planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the

The study aimed to estimate the content of lead and determine the quality of the internal coating of metal cans through electrical conductivity as well as to determine the accuracy of the information card for some types of canned food that available in local markets. The information card test showed that all of these samples contained the name of the food, trade mark, country origin, weight, and components, as was indicated by the company producing in all of them except for the C₁₂ sample which was otherwise, and the batch number was mentioned in all samples except for the C₃ and C₁₇ which was not clear and not mentioned in the C₂₁, and the validity period was observed (produce and fini

The present research had dealt with preparing  bars  with the length of about  (13 cm) and  adiametar  of  (1.5 cm) of composite materials with metal  matrix  represented by (Al-Cu-Mg) alloy cast enforced by (ZrO₂) particles with chosen weight  percentages (1.5, 2.5 ,3.5, 5.5 %). The base  cast and the composite  materials were prepared by casting method by uses vortex  Technique inorder to  fix up (ZrO₂) particles in homogeneous way on  the  base cast. In addition to  that, two main groups of composite materials were prepared depending on the particles size of (ZrO₂) , respectively.       &n

The excellent specifications of electrodes coated with lead dioxide material make it of great importance in the industry. So it was suggested this study, which includes electrodeposition of lead dioxide on graphite substrate, knowing that the electrodeposition of lead dioxide on graphite studied earlier in different ways.

In this work the deposition process for lead dioxide conducted using electrolytic solution containing lead nitrate concentration 0.72 M with the addition of some other material to the solution, such as copper nitrate, nickel nitrate, sodium fluoride and cetyl trimethyl ammonium bromide, but only in very small concentrations. As for the operating conditions, the effect of change potential and temperature as well

In this research, (MOORA) approach based– Taguchi design was used to convert the multi-performance problem into a single-performance problem for nine experiments which built (Taguchi (L₉) orthogonal array) for carburization operation. The main variables that had a great effect on carburizing operation are carburization temperature (^oC), carburization time (hrs.) and tempering temperature (^oC). This study was also focused on calculating the amount of carbon penetration, the value of hardness and optimal values obtained during the optimization by Taguchi approach and MOORA method for multiple parameters. In this study, the carburization process was done in temperature between (850 to 950 ᵒC) for 2 to 6

Fifteen bony shuttle pins are used to immobilize induced radial and tibial fractures in the distal third. Good alignment and

Objective: The incidence of infectious diseases among hospitalized children remains high. This study describes the environmental health indicator diseases and differences between gender and age of the affected children. Patients & Methods: A review of hospitalization and death causes among children admitted to the Child Teaching Hospital for Pediatrics in Baghdad, Iraq was performed. Medical records of children admitted throughout three years period were collected for demographics data and statistical analysis using Chi-square test. Results: A total of 4,272 admissions and 309 deaths were recorded. Infectious diseases remain the primary cause of hospitalization among children and frequently lead to death; which recorded (56%) followed by ac

The goal of this research is to identify superstition that university students have in Libya and Iraq, with a comparison between the two. Furthermore, this research aims to identify significant differences in superstition among university students according to gender, study grade and study course.

The researcher explored the historical development of superstition and some explanatory theories of this human phenomenon. He also presented a number of previous foreign and Arab researches. He also designed a questionnaire on common superstitious ideas among university students in both Iraq and Libya.

This research found that in 7 sections, university students in Iraq got a high weigh

Learning education in the Islamic legacy vision considers a completed The Islamic learning education took its bases from origins of Quran and honored prophet Suna , and stressed on education child a good education and providing him with principles of religion and semantic moral values and Messenger (peace on him) considers the higher example for man in his moral, behavior and goodness and witness on this Higher God said

(you had in God Messenger a good leadership for those were requesting God and last day and mentioned God a lot). Al- Ahzab Surah :21. learning education converts man from religion to another and from culture to another and teacher left his signs on the generation if he accept or refuse.

