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

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

Comparison of Some Land Suitability Evaluating Methods for a Selected Gypsiferous Part in the Northern Karma Region for Irrigated Agriculture

To compare the efficiency of three systems to evaluate the suitability of Gypsiferous land for irrigated agriculture, an area of 8885.4 hectares was selected in the Tharthar region – Iraq within the Euphrates terrace, which formed at Pleistocene period and mainly consisted of gypsum, the study included a semi-detailed survey of the area's soil using the Free-lance method, by selecting three parallel transects, according to the variations in texture class, soil salinity and content of gypsum, five representative pedons locations were identified and morphologically described, also soil samples from each horizon were obtained, as well as we obtained water samples from the Euphrates river-Tharthar canal and every wells located in the study area, it's transferred to the laboratory and the required analyzes were performed. The result showed the predominance of the medium soil texture class and slightly saline soil class (S1) in the study area, with a decrease in the soil carbonate content, on the contrary the soil gypsum content was increased. All wall waters was salinity, which poses a danger to agricultural use, compared to the water of the Euphrates river. A discrepancy was observed between the obtained land suitability classes. While the Sys and Verheye, 1972 system showed two poor suitability classes, Sys et al. 1991 and Al-Baji et al. 2010 has improved the appropriateness of the varieties, but the Kadhim, 2012 system was the best in terms of application in order to include the quality of irrigation water within the classification, so its results were more close to the reality diagnosed during the field visits to the study area and the questionnaire from the land users of the regio

Correlation of Chronic Viral hepatitis B and liver function Tests

Hepatitis B virus (HBV) infection is one of the important challenges facing the world. The persistence or clearance of HBV is often determined by the host's immune responses. The current study was conducted during June-October 2018 on 80 patients with chronic HBV infection and 96 age- and gender-matched healthy controls. The results showed that most of the patients were males (62.5%) while females constituted 37.5%. The patients' serum was positive for anti-HBc IgG and HbsAG antibodies, while it was negative for anti-Hbc IgM antibodies. These findings were consistent with the interpretation of chronic HBV infection. Four liver function tests were performed, including alkaline phosphatase (ALP), alanine aminotransferase (ALT), aspartate aminotransferase (AST) and total serum bilirubin (TSB). A significant increase in ALP, ALT, and AST levels was observed in HBV patients compared to healthy controls, while TSB showed no significant differences. However, in the receiver operating characteristic curve analysis, only ALP and AST occupied an excellent area under the curve, which was > 0.90

Mortality and pulmonary complications in patients undergoing surgery with perioperative sars-cov-2 infection: An international cohort study

Background The impact of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) on postoperative recovery needs to be understood to inform clinical decision making during and after the COVID-19 pandemic. This study reports 30-day mortality and pulmonary complication rates in patients with perioperative SARS-CoV-2 infection. Methods This international, multicentre, cohort study at 235 hospitals in 24 countries included all patients undergoing surgery who had SARS-CoV-2 infection confirmed within 7 days before or 30 days after surgery. The primary outcome measure was 30-day postoperative mortality and was assessed in all enrolled patients. The main secondary outcome measure was pulmonary complications, defined as pneumonia, acute respiratory distress syndrome, or unexpected postoperative ventilation. Findings This analysis includes 1128 patients who had surgery between Jan 1 and March 31, 2020, of whom 835 (740%) had emergency surgery and 280 (248%) had elective surgery. SARS-CoV-2 infection was confirmed preoperatively in 294 (261%) patients. 30-day mortality was 238% (268 of 1128). Pulmonary complications occurred in 577 (512%) of 1128 patients; 30-day mortality in these patients was 380% (219 of 577), accounting for 817% (219 of 268) of all deaths. In adjusted analyses, 30-day mortality was associated with male sex (odds ratio 175 [95% CI 128-240], p<00001), age 70 years or older versus younger than 70 years (230 [165-322], p<00001), American Society of Anesthesiologists grades 3-5 versus grades 1-2 (235 [157-353], p<00001), malignant versus benign or obstetric diagnosis (155 [101-239], p=0046), emergency versus elective surgery (167 [106-263], p=0026), and major versus minor surgery (152 [101-231], p=0047). Interpretation Postoperative pulmonary complications occur in half of patients with perioperative SARS-CoV-2 infection and are associated with high mortality. Thresholds for surgery during the COVID-19 pandemic should be higher than during normal practice, particularly in men aged 70 years and older. Consideration should be given for postponing non-urgent procedures and promoting non-operative treatment to delay or avoid the need for surgery. Funding National Institute for Health Research (NIHR), Association of Coloproctology of Great Britain and Ireland, Bowel and Cancer Research, Bowel Disease Research Foundation, Association of Upper Gastrointestinal Surgeons, British Association of Surgical Oncology, British Gynaecological Cancer Society, European Society of Coloproctology, NIHR Academy, Sarcoma UK, Vascular Society for Great Britain and Ireland, and Yorkshire Cancer Research

