This paper presents a comparative study of two learning algorithms for the nonlinear PID neural trajectory tracking controller for mobile robot in order to follow a pre-defined path. As simple and fast tuning technique, genetic and particle swarm optimization algorithms are used to tune the nonlinear PID neural controller's parameters to find the best velocities control actions of the right wheel and left wheel for the real mobile robot. Polywog wavelet activation function is used in the structure of the nonlinear PID neural controller. Simulation results (Matlab) and experimental work (LabVIEW) show that the proposed nonlinear PID controller with PSO
learning algorithm is more effective and robust than genetic learning algorithm; thi

In past years, structural pavement solution has been combined with destructive testing; these destructive methods are being replaced by non-destructive testing methods (NDT). Because the destructive test causes damage due to coring conducted for testing and also the difficulty of adequately repairing the core position in the field. Ultrasonic pulse velocity was used to evaluate the strength and volumetric properties of asphalt concrete, of binder course. The impact of moisture damage and testing temperature on pulse velocity has also been studied. Data were analyzed and modeled. It was found that using non-destructive testing represented by pulse velocity could be useful to predict the quality of asphalt c

Objective: In this study ,the effects of silver nanoparticles (Ag NPs)were investigated on the liver and kidney tissues. Methodology: The produced nanoparticles have an average particle size of about 30 nm. Eighteen male albino rats were used by dividing them into three groups, each group comprise 6 rats. First group(control group) given food and water like other groups by liberty. Second group was tail injected by (AgNPs) at dose of (0.4 mg/kg. body weight/day). Third group was injected by (AgNPs) at dose of (0.6 mg/kg. body weight/day) for 15 days. All animals were sacrified at the end of experiment. The liver and kidney tissues specimens were fixed in 10% formalin and histological preparations were carried out then stained with H&E. Path

ملخـــص البحــــث

  كلما  اتسعت دائرة  المحددات  باختلاف علومها  تلاقحت الافكار  في دراسات معاصرة جديدة ، فالمقاربة  اللغوية  ،والأدبية ، والبلاغية باختلاف انواعها اثرت البحث القرآني ؛ فأنتجت لنا قالباً تفسيرياً جديداً يُدعى بالمقاربات الفقهية , او الموضوعية , او المقاصدية وغير ذلك  ، مما دعا الى المقاربات التفسيرية  التي للأسف اخذت بعداً كمياً لا نوعياً  من قبل

In this paper a nonlinear adaptive control method is presented for a pH process, which is difficult to control due to the nonlinear and uncertainties. A theoretical and experimental investigation was conducted of the dynamic behavior of neutralization process in a continuous stirred tank reactor (CSTR). The process control was implemented using different control strategies, velocity form of PI control and nonlinear adaptive control. Through simulation studies it has been shown that the estimated parameters are in good agreement with the actual values and that the proposed adaptive controller has excellent tracking and regulation performance.

İlk çağlarda yaşayan insanların hayal dünyasını tanıtan masallar görünümünde olan destanlar‚ aslında‚ milleylerin tarih öncesi devirlerde başlayan kuruluşlarını‚ inanışlarını‚ erdemlerini‚ fikir ve sanatlarını anlatır.
Destanlar‚ kökü tarihe dayanan olayların, halk gözüyle görülen‚ halk ruhuyla duyulan masallaşmış görüntüleridir. Destanlarda milletlerin dinleri, türlü inanışları‚ Tanrı karşısındaki davranışları, yaşadıkları coğrafyanın özellikleri ile birleşmiş duyguları vardır.
Su köpüğünden yaratılmış‚ bir ağacın karnından doğmuş, ışık kümelerinin içinden çıkmış‚ fil kadar kuvvetli, güneş kadar güzel insanların maceralarını

Vapor-liquid equilibrium data are presented for the binary systems n-hexane - 1-propanol, benzene - 1-propanol and n-hexane – benzene at 760 mm of mercury pressure. In addition ternary data are presented at selected compositions with respect to the 1-propanol in the 1-propanol, benzene, n-hexane system at 760 mmHg. The results indicate the relative volatility of n-hexane relative to benzene increases appreciably with addition of 1-propanol.

