Survey on Path Planning of Mobile Robot with Multi Algorithms

Sensible practical environment for path and continuous motion preparation problems usually involves various operational areas coupled with indoor usage comprising of multiple apartments, corridors, a few doors and several static and active obstacles in between. The disintegration of this system into limited areas or regions indicates an effect on the fun preparation of appropriate pathways in a complex setting. Many algorithms are designed to solve problems with narrow passages and with optimal solution for more than one field. Independent mobile robot gadget would have felt the stability of its abilities, the steadfastness and the question of resilience with the project and the implementation of an innovative as well as an efficient plan with the best approach. Navigation algorithms reaching a certain sophistication in the field of autonomous mobile robot, which ensures that most work now focuses on more specialized activities such as efficient route planning and navigation across complex environments. Adaptive way to prepare and maneuver needs to establish learning thresholds, legislation to identify areas and to specify planned requirements of the library. The aim of this survey is studying many algorithms to view the advantage and disadvantage for each method then can use optimal method depended on this study

THE METABOLIC ACTIVITY OF THE ADULT RABBIT CHOROID PLEXUS: AN ENZYMATIC HISTOCHEMICAL APPROACH

Objective: To investigate the metabolic activity of the adult rabbit choroid plexus, using succinate dehydrogenase, phosphorylase and α-naphthylacetate esterase as histochemical markers of, the aerobic, glycolytic, and lipolytic pathways,  respectively. Methods: Coverslip-mounted choroid plexus sections of adult rabbits were stained histochemically for the above enzymes. To characterize the esterase isoform(s), sections were incubated with various esterase modifiers before identification of the esterase activity. Sections of liver and kidney (controls) were simultaneously treated as for choroid plexus sections.  Results: Strong reactivity of the choroidal epithelium for both succinate dehydrogenase and esterase was readily detectable, while phosphorylase activity was virtually absent. In contrast to the B-isoform of esterase characteristically dominated the controls, the choroidal esterase activity was attributed mainly to C-isoform.                                                                                                                                                                    Conclusion: The results suggest that the energy required for CSF formation by the adult choroid plexus is derived almost exclusively from aerobic oxidation, including fat metabolism. The high esterase activity in the choroid plexus , and in particular the unique pattern of the choroidal esterase versus the esterase of the controls, were interpreted to offer a potential target for future inhibitors of the energy of fat metabolism and thereby for CSF reduction

INCREASING THE SURFACE HARDNESS OF CAST IRON BY ELECTRODEPOSITION OF BORIDES IN MOLTEN SALTS

In this paper the electrodeposition of boron on the surface of cast iron as a coating is applied to increase the hardness and protect the substrate against abrasive wear. The boron containing coating was synthesized by electrodeposition process from a NaCl-KCl (1:1 mol)-10 w%NaF-10w% KBF4 molten salt. The effect of electrolysis parameters (temperature and time) on the hardness is presented; the current density varied in the range –37 – –4.5 mA/cm2, allowing perfect coverage of and respect for dimensions. The electrochemical process was carried out at different temperatures (750°C-900°C) and for different periods of time (5-10 hours). Depending on the current density and duration of electrolysis, the deposits consist of FeB or Fe2B. Microhardness measurements across the boride layer indicated very high hardness values (between 1600 and 2100 HV0.05).The structure of the boride layer is linked to its boron content and thermal history: as-deposited coatings present very small grain sizes and can be considered as nearly amorphous

CURVATURE DUCTILITYOF REINFORCED CONCRETE BEAM SECTIONS STIFFENED WITH STEEL PLATES

This paper presents theoretical parametric study of the curvature ductility capacity for reinforced concrete beam sections stiffened with steel plates. The study considers the behavior of concrete and reinforcing steel under different strain rates. A computer program has been written to compute the curvature ductility taking into account the spalling in concrete cover. Strain rate sensitive constitutive models of steel and concrete were used for predicting the moment-curvature relationship of reinforced concrete beams at different rate of straining. The study parameters are the yield strength of main reinforcement, yield strength of transverse reinforcement, compressive strength of concrete, spacing of stirrups and steel plate thickness. The results indicated that higher strain rates improve both the curvature ductility and the moment capacity of reinforced concrete beam sections. Moreover the section curvature ductility increases as the thickness of the stiffening plates decreases