Mortality and pulmonary complications in patients undergoing surgery with perioperative SARS-CoV-2 infection: an international cohort study

Background: The impact of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) on postoperative recovery needs to be understood to inform clinical decision making during and after the COVID-19 pandemic. This study reports 30-day mortality and pulmonary complication rates in patients with perioperative SARS-CoV-2 infection. Methods: This international, multicentre, cohort study at 235 hospitals in 24 countries included all patients undergoing surgery who had SARS-CoV-2 infection confirmed within 7 days before or 30 days after surgery. The primary outcome measure was 30-day postoperative mortality and was assessed in all enrolled patients. The main secondary outcome measure was pulmonary complications, defined as pneumonia, acute respiratory distress syndrome, or unexpected postoperative ventilation. Findings: This analysis includes 1128 patients who had surgery between Jan 1 and March 31, 2020, of whom 835 (74·0%) had emergency surgery and 280 (24·8%) had elective surgery. SARS-CoV-2 infection was confirmed preoperatively in 294 (26·1%) patients. 30-day mortality was 23·8% (268 of 1128). Pulmonary complications occurred in 577 (51·2%) of 1128 patients; 30-day mortality in these patients was 38·0% (219 of 577), accounting for 81·7% (219 of 268) of all deaths. In adjusted analyses, 30-day mortality was associated with male sex (odds ratio 1·75 [95% CI 1·28–2·40], p\textless0·0001), age 70 years or older versus younger than 70 years (2·30 [1·65–3·22], p\textless0·0001), American Society of Anesthesiologists grades 3–5 versus grades 1–2 (2·35 [1·57–3·53], p\textless0·0001), malignant versus benign or obstetric diagnosis (1·55 [1·01–2·39], p=0·046), emergency versus elective surgery (1·67 [1·06–2·63], p=0·026), and major versus minor surgery (1·52 [1·01–2·31], p=0·047). Interpretation: Postoperative pulmonary complications occur in half of patients with perioperative SARS-CoV-2 infection and are associated with high mortality. Thresholds for surgery during the COVID-19 pandemic should be higher than during normal practice, particularly in men aged 70 years and older. Consideration should be given for postponing non-urgent procedures and promoting non-operative treatment to delay or avoid the need for surgery. Funding: National Institute for Health Research (NIHR), Association of Coloproctology of Great Britain and Ireland, Bowel and Cancer Research, Bowel Disease Research Foundation, Association of Upper Gastrointestinal Surgeons, British Association of Surgical Oncology, British Gynaecological Cancer Society, European Society of Coloproctology, NIHR Academy, Sarcoma UK, Vascular Society for Great Britain and Ireland, and Yorkshire Cancer Research

Rheological and optical characterization of Polyvinylpyrrolidone (PVP) - Polyethylene glycol (PEG) polymer blends

Polymer blends of different concentrations for PVP-K30 and different additive weights of PEG8000 have been prepared as polymeric blends solutions. The rheological and optical properties of the blends samples have been investigated using Ostwald viscometer and Refractometer. The results showed that the density, shear, relative and specific viscosities are increases with the increasing of PVP concentration and additive weight of PEG. The optical constant values such as refractive index, reflectance, molar reflectance, coefficient of finesse and Brewster Angle are increase with the increasing of PVP concentration and additive weight of PEG while the critical angle has the revers behavior. DOI: http://dx.doi.org/10.31257/2018/JKP/2019/11020

