Development a New Intelligent Mobile Robot to Avoid Obstacle

The project is a robot that automatically by passes barriers to reach a specific goal with an ultrasonic help that senses obstacles and measures the remaining transitions before the collision is meet. The robot changes its course with a couple of DC motors, Robot runs automatically without any interference by the Proportional-Integral-Derivative (PID) algorithm. The goal of this paper is to develop a path planning method that is capable of planning the mobile robot path from the starting position to the target position in different environments. However, the parameters of membership functions and PID controller parameters have optimized by using particle swarm optimization (PSO) algorithm. In addition to that, the proposed method with two Schemes of motion controllers are test with varying static and dynamic environments with and without load. The artificial potential field algorithm is introduce for path planning of mobile robot. However, the potential field algorithm is effective in avoiding unknown obstacles, but it contains minimal local problems, then a modified field algorithm is introduce to overcome some of the local minimum problems in the environment. Therefore, it is enhancing the performance of potential field algorithm and to produce a more efficient path planning method, that to allow mobile robot to navigate in dynamic and complex environments. As well as, simulation of mobile robot is design to test and implement the proposed method and control schemes using MATLAB and the software is develops by using C++ language and Arduino IDE. DOI: 10.7176/CEIS/10-3-03 Publication date: April 30th 201

In vivo experimental infection of sarcosporidiosis and toxoplasmosis of rabbits in Duhok Province, Kurdistan region, Iraq

Background: Sarcocystis species and Toxoplasma gondii are both zoonotic obligatory intracellular protozoan organisms and cyst-forming coccidian parasites that occur in domestic animals and human throughout the world.Methods: Forty local breed rabbits were divided into four groups, each group ten. Group one were infected with Sarcocystis, group two with Toxoplasma and group three with both parasites and last group was non-infected control group. The LAT serological test was used for detection of anti-toxoplasma antibody in serum of Toxoplasma infected rabbits. The direct impression smears stained with Giemsa was prepared from different body organs including; liver, lung, heart, brain and skeletal muscle for detection of tissue cysts (Bradyzoites) of T. gondii and microcysts of Sarcocystis.Results: In group one, 70% of infected rabbits were positive for toxoplasmosis by serological test; both are and by impression smear method 80% of the rabbits were positive for T. gondii with tissue cysts. Fifty percent of rabbits were positive for microcysts of Sarcocystis by direct impression smear method in group two. In group three, the impression smear and latex agglutination method were positive in 40% and 60% of rabbits, respectively. Statistically, there was no significant difference in detection of toxoplasmosis and sarcocystosis by LAT and impression smear method in group one and three.Conclusions: Rabbits could be source of toxoplasmosis and sarcocystosis and have public health implications and hazard as source of food. They might be source of infection for cats and shed environmentally resistant oocysts

Re-anchorage of a ruptured tendon in bonded post-tensioned concrete beams: model validation

Many post-tensioned concrete bridges have been reported to have ruptured tendons due to corrosion [1] and the assessment of their residual structural capacity has to account for the possibility of re-anchorage of failed tendons. This paper presents an experimental programme to validate a numerical model developed by the authors for the re-anchorage of a ruptured tendon in post-tensioned concrete [2]. The experimental programme considered 33 post-tensioned concrete prisms, in which the rupture of tendon was simulated by releasing the tendon at one end. The full field displacement at concrete surface after release was measured using 3D Electronic Speckle Pattern Interferometry (ESPI). A wide range of parameters: tendon diameter, duct material, grout strength, concrete strength and shear reinforcement were investigated to validate the proposed model, which is found to be suitable for use in assessing post-tensioned concrete bridges with damaged tendons

Modeling the re-anchoring of a ruptured tendon in bonded post-tensioned concrete

: In this study, a theoretical model is deve loped to simulate the re-anchorage of a ruptured bonded post-tensioning tendon. This includes estimating the re-anchorage length and stress distribution over the tendon. The model accounts for equilibrium and compatibility conditions at the steel-grout, grout-duct and duct-concrete interfaces as well as the effect of axial stresses in the strand and its confining materials, i.e. grout, duct and concrete. Formulation of the model is based on the elastic theory of thick-wall cylinders and the Coulomb friction model. The model has been validated against an axi-symmetrical Finite Element (FE) model, the UK Highway Agency’s BA51/95 model and previous experimental data. The models had been compared with the UK Highway Agency’s BA51/95 model and previous experimental data