Iraqi economy has grown rapidly. Iraqi citizen, therefore, should be very much involved with the comprehensive development after his long patience. Such development should begin with him and his family to get the housing commodity, which is indeed not a cheap one.                                                          

  In this regard, the Iraqi legislator drew attention to the necessity of issuing housing finan

The catalytic cracking of three feeds of extract lubricating oil, that produced as a by-product from the process of furfural extraction of lubricating oil base stock in AL-Dura refinery at different operating condition, were carried out at a fixed bed laboratory reactor. The initial boiling point for these feeds was 140 ºC for sample (1), 86 ºC for sample (2) and 80 ºC for sample (3). The catalytic cracking processes were carried out at temperature range 325-400 ºC and initially at atmospheric pressure after 30 minutes over 9.88 % HY-zeolite catalyst load. The comparison between the conversion at different operating conditions of catalytic cracking processes indicates that a high yield was obtained at 375°C, according to gasoline pr

         Rotating blades are the important parts in gas turbines. Hence, an accurate mathematical estimation (F.E.M) of the stresses and deformations characteristics was required in the design applications to avoid failure. In recent year’s there are researchers interest in the effect of temperature on solid bodies has greatly increased, The main of this study investigated the thermal and rotational effects.  So, the thermal stresses due to high pressure and temperature are studies, also determine the steady state stresses and deformations of rotating blades due to mechanical effect. Many parameters such as thickness and centre of rotating are investigated in this paper. The

We have theoretically investigated the in-plane lattice thermal conductivity of Zn4Sb3single quantum well structure taking into account spatial confinement of phonons. The calculations were carried out for free-surface quantum wells with thickness 8.5nm in the room temperature. We show that the lattice thermal conductivity is a significant reduce. The reduction is mostly due to the drop in the average group velocity caused by the spatial confinement of acoustic phonons and the corresponding increase in phonon relaxation rates. The predicted decrease is important for the anticipated applications of Zn4Sb3 nanostructure materials for room-temperature thermoelectric devices. Our theoretical results are in a good agreement with available exp

SnO2 thin films of different two thicknesses were prepared an glass substrate by DC magnetron sputtering. The crystal structure and orientation of the films were investigated by XRD patterns. All the deposited films are polycrystalline. The grain size was calculated as 25.35, 28.8 nm. Morphological and compositions of the films were performed by SEM and EDX analyses respectively. The films appeared compact and rougher surface in nature. The allowed direct band gap was evaluated as 3.85 eV, and other optical constants such as refractive index, extinction coefficient, real and imaginary parts of dielectric constants were determined from transmittance spectrum in the wavelength range (300-900) nm and also analyzed.
 

   Leucocytes Migration Inhibition test in agarose was carried against PPD and Mycobacterium tuberculosisantigen . The proportion of different Kinds of migrating leucocytes was calculated and expressed as a function of the migration distance .            Application of this test to clinical problem revealed that with PPD as antigen , a highly significant inhibition was obtained in PPD skin test – positive  normal  individual , as well as, a high significant inhibition was recorded in individuals recovered from tuberculosis .            These results demonstrated the suitability of this test for routine

There is a variety of artificial foot designs variable for use with prosthetic legs . Most of the design can be divided into two classes, articulated and non-articulated feet. one common non-articulated foot is the SACH . The solid ankle cushion heel foot referred to as the SACH foot has a rigid keel .

One key or the key factor in designing a new prosthesis is in the analysis of a patients response .