الحكم .. وقضية الخروج عليه

    The genus of Androctonus is widely distributed in Asia and Africa .It is found in Egypt, Palestine, Iran, Jordan, Syria, Saudi Arabia and Iraq. The present study is the first taxonomic study to describe Androctonus crassicauda (Oliver,1807) in Iraq .The genus Androctonus recognized by three main characters which are: color it is ranges from light brown to raddish to blackish brown to black, pedipalp (Chelae) is narrower than patella in adults, and  pedipalp fingers with many denticles. Among other characters by which the genus can be distinguished by body hairs and, the rows of denticles on pedipalp fingers. The main morphological characters of the species are figured of And

This work was conducted to study the possibility of feeding date stone meal (DSM) to 280 commercial Hisex Brown Pullets during the rearing Period (6-20) weeks of age. The rates of inclusion were O/T1, 30/T2, 60/T3. Seven treatments with two replicates for each were used. Results showed that Pullets in Tl were significant)y heavier at the end of rearing period than those fed no DSM P < 0.05. While Pullets in T3 were significantly lighter than all treatment P < 0.05. Food consumption differed significantly between treatments only during the age of 14-20 weeks P < 0.05. Whereas, egg production was significantly lower in T3 than in all other treatments. Mortality, on the other hand, was not effected by treatments.

Alkaloids are a group of naturally occurring chemical compounds that contain mostly basic nitrogen atoms . They are a large family of compounds synthesized by plants in addition to the bacteria, fungi, and animals,  they often have pharmacological effects. The aim of this study is to isolate and identified alkaloids in a newly studied, wild Iraqi plant named

This study was designed for isolation and molecular identification of Nontuberculous Mycobacterium (NTM) from fish during the period between October and December 2017 from Karbla province, Iraq. This study included 200 fresh fish samples from four different species including Spondyliosoma cantharus, Liza abu, Carassius carassius and Cyprinuscarpio. Three samples of each fish were taken including gills, muscles and all internal organs. The samples were processed by decontamination, concentration of 4% sodium hydroxide, and 0.1 ml of sediment was streaking on Löwenstein Johnson (LJ) media; then the bacterial cultures were incubated at 28-30 °C for 3days up to 4 weeks and suspected colonies were stained with a

This research was carried out to evaluate the effect of poly d, l-lactic-coglycolic acid(PLGA) nanoparticles loaded with peptide (as vaccine) on histomorphological in duodenum of broiler chick. A total of ninety eight, one day old ,unsexed broiler( Rose) chicks were divided randomly into seven groups( 2 replicate in each group) as follows:G1-control,G2 - chicks received traditional vaccine of infectious bursal disease(Volvac@ IBD MLV) ,G3 – Chicks Received PLGA nanoparticles only, G4,G5,G6 and G7 – chicks were received prepared vaccine at 160, 80, 40,and 20 μg of peptide loaded PLGA respectively. At the end of the experiment histopathological examination of duodenum section and histomorphological changes

Cataract is an opacity in the normally transparent focusing lens of the eye which leads to blindness. The aim of current study is to investigate the possible protective and therapeutic effects of aqueous extract of Foeniculum vulgare seed eye drops (0.5%) against selenite induced cataract in rabbits. Aqueous extract of Foeniculum vulgare seed prepared then formulated as eye drops. Sodium selenite used to induce cataract in rabbits' right eye by single intravitreal injection. Thirty-six rabbits included in the study and divided into three equal groups (12 rabbits in each group): healthy control group, Cataract-Induced group and group treated by Foeniculum vulgare seed extract eye drops. Parameters include the score of lens opacity which was

يهدف البحث الحالي إلى معرفة اثر التدريس بطريقة التنقيب الحواري في حفظ النصوص الأدبية لدى طلبة قسم اللغة الكردية، اختارت الباحثة طلبة المرحلة الثانية في قسم اللغة الكردية بكلية التربية ابن رشد، للعام الدراسي
(2008-2009) ميدان لتطبيق تجربتها.
تألفت عينة الدراسة من (48) طالبا وطالبة، تم توزيعها عشوائيا إلى مجموعتين، مجموعة ضابطة (درست بالطريقة الاعتيادية) تألفت من (23) طالبا وطالبة ومجموعة تجريبية (درست بطريقة الت