Modeling the re-anchoring of a ruptured tendon in bonded post-tensioned concrete

: In this study, a theoretical model is deve loped to simulate the re-anchorage of a ruptured bonded post-tensioning tendon. This includes estimating the re-anchorage length and stress distribution over the tendon. The model accounts for equilibrium and compatibility conditions at the steel-grout, grout-duct and duct-concrete interfaces as well as the effect of axial stresses in the strand and its confining materials, i.e. grout, duct and concrete. Formulation of the model is based on the elastic theory of thick-wall cylinders and the Coulomb friction model. The model has been validated against an axi-symmetrical Finite Element (FE) model, the UK Highway Agency’s BA51/95 model and previous experimental data. The models had been compared with the UK Highway Agency’s BA51/95 model and previous experimental data

CANCER GROWTH TREATMENT USING IMMUNE LINEAR QUADRATIC REGULATOR BASED ON CROW SEARCH OPTIMIZATION ALGORITHM

The rapid and uncontrollable cell division that spreads to surrounding tissues medically termed as malignant neoplasm, cancer is one of the most common diseases worldwide. The need for effective cancer treatment arises due to the increase in the number of cases and the anticipation of higher levels in the coming years. Oncolytic virotherapy is a promising technique that has shown encouraging results in several cases. Mathematical models of virotherapy have been widely developed, and one such model is the interaction between tumor cells and oncolytic virus. In this paper an artificially optimized Immune- Linear Quadratic Regulator (LQR) is introduced to improve the outcome of oncolytic virotherapy. The control strategy has been evaluated in silico on number of subjects. The crow search algorithm is used to tune immune and LQR parameters. The study is conducted on two subjects, S1 and S3, with LQR and Immune-LQR. The experimental results reveal a decrease in the number of tumor cells and remain in the treatment area from day ten onwards, this indicates the robustness of treatment strategies that can achieve tumor reduction regardless of the uncertainty in the biological parameters

Prevalence and Characterization of Some Colibactin Genes in Clinical Enterobacteriaceae isolates from Iraqi Patients

                افراد العائلة المعوية تمتلك مجموعة من الجينات تدعى Polyketide synthase (pks). هذه المجموعة من الجينات تكون مسؤولة عن تصنيع الذيفان الذي يطلق عليه Colibactin والذي له دور مهم في استحثاث تكسر اشرطة الدنا المزدوجة DNA والذي يؤدي الى استحثاث ورم او ما يعرف بسرطان القولون، احد عشر من اصل ثمانية وثمانين عزلة  بكتيرية وتمثل (12.5%) كانت قد توزعت 7(8%) عزلة تعود لبكتربا E. coli، 2(2.25%) عزلة تعود لبكتريا K. pneumonia و 2(2.25%) تعود لبكتريا E. aerogenes كانت حاملة لجينات الكولبكتين قيد الدراسة. تم اختبار لتأثير السمي الخلوي لعزلتين كانت موجبة للجينات قيد الدراسة وهي E. coli and E. aerogenes تجاه خط الخلايا السرطاني المعروف بـ HeLa  بينت النائج انخفاض عدد الخلايا وحصول استطالة في انوية الخلايامقارنة بالخلايا الغير معاملة. اظهرت النتائج حصول تغيرات نسيجية في الخلايا بأستخدام صبغة AO/EBr تم ملاحظتها بأستخدام المجهر الفلورسيني: بعض هذه التغيرات تم ملاحظتها في لون كروماتين النواة ومصحوب بتكثف الدنا النووي وكذلك حصول تكسر في النوية، خلايا الـ HeLa التي ظهرت بلون اخضر ولم تحصل فيها اي تغيرات في لون المادة الكروماتينية هي خلايا حية ولم تتم معاملتها مع البكتريا الحاملة للجينات قيد الدراسة، بينما الخلايا المعاملة مع خلايا بكتيرية حاملة للجينات ظهرت انويتها بلون برتقالي داكن وهي خلايا ميتة. يستنتج من ذلك ان عزلات البكتريا المعوية المعزولة من مرضى عراقيين يمكنها ان تفرز مواد سامة (ذيفان الكولبكتين) يمكنها قتل قتل الخلايا السرطانية نوع HeLa وهذا ناتج عن تغيرات حصلت في انوية الخلايا المعرضة للبكتريا وكان واضح في كثافة وتكسر المادة الوراثية للخلايا قيد الدراسة. The members of the family of Eentrobacteriaceae harbour a gene cluster called polyketide synthase (pks) island. This cluster is responsible for the synthesis of the genotoxin colibactin that might have an important role in the induction of double-strand DNA breaks, leading to promote human colorectal cancer (CRC). Eleven out of the eighty eight isolates (12.5%) were pks+, distributed as 7 (8%) isolates of E. coli, 2 (2.25%) of K. pneumoniae and 2 (2.25%) of E. aerogenes. The cytotoxic effects of selected pks+ isolates (E. coli and E. aerogenes) on HeLa cells were represented by decreasing cell numbers and enlarged cell nuclei in comparison to the untreated cells. Cytological changes were observed when the infected HeLa cells cultures were stained with AO/EBr and visualized under fluorescent microscope. Some changes that happened in the color of the nuclear chromatin were accompanied by DNA condensation and degradation and fragmentation of nuclei. HeLa cells with green unchanged nuclear chromatin were alive while those with orange-dark and bright red nuclei were dead. It was concluded that a proportion of the Entreobacteriaceae isolates from Iraqi patients was pks+, which exerted cytotoxic effects upon using them to kill HeLa cells. In this study the microscopic observation of the cell morphology reveals the cellular response to the genotoxic insult, with reduced numbers, striking giant cells phenotype (megalocytosis) and fragmentation of nuclei due to the cell cycle arrest and cellular senescenc

