workers with organizational performanceField research of the views of the scientific leaders of a number of colleges at the University of Baghdad
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The Strategy of employees' empowerment, organizational performance and total quality management represent three informative which were and still the hub of many studies and researches including the current study. The higher education is considered one of the most important services sectors and the main development as well as the civil progress in the society. It is the main source that provides the organizations with the human resources having scientific or practical professions. So Higher Education has been chosen especially Baghdad University as a sample of the study. The study problem is concentrated to find answers of the following   questions: What the level of the powers mandate in the organization concerning the

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Publication Date
Wed Mar 18 2020
Journal Name
Baghdad Science Journal
Solutions and Recent Challenges Related to Energy in Wireless Body Area Networks with Integrated Technologies: Applications and Perspectives
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          In this paper, we have investigated some of the most recent energy efficient routing protocols for wireless body area networks. This technology has seen advancements in recent times where wireless sensors are injected in the human body to sense and measure body parameters like temperature, heartbeat and glucose level. These tiny wireless sensors gather body data information and send it over a wireless network to the base station. The data measurements are examined by the doctor or   physician and the suitable cure is suggested. The whole communication is done through routing protocols in a network environment. Routing protocol consumes energy while helping non-stop communic

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Publication Date
Mon Nov 27 2023
Journal Name
Future Oncology
Plain Language Review: What are Biosimilar Medicines and how Can they be Used to Treat People with Cancer?
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Publication Date
Thu Jun 25 2020
Journal Name
Scientific Reports
Lysophosphatidylcholine acyltransferase 2 (LPCAT2) co-localises with TLR4 and regulates macrophage inflammatory gene expression in response to LPS
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Despite extensive investigations, an effective treatment for sepsis remains elusive and a better understanding of the inflammatory response to infection is required to identify potential new targets for therapy. In this study we have used RNAi technology to show, for the first time, that the inducible lysophosphatidylcholine acyltransferase 2 (LPCAT2) plays a key role in macrophage inflammatory gene expression in response to stimulation with bacterial ligands. Using siRNA- or shRNA-mediated knockdown, we demonstrate that, in contrast to the constitutive LPCAT1, LPCAT2 is required for macrophage cytokine gene expression and release in response to TLR4 and TLR2 ligand stimulation but not for TLR-independent stimuli. In addition, cells transfe

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Publication Date
Wed Jan 12 2022
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Adherence and Beliefs to Adjuvant Hormonal Therapy in Patients with Breast Cancer: A Cross-Sectional Study (Conference Paper) #
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  Breast cancer is the most common cancer among women over the world. To reducing reoccurrence and mortality rates, adjuvant hormonal therapy (AHT) is used for a long period. The major barrier to the effectiveness of the treatment is adherence. Adherence to medicines among patients is challenging. Patient beliefs in medications can be positively or negatively correlated to adherence. Objectives: To investigate the extent of adherence and factors affecting adherence, as well as to investigate the association between beliefs and adherence in women with breast cancer taking AHT. Method: A cross-sectional study included 124 Iraqi women with breast cancer recruited from Middle Euphrates

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Publication Date
Sun Jun 21 2026
Journal Name
Journal Of Petroleum Research And Studies
Possibility to Apply Gas Lift Method for Low Production Wells with High Water Cut in (A) Oil Field
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Gas lift is one of the oldest methods used to produce hydrocarbon fluids from wells experiencing declining production. It works by aerating the mixture inside production tubing and forcing it to the surface. One of the reasons for declining production in oil wells is an increase in water cut or a drop in reservoir pressure, which requires one of the artificial lift methods to restore production. (A) oil field suffers from an increase in water cut, which has affected well productivity. The wells under study have a water cut of up to 66%, resulting in very low production rates. In this research, Pipesim software was used to build a physical and fluid model, then design an optimal gas lift system that achieves the highest possible prod

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