Effect of Zinc Oxide Level on Tensile Properties of a NR/SBR Composite

The aim of this work is studying the effect of zinc oxide level on tensile properties of the compounds. Since the compounds consist of natural rubber (NR) and styrene-butadiene rubber (SBR) with ratio (50:50).This work included studying the replacing of conventional zinc oxide by nano-zinc oxide as an activator has small particle size and large surface area in comparison with conventional zinc oxide so as to improve tensile properties and reduce the amount of zinc oxide inside the compounds. In this work, two groups of compounds are prepared: Six compounds have conventional zinc oxide as an activator with concentrations (0,2,4,5,6,8 phr (part per handred)). Nine compounds have nano-zinc oxide as an activator with concentrations (0,0.2,0.4,0.6,0.8,1,1.2,1.4,1.6 phr). The compounds were prepared by two-roll mill and laboratory press. Dumbbells (test samples) of tensile test are prepared by Wallace. Test Specimens Cutting Press. Tensile test carried out by Monsanto T10 Tensometer. Crosslink density tested by swelling the samples of the compounds by toluene and using Flory- Rehner equation. The results refer to the maximum values of tensile properties of a NR/SBR blend with conventional zinc oxide at (5 phr) of zinc oxide level. The maximum values of tensile properties with nano-zinc oxide at (1.2 phr) of zinc oxide level. The replacing conventional zinc oxide by nano-zinc oxide reduces the cost of the compounds by reducing the amount of zinc oxide inside the compounds and improves the tensile properties

A single-nucleotide polymorphism of IL12A gene (rs582537 A/C/G) and susceptibility to chronic hepatitis B virus infection among Iraqi patients

Abstract A case–control study (80 patients with chronic hepatitis B virus [HBV] infection and 96 controls) was performed to evaluate the association of an IL12A gene variant (rs582537 A/C/G) with HBV infection. Allele G showed a significantly lower frequency in patients compared to controls (31.2 vs. 46.9%; probability [p] = 0.009; corrected p [pc] = 0.027) and was associated with a lower risk of HBV infection (odds ratio [OR] = 0.49; 95% confidence interval [CI] = 0.29–0.83). A similar lower risk was associated with genotypes CG (17.5 vs. 29.2; OR = 0.25; 95% CI = 0.08–0.81; p = 0.02) and GG (10.0 vs. 16.7; OR = 0.25; 95% CI = 0.07–0.91; p = 0.036), but the pc value was not significant (0.12 and 0.126, respectively). Serum IL-35 levels showed significant differences between individuals of different genotypes (p = 0.007). The highest median was associated with CA genotype (286.5 pg/mL), followed by genotypes CG (227.0 pg/mL), GG (206.5 pg/mL), CC (169.0 pg/mL), AA (137.5 pg/mL) and finally AG (125.0 pg/mL). In conclusion, rs582537 appears to be an important genetic variant that may influence not only susceptibility to HBV infection but IL-35 levels

Palmitic acid-based amide as a corrosion inhibitor for mild steel in 1M HCl

Due to growing environmental concerns and regulations limiting the use of harmful and toxic synthetic corrosion inhibitors, there is a high demand for sustainable corrosion inhibitors. In this study, a green and rapid technique was used to synthesize amide N-(4-aminobutyl)palmitamide (BAPA) which yielded 91.17% of the product within 2 min, compared to a low yield of 75–80% and a very long 8–10 h reaction time with the conventional thermal condensation method. The chemical structure of BAPA was analyzed by FT-IR, 1HNMR and 13CNMR spectra, as well as CHNS elemental analysis. When applied to mild steel exposed to 1 M HCl, BAPA delayed and reduced corrosion by adsorbing to the steel surface to form a protective layer. The inhibition efficiency increased with increasing amide concentration, and maximal inhibition of 91.5% was observed at 0.5 mM BAPA. The adsorption of BAPA on mild steel in an acidic solution was studied and inhibition performance was correlated with the calculated adsorption-free energy ΔGads, indicating good agreement between the experimental and adsorption findings. Surface morphology of untreated and treated mild steel coupons was evaluated by SEM, and based on density functional theory (DFT) computations and atomic charges analysis, a stronger interaction was observed between BAPA and mild steel surface leading to the formation of a compact protective film on the metallic surface. This protective film is attributed to the presence of nitrogen atoms and carbonyl group in the chemical structure of BAPA