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

ABSRTACT Background: Soft liner material is become important in dental prosthetic treatment. They are applied to the surface of the dentures to achieve more equal force distribution , reduce localized pressure and improve denture retention by engaging undercut . So the aim of the study is to evaluate the effect of different surface treatment by air-abrasion AL2O3 and laser treatment with CO2 laser on improving the shear bond strength of the denture liner to acrylic denture base material . Materials and methods: the 30 specimens of heat cured acrylic denture base material (high Impact acrylic )and heat cured soft liner (Vertex ,Nether Lands )were prepared for this study .They were designed and divided according to type of the s

This research work considers one of the authentic and most modern modes of storytelling, as employed by Garcia Marquez in one of his famous stories "An Old ManWith Enormous Wings" (1972). Technically, the work is divided into four parts: the first serves as an introduction to his literary works, his use of magic realism, and addresses mainly the interests of Arab readers; the second handles the development of modern short story through the perspective of realism, until the emergence of magic realism as a new style; the third deals with the origin, nature and development of this style, and his mastery of it; the fourth part tries to analyze the story and its plot, thoughts, characters, symbols and metaphors, in the light of the artistic p

The coagulation and flocculation process using coated magnetic nanoparticles is considered one of the effective technologies for turbidity removal. This study investigates an application of magnetic nanoparticles coated with citric acid in the coagulation and flocculation process on Tigris River water in Baghdad, Iraq. Magnetic nanoparticles (MNP1) were synthesized by the co-precipitation method and coated with citric acid (MNP2). The prepared MNP1 and MNP2 were characterized by XRD, FTIR, AFM, FE-SEM, EDS, and zeta potential analysis. For coagulation process, the effect of different types of coagulants (alum, FeCl3, MNP1, MNP2), coagulant dosage (10–110 mg/l), and initial pH (3–9) were examined in this work. The best coagulant was MNP2

Explosive power is a crucial factor in athletic performance due to its connection to the skill-based aspects required in every sport. Therefore, understanding it is essential for guiding research and plays a key role in improving shot put performance for short-statured athletes in category (F40). Biomechanical variables also contribute to shot put performance for short-statured athletes in category (F40) by helping coaches identify, diagnose, and compare technical and motor errors, their components, timing, and speed with the required performance to achieve optimal results. Thus, the importance of this research lies in the researchers' attempt to identify the relationship between the explosive power of the upper and lower limbs and certain

This study is designed to isolate and molecular identification of C. neoformans, C. neoformans is pathogenic yeast and effect immunocompromised and immunocompetent. Methods: collect 50 samples from pigeon dropping and 50 samples from pigeon fanciers (sputum). The collection time was extended from November 2021 to February 2022, then culture at SDA, BSA, Cryptococcus Differential agar, esculin agar, Eucalyptus leaves agar media and Brain heart infusion agar with methyldopa, biochemical test including urease test and methyldopa, and then confirm identification by molecular identification by PCR technique sequencing and genetic analysis. The results showed that 3 swaps taken from sputum of human included cryptococcus neoformans and 6 s

Background: Candida tropicalis is one of the most causes of vulvovaginal candidiasis (VVC) in women. Systemic candidiasis and candidemia may also occur in pregnancies. Objective: This study was carried out to detect and isolate of this yeast from aborted placenta, which may cause severe complications such as spontaneous abortion. Materials and methods: Fresh aborted placenta were collected and washed by normal saline to remove the blood. Then, cut it into portions and place it in test tube containing 5 ml of normal saline. Finally, shake for 10 minutes, after that, cultured for microbial isolation. Isolation and detection were done by some conventional methods with Api candida and CHROMagar. Results: The results showed that four iso

This study aimed for isolation and identification of Candida glabrata and identifying some virulence factors. The distribution of patients with candidemia thrush showed that the age group 50-65 years old recorded the highest incidence of candidiasis in female and male with leukemia by 50% and 37.9 % respectively compared to the lowest incidence of candidiasis in the age group under 17 years old in female and male 8.8% and 13.5%, respectively. While the age group between 5-8 years was high, reaching 18 cases of oral candidiasis and 42% of children with leukemia compared with the age group, which was the least, that reached 9 cases, 21%. The highest incidence of C. glabrata was 59 isolates of females and males with leukemia, while C. kefyer w

Proteus mirabilis ? -lactamase of local isolates number 4TF represent karkh side and 20TF represent rusafa side of Baghdad were extracted and purified 23.17, 25.23 fold with yield of 36.66 %, 37.5% and specific activity 11.8, 12.6 of unit/ mg protein by DEAE –cellulose and Sepharose 4B (respectively ).Molecular weight of both enzyme was about 35500 Dalton determined by gel filtration. The study indicated that the isoelectric point of purified ? -lactamase that extracted from isolate number 4TF and 20TF was 5.4.

Background: For patients with coronavirus disease(COVID-19), continuous positive airway pressure (CPAP) has been considered as a useful treatment. The goal of CPAP therapy is to enhance oxygenation, relieve breathing muscle strain, and maybe avoid intubation. If applied in a medical ward with a multidisciplinary approach, CPAP has the potential to reduce the burden on intensive care units. Methods: Cross-sectional design was conducted in the ALSHEFAA center for crises in Baghdad. Questionnaire filled by 80 nurses who work in Respiratory Isolation Unit who had chosen by non-probability (purposive) selection collected the data. Then the researcher used an observational checklist to evaluate nurses’ practice. The data was analyzed us