 This view is the most important because if the foot does not provide functional , practical or cosmetically acceptable characteristics the patient will not feel comfortable with the prosthesis , therefore design and manufacturing a new foot is essential, this foot made from polyethylene, its different shape and characte

          In the present research, a crane frame has been investigated by using finite element method. The damage is simulated by reducing the stiffness of assumed elements with ratios (10% and 20 %) in mid- span of the vertical column in crane frame. The cracked beam with a one-edge and non-propagating crack has been used. Six cases of damage are modeled for crane frame and by introducing cracked elements at different locations with ratio of depth of crack to the height of the beam (a/h) 0.1, 0.20. A FEM program coded in Matlab 6.5 was used to model the numerical simulation of the damage scenarios. The results showed a decreasing in the five natural frequencies from undamaged beam which means

Cyclophosphamide which acts as cytotoxic alkylating agent can induce a renal damage through the toxic metabolites which result from metabolic activation of Cyclophosphamide by cytochrome P-450 inside hepatocyte and develop renal toxicity by direct binding with cellular organelles in the urinary tract cells. Guggulsterone is a sterol derived from plant has ability to bind to farsenoid X receptor, mineral corticosteroid receptor, androgen receptor, glucocorticoid receptor and estrogen receptor.

This research clarifies the most important principles under which wall-climbing robots operate. Two important aspects must be examined in the study of this type of robot. The first aspect is the adhesion method, which has been analysed extensively over the years with multiple approaches. The second aspect is the movement method, which may or may not be integrated with the adhesion method. Research published in the last two decades has divided these robots into five main types and another subtype, each of which provides high efficiency in a specific environment and application. However, the efficiency decreases in others. For example, a robot with suction cups needs a smooth surface, a robot with ducted fans requires a surface that is fre

Tin oxide is a promising anode for the oxidation of refractory organic compounds, with advantages of low cost and absence of secondary pollutants. In this study, a Cu/SnO₂-Sb₂O₅ anode was fabricated by cathodic deposition in a rotating system. The effect of electrode rotation speed on the structural properties of the synthesised anode (Cu/SnO₂-Sb₂O₅) was investigated in the range of 50–250 rpm. The structure and morphology of the prepared anode were examined via SEM and XRD. Results showed that the Cu/SnO₂-Sb₂O₅ anode prepared at 250 rpm possessed a compact, multi-layer coating structure without cracks. The electrochemical perf

This study was conducted at the College of Agricultural Engineering Sciences/university of Baghdad. Were used wild reeds and barley straw inoculation with cumulative levels of  rumen fluid, Which aimed to calculate in vitro total and methane gas production using five treatments, as follows:-

T1: 1 ml of buffalo rumen fluid + 9 ml of lamb rumen fluid.

T2: 2 ml of buffalo rumen fluid + 8 ml of lamb rumen fluid.

T3: 4 ml of buffalo rumen fluid + 6 ml of lamb rumen fluid.

T4: 6 ml of buffalo rumen fluid + 4 ml of lamb rumen fluid.

T5: 8 ml of buffalo rumen fluid + 2 ml of lamb rumen fluid.

The results showed a highly significant decreases (P≤0.01) in total gas and methane production for

This research tackles major real-time detection obstacles such as changing lighting effects and object blocks and background elements and different object sizes because such problems occur frequently in autonomous driving and surveillance and smart infrastructure applications. A detection pipeline system with modular functionality enabled processing of images, videos and webcams in real-time and had specific optimizations for each input format. The YOLOv5s model was selected due to its accurate and fast performance characteristics so we deployed it in a cloud-based Google Colab system with GPU acceleration capabilities. Real-world data collection succeeded in quantitative analysis through assessment of inference duration together with fr

This study investigates the mechanical, physical, and microstructural performance of structural lightweight self-compacting concrete (SLWSCC) using waste glass as a partial substitute for natural sand and micro-steel fibers as reinforcement under high-temperature conditions. The research will focus on optimizing the sustainability, fire resistance, and structural performance of lightweight concrete and reducing the effects of waste disposal. Four mixes were made, a control mix (REF) and three mixes, which included 20%, 30%, and 40 %of waste glass, which weighed 30%of sand, reinforced by 1 %of micro-steel fibers. Slump flow, V-funnel, and L-box tests were used to determine fresh properties based on EFNARC guidelines to ve