Facile synthesis of Schiff and Mannich bases of isatin derivatives

We report herein on the synthesis of some isatin Schiff’s bases (1–11), which were prepared from the reaction of isatin and some aromatic amines. These in turn were converted to the corresponding Mannich bases (12-23) by reaction with a number of secondary amines and formaldehyde, taking advantage of the active –NH group in the isatin. The structures of these compounds were elucidated using standard spectroscopic and analytical methods

Evaluation of the Level and Polymorphism of the Osteocalcin Gene in Patients with Rheumatoid Arthritis

The hormone is known as the bone protein γ-carboxyglutamic acid. The hormone belongs to the family of proteins that depend on vitamin K, as this vitamin is a catalyst in the formation of (γ-carboxylation) that determines its attraction to the bone matrix and calcium, and this contributes to the formation of bones. Moreover, the non-carboxylated form of the hormone that exerts hormonal properties and is also involved in glucose and energy metabolism, stimulates osteoblasts to secrete insulin directly and indirectly from the pancreas through the synthesis of glucagon-like-peptide 1 GLP-1 From the small intestine this enhances insulin sensitivity in fat cells and muscle cells. This property may have an effect on bone mineralization and may lead to a change in bone quality and an increased risk of fractures. The aim of the study is to evaluate the level of osteocalcin in patients with rheumatoid arthritis in comparison with the healthy ones and its relationship with the enzymes (GSH, CP, SOD), and to detect the gene encoding the hormone osteocalcin in the disease and to find the relationship between the hormone osteocalcin and vital variables. Blood samples were collected from (30) healthy people (15) males and (15) females, their ages ranged from (25-60) years and (30) patients from (19) males and (11) females in a hospital Salah Al-Din General and Al-Sharqat General Hospital, and the analyzes were measured in the central laboratory of the hospital, which were examined by the specialist doctor. This study showed that the levels of OC in the blood serum of people with rheumatoid arthritis is statistically higher compared to the healthy ones, and a significant decrease in the level of GSH for patients compared with the healthy ones, and a significant increase in the level of CP and the level of SOD for patients compared with the healthy ones, and there is a positive correlation between the level of OC and the level of CP And a negative relationship between OC level, GSH level and SOD level. It was revealed that there were significant differences at the level of probability (P<0.01) of repeating the allele for the OC gene between the group of patients and the healthy ones, where the value of the repeating of the mutated C allele increased and the level of the normal T allele decreased within the group of patients compared to the healthy ones

Microbial quality and some physicochemical properties evaluating of drinking water in some residential neighborhoods in Baghdad city-Iraq

Physical, chemical and a biological measurments were carried out and drinking water samples were collected from four areas Abu ghraib, Dora, Ghazaliya and Saydiya for period extended from February 2016 to September 2016, through the residential sites at different areas situated with various distances from the supplying source, three samples were taken monthly. Water temperature at sampling time was varied from 17.4°C to 30.8°C, for temperature at sampling time also. The results of pH values were within the allowable limits, ranging from 6.5 in winter to 8.2 in summer. The highest value of turbidity recorded for drinking water was in spring with 21 NTU and the lowest value was in summer with 0 NTU. The study showed that the results of TDS values ware ranged from 520 mg/L in winter to 200mg/L in spring. The highest value of residual chlorine was recorded in winter with 2.01 mg/L; the lowest value was 0.1 mg/L in spring . The current results showed an increased in the number of autotrophic bacteria, total coliform, and E. coli during winter season in most study locations as compared to those of the other seasons for drinking water . The Total plat count results of drinking water were exceed 100 cell/ml, the allowable limit for drinking water, for some samples in some sites. On the other hand, the TC, and E. coli exceeded zero cell/100ml, the allowable limits for drinking water, in some drinking water samples for some sites