Protective Effect of Curcumin Against Paracetamol-induced Liver Damage

Abstract: Curcumin, as well-known dietary pigment derived from the rhizome of curcuma longa L., has been shown to be a potent anti-inflammatory, antioxidant and anticarcinogenic agent. The present investigation aimed at questioning and examining the possible potential protective effect of curcumin against paracetamol-induced hepatotoxicity in an attempt to understand its mechanism of action, which may pave the way for possible therapeutic application. Paracetamol (500 mg/kg.b.w.) administration to rats resulted in massive elevation in serum and hepatic lactate dehydrogenase (LDH) activity and TBARS as well as in serum tumor necrosis factor-alph (TNF-Į) levels, with a significant decrease in serum protein thiols (Pr-SHs), blood glutathione (GSH) levels, blood superoxide dismutase (SOD) and glutathione peroxidase (GPx) activities. On the other hand, paracetamol hepatotoxicity resulted in an increased in hepatic TBARS and depletion of hepatic GSH and Pr-SHs levels as well as in hepatic SOD, GPx, GR, glutathione-s-transferase (GST) and Catalase (CAT) activities. Oral administration of curcumin at a concentration of 50 mg/kg b.w. daily for 15 days to rats treated with paracetamol produced a significant protection against-induced increase in serum and hepatic LDH activities as well as TBARS and tumor necrosis factor-alph (TNF-Į) levels. Also, curcumin (50 mg/kg.B.W.) could inhibit reduce in serum Pr-SHs, blood GSH levels and enhance increase in blood SOD and GPx activities. Hepatic TBARS level was suppressed by administration of curcumin to paracetamol-treated rats. In addition, curcumin enhance increase in hepatic GSH and Pr-SHs levels as well as in hepatic SOD, GPx, GR, GST and CAT activities. These data indicate that curcumin is a natural antioxidant hepatoprotective agent against hepatotoxicity induced by paracetamol model. Thus, curcumin may have a therapeutic value in drug-induced hepatotoxicity as well as in paracetamol therapy

Sodium Alginate - Gelatin Cross-Linked Microspheres for Releasing Diltiazem Hcl

Semi-interpenetrating polymer network (semi-IPN) microspheres of Sodium alginate (NaAlg) and Gelatin were prepared and cross-linked with glutaraldehyde by using emulsification/solvent-evaporation method to deliver Diltiazem HCl as a model of drug. Diltiazem HCl was successfully loaded into NaAlg-Gelatin microspheres in different ratios of NaAlg and Gelatin. The prepared microspheres were characterized by Fourier Transmission Infrared Microscopy (FT-IR) and Scanning Electron Microscope (SEM). The effects of different process parameters, like percentage of polymers, swelling behavior and in vitro drug release of microspheres in different phosphate buffer solutions pH (7.1and3.9) were studied. The models of kinetics of releasing drug were investigated by using different types of mechanisms (Zero-order, First order, Higuchi’s model and Hixson-Crowell model)