The study aimed to identify the self- compassion of the students as well as to identify the differences in the self- compassion according to the variables: sex - the academic specialization - Study level, the sample of the study of (200) students distributed equally by sex (male - female) Specialization (Scientific - Human) compassion. The results showed that there were no differences in the self- compassion according to the variables: gender, academic specialization, and Study level. In light of these results, the researcher Number of the recommendations and proposals

The aim of this study was design to investigate the pathological changes for one month after therapeutic and toxic doses of subcutaneous injection of estrogen and progesterone combination hormones in mice, on the target organs testis and epidydimus in males and uterus and ovary in females. As well as the effects on non-target organ of Brain, liver spleen, intestine, stomach, kidney and lung in both sexes. The results showed sever pathological changes in male's testis and epidydimus and in females, uterus and the ovary. It is characterized by some pathological changes in toxic group less severity than in the therapeutic group.
Also, in non-target organs brain and spleen of toxic group of males and females showed some pathological chang

The present study aimed to investigate the morphological features of the pancreas and duodenum of the adult males and females guinea pigs. Eight animals of each sex were collected to conduct this project. The selected organs were photographed in situ and macro morphometric measurements were conducted on them. Gross findings revealed that the pancreas of guinea pig was of compact type, of two lobes (right and left) connected by large central part (body). The organ drains the pancreatic secretion toward the last part of the ascending duodenum via minor pancreatic duct with absence of major pancreatic duct. The duodenum of the guinea pig was very short and V-shaped. The beginning of the duodenum contains duodena

This study aimed to examine the cytotoxic effect of resveratrol as an anticancer in human colorectal cancer (HRT) cell line by assessment of its half-maximal inhibitory concentration (IC50) and its ability to inhibit the growth of these cancerous cells. Resveratrol inhibited the proliferation of HRT cell lines when used at different increased concentrations in this study (25, 50, 100, 200, and 300 μmol). These increased concentrations of resveratrol caused a corresponding significant inhibition in the growth percentage of the tested cancerous cell line (13%, 31.33%, 53.66%, 63.66 %, and 76.33%, respectively) when compared with DMSO0.1% as negative control, in a concentration-dependent manner. Resveratrol at

This study was conducted to investigate the prevalence of avian malaria (Plasmodium gallinaceum) in the local domesticated breed chickens (Gallus gallus domesticus) that were purchased from the local markets in Baghdad city, using 100 blood samples which were collected from the wing vein, and kept in EDTA-K2 tubes for conventional PCR analysis during the period extended from 1 /10 / 2018 till 31/ 3 / 2019. Total infection rate was 18% (18/100), which were divided into males 20.00% and in females 16.00%. The eight isolates were recorded in the GenBank under accession numbers ID: MN082405.1, MN082406.1, MN082407.1, MN082408.1, MN082409.1, MN082410.1, MN082411.1, and MN082412.1 with identity 99.20 - 99.87% and w

The objective of this review article was to discuss the interaction between virus effectiveness and host immune system challenges on the innate and adaptive on how the immune system able to defend against COVID-19 viral infections. Genetically, the COVID-19 is a virus that has genetic material coated by lipid with a crown of protein. The virus that causes COVID-19 is called severe acute respiratory syndrome coronavirus two (SARS-COV-2) and was first detected in humans last December 2019. Primarily, the COVID-19 virus spreads with droplets of saliva or nose discharge when an infected person sneezes or coughs. Most people with a healthy immune system those infected with the COVID-19 virus showed mild to moderat

تكمن أهمية البحث في اعداد تمرينات قائمة على اساس بناء وتعميم البرامج الحركية وفق نظرية جنتيل في مستويات المهارة لتنمية التآزر البصري الحركي.

وتكمن مشكلة البحث في ان تنمية التآزر البصري الحركي لا يعتمد على الاسس العلمية, ولهذا فقد لجأ الباحث في هذه الدراسة إلى اعتماد تمرينات يتم اعدادها وفق نظرية بناء وتعميم البرامج الحركية ونظرية مستويات المهارة.