Facial expression recognition (FER) is crucial in expressing a human's emotional state. Emotions and expressions on the human face are information that computers and deep learning can recognize. FER is a current research topic due to the recent advancement and use of human-computer interaction systems. The recognition of facial expressions is challenging for current deep learning models due to the variable brightness, background, pose, etc. of the face images. This work presents an improved learning method based on a feature fusion convolutional neural network (CNN) to recognize seven facial expressions. First, we trained three different base model structures and then fused the features of the pre-trained base models 1 a

This study investigates the spatial and temporal trends in selected climatic and environmental variables across various regions of Iraq from January to May during 2003 to 2024 using Geographic Information System (GIS) techniques and the Mann-Kendall trend test. The analysis focuses on five variables: air temperature, methane, carbon monoxide (CO), carbon dioxide (CO₂), and the Soil-Adjusted Vegetation Index (SAVI).  A comprehensive dataset was compiled by integrating satellite-based observations of climatic and environmental variables, MODIS remote sensing imagery for SAVI estimation, and observational air temperature data obtained from the Iraqi Meteorological Organization and Seismology.  Temporal trends were assessed usin

In this study, chitosan/polyvinyl alcohol (CS/PVA) films were prepared with different weight ratios (98:2, 96:4, 94:6, 92:8, and 90:10%) using the solution casting method to study the structural, thermal, and tensile strength properties of the composites. The Fourier transform infrared (FTIR) spectroscopy of CS/PVA samples showed some differences, such as changes in the strength, location, and intensity of the CO and CH₂ stretching bands. The differential scanning calorimetry (DSC) results showed the highest thermal elongation at 2%, reaching 289. DSC analysis shows a significant effect on the thermal stability of the composite by increasing its melting point. The thermogravimetric analysis (TGA) showed greater thermal

Positron emission tomography (PET) using ¹⁸F-fluorodeoxyglucose (¹⁸F-FDG) is a cornerstone in oncological imaging for tumor localization and therapeutic assessment. Despite its diagnostic utility, limited attention has been given to its transient effects on hematological parameters. This study evaluates hematologic and immunological alterations following FDG administration by analyzing changes in red blood cells (RBCs), white blood cells (WBCs), and platelets before and after injection. The experimental cohort included one healthy subject and three cancer patients (liver, breast, and uterine). Peripheral blood samples were obtained pre- and post-FDG injection, with subsequent blood film analysis assessing RBC aggregation, WBC distr

The current research aims to identify the needs required to enable rural women in the transition to sustainable family agricultural systems, as a questionnaire was prepared consisting of 5 axes of needs (institutional, guidance, economic, social and technological), which included 46 items, data was collected from  the research community represented by experts and specialists in the field of rural women's empowerment and sustainable agricultural development,  numbering 132 experts in Baghdad Governorate, and the research concluded that 91% of the paragraphs came at a level of great need and 9% of them came at  a  very  large level of need, and this is an indication that there is a large gap between the current sit

Accurate detection and classification of plant diseases are central to sustainable food production and the reduction in crop losses. Conventional identification protocols are often dependent on experts. They are time-consuming and difficult to scale. This paper proposes a novel Advanced Hybrid Convolutional Neural Network (AHCNN) model combining the attention mechanism and simplified convolution mechanism. This model can obtain high accuracy and low computational complexity. It is trained using a high-resolution leaf dataset that includes 1532 leaf images, separated into 1322 training, 150 validation and 60 test samples, with the goal of a classification of specimens into three categories: healthy, powdery and rusty. Its architecture use

Статья посвящена исследованию поэтики Серебряного века русской литературы на материале творчества А.А. Блока с учѐтом современного рецептивного контекста, в том числе в арабском мире. Рассматриваются специфика символизма как ключевого направления эпохи и художественные приѐмы Блока, отражающие мистицизм, двойственность бытия, музыкальность и мифопоэтические мотивы. В качестве материала привлекаются