This paper presents a meta-heuristic swarm based optimization technique for solving robot path planning. The natural activities of actual ants inspire which named Ant Colony Optimization. (ACO) has been proposed in this work to find the shortest and safest path for a mobile robot in different static environments with different complexities. A nonzero size for the mobile robot has been considered in the project by taking a tolerance around the obstacle to account for the actual size of the mobile robot. A new concept was added to standard Ant Colony Optimization (ACO) for further modifications. Simulations results, which carried out using MATLAB 2015(a) environment, prove that the suggested algorithm outperforms the standard version of AC

هدف البحث التعرف على الملل الأكاديمي لدى طلبة المرحلة المتوسطة، فضلا عن التعرف على الفروق في الملل الاكاديمي على وفق متغير الجنس ومتغير الصف الدراسي، استخدمت الباحثة المنهج الوصفي، تكونت عينة البحث من ( 200) طالباً وطالبة تم اختيارهم بطريقة عشوائية وبعد تطبيق مقياس الملل الاكاديمي (من اعداد الباحثة) على عينة البحث وباستخدام الوسائل الإحصائية المناسبة توصلت نتائج البحث الى ان: طلبة المرحلة المتوسطة تعاني من ال

The childhood period includes nursery period is the most period that the child wants to discover and knowledge and that we see it in daily and normal activity that he does it. And after creating  the science aspects  and growth it by children and that is one of goals the Education and this goal is requested a style education includes a corrective scientific aspects and creating them and getting them by experience that getting it by visits many places of nurseries and meeting some of teachers and search about the program working and application it and notes a problem  that summarized that is not found a science program used by teacher to teach the science aspects for children that realized her goals and needs to gro

دف البحث إلى قياس الشخصية الاستغلالية لدى طلبة الجامعة على وفق متغيرات: الجنس والتخصص والمرحلة الدراسية ، تكونت عينة البحث من (200) طالباً وطالبة من طلبة جامعة بغداد، قامت الباحثة ببناء مقياس الشخصية الاستغلالية وبعد تطبيقه على العينة وتحليل البيانات بالوسائل الاحصائية المناسبة ، اظهرت نتائج البحث عن شيوع الشخصية الاستغلالية لدى الطلبة ، وان الذكور لديهم شخصية استغلالية اكثر موازنة بالاناث كما اظهرت نتائج ا

Soil is considered one of the main factors of subsidence phenomena which
became continually happen in Baghdad (Ghazalia, Ameria, and Hay al-Amyl)
causing bad effects as shortage of drinking water, traffic jam and formation
swamps.
This thesis depends on soil study to a depth 15 meters, due to its
importance in subsidence. This done through specifying its chemical physical
properties.
Soil within Iraq climate, in case of water stopping for any reason it contract
and shrink away especially when it exposed to high pressure these factors
finally caused subsidence. In case of leakage underground water or that of
damaged water pipes this will contribute to chemical reactions which damage soil
structure and incr

The recent development in statistics has made statistical distributions the focus of researchers in the process of compensating for some distribution parameters with fixed values and obtaining a new distribution, in this study, the distribution of Kumaraswamy was studied from the constant distributions of the two parameters. The characteristics of the distribution were discussed through the presentation of the probability density function (p.d.f), the cumulative distribution function (c.d.f.), the ratio of r, the reliability function and the hazard function. The parameters of the Kumaraswamy distribution were estimated using MLE, ME, LSEE by using the simulation method for different sampling sizes and using preli

This search in the virtues of the daughter of the Prophet Muhammad, to read on their boards want to recount loving and faithful), as stated in the introduction to the author, Abdullah Bin Ibrahim Al-Mirghani (D. 1207 H.) to give reasons in writing the manuscript, which was of an introduction and three chapters and a conclusion was the first in the door thanks to the great lady and on her birthday and her marriage and her death and subsequent events and the third in her them prayers and then the finale which was in love with the Prophet and calling for God to pardon and forgiveness and a good end. I was interested in this manuscript by Mirghani, Hadith and all accounts in reference to the virtues of the great lady to examine a manuscript

This search aimed to show a series of converses that our prophet [peace be upon him] call ,some of them , (Kufraa) , and explain the meaning of (AI-kufr) that called on some works , so does it mean the apparent part or the pronunciation of(Al-Kufr) has another meanings ?

The repeated measurement design is called a complete randomized block design for repeated measurement when the subject is given the all different treatments , in this case the subject is considered as a block . Many of nonparametric methods were considered like Friedman test (1937) and Koch test(1969) and Kepner&Robinson test(1988) when the assumption of normal distribution of the data is not satisfied .as well as F test  when the assumptions of the analysis of variance is satisfied ,where the observations within blocks are assumed to be equally correlated . The purpose of this paper is to summarize the result of the simulation study for comparing these methods as well as present the suggested

Me

A new, simple, sensitive and fast developed method was used for the determination of methyldopa in pure and pharmaceutical formulations by using continuous flow injection analysis. This method is based on formation a burgundy color complex between methyldopa andammonium ceric (IV) nitrate in aqueous medium using long distance chasing photometer NAG-ADF-300-2. The linear range for calibration graph was 0.05-8.3 mmol/L for cell A and 0.1-8.5 mmol/L for cell B, and LOD 952.8000 ng /200 µL for cell A and 3.3348 µg /200 µL for cell B respectively with correlation coefficient (r) 0.9994 for cell A and 0.9991 for cell B, RSD % was lower than 1 % for n=8. The results were compared with classical method UV-Spectrophotometric at λ max=280 n