وكان هدف الدراسة هو اعداد تمرينات وفق نظرية بناء وت

يقصد بتنازع الاختصاص من الناحية القانونية تنازع جهتين قضائيتين بخصوص النظر في موضوع معين كالتنازع الذي يحصل بين القضاء العادي والقضاء الاداري في الدول التي تأخذ بنظام القضاء المزدوج كما ان التنازع يحصل بين محكمتين تتبعان نظاماً قضائياً واحداً اي بين جهات القضاء الاداري ذاتها أو بين جهات القضاء العادي فيما بينها، كما قد يحصل التنازع في الدول التي تتبنى النظام الاتحادي الذي يكون من مظاهره ثنائية النظام الق

The present study was conducted on 10 Iraqi pregnant buffaloes aged between 3-6 years at Al-Qasim district- Babylon province, Iraq from December 2018 to December 2019. Those animals diagnosed by rectal palpation and ultrasonography technique to estimate the reproduction status. The results of this study reported wandering of ovum in 10% of animals (1/10). While ultrasonography characterized by increasing placentomes measurement gradually with development of gestation, and the placentomes recorded 8.32±2.46 mm, 13.27±3.25 mm, 18.37±5.34 mm, 23.25±8.63 mm and 28.2±6.87 mm in the 2nd , 3rd, 4th, 5th and 6th month, respectively. Also the total size was recorded by the crown rump length (CRL), which was 0.77

The prevalence of ostrich’s cryptosporidiosis was determined for the first time in central and south parts of Iraq to study the effects of age, sex, and months on the infection rate and to record the morphological characterization of Cryptosporidium spp in ostriches. A total of 200 ostriches fecal samples were examined by traditional methods for the detection of the parasite. The total infection rate was 11% (22/200), and the highest infection rate was 12.26% (13/106) in chicks ( 9 months), while the lowest infection rate was 9.57% (9/94) recorded in the adult (> 9 months). The study included seven provinces in the central and south parts of Iraq, Wasit, Baghdad, Babylon, Diyala, Karbala, Al-Najaf, an

 This study was conducted to produce a specific antigen for detection L. monocytogenes infection

في حين أن نموذج الأم يرمز تقليديا إلى التنشئة والرعاية والحب غير المشروط ، فإن جانبه السلبي ،الأم الملتهمة ، يجسد سمات السيطرة والتلاعب والخنق. بالاعتماد على نظريات يونغ و مفهومه لنماذج اللاواعي والرمزية الجماعية, ولا سيما نموذج الأم ومن خلال التحليل النصي الدقيق والرؤى النظرية, يستكشف هذا البحث الطبيعة المزدوجة لنموذج الأم وآثاره النفسية في رواية جيليان فلين "الأشياء الحادة، 2006".كما وتحلل هذة الدراسة شخصي

The novel is the revelation of the attitudes of every age. And the writers do not know the winner of their stroke to express these events، The research has been working on a descriptive-analytical approach based on the American Comparative School، Al-Shahez's novel explores the work of the nobly and the film by Hamoun by Dariush Mehrjui By relying on the main characters of these two narratives, they depict a picture of Egypt and Iran From the symbolic lines of these works. In fact, the authors of this research have tried to initiate the introduction and analysis of these two works In fact, the authors of this research have tried to initiate the introduction and analysis of these two works.

 The results of the research show that

This study is an attempt to investigate the conceptual metaphor of UP and DOWN commonly used in Iraqi community. Some of the metaphorical expressions in Iraqi colloquial Arabicarewidely used by Iraqi speakers in everyday language. Ithas been analyzed by following the cognitive theory of metaphor (Lakoff& Johnson,1980).The study indicates that the Iraqi speakerexperiences more of the metaphorical expressions of UP and DOWN to referto many of the abstract concepts that shape his/her impression of everyday life situations.

       The present article discusses innovative word-formation processes in Internet texts, the emergence of new derivative words, new affixes, word-formation models, and word-formation methods. Using several neologisms as an example, the article shows both the possibilities of Internet word-making process and the possibilities of studying a newly established work through Internet communication. The words selected for analysis can be attributed to the keywords of the current time. (In particular, the words included in the list of "Words of 2019") there are number of words formed by the suffix method, which is the traditional method of the Russian word formation. A negation of these words is usually made thro