Abstract:- This paper introduces a technique for modeling and effectively controlling the trajectory tracking of a robotic manipulator through an LQG controller optimized by the IPSO algorithm. Extensive simulations have been conducted within the MATLAB simulation environment. The LQG, which combines a Kalman Filter (KF) and a Linear Quadratic Regulator (LQR), is developed to follow the desired input for the robotic manipulator while minimizing the impact of process and measurement noise on its performance. The parameters of the LQG controller, which include the elements of the state and control weighting matrices for the LQR and KF, are optimally adjusted using the IPSO method. The validation of the proposed hybrid LQG-IPSO controller is conducted based on the control criteria parameters. The findings demonstrate that the proposed hybrid LQGIPSO controller can achieve excellent movement performance. To fully leverage the capabilities of the IPSO algorithm, careful adjustment and determination of IPSO parameters such as inertia weight, iteration count, acceleration constants, and particle quantity are essential. Therefore, The initial focus of this study is to conduct a comparative analysis of various fitness functions; simulation results indicate that the proposed hybrid LQGIPSO control method achieves commendable fitness outcomes with minimal steady-state error (ess). Following this, a comparison of the performances of a robotic manipulator using the hybrid LQG-IPSO controller, hybrid LQR-IPSO controller, LQG controller, and LQR controller is also presented. Based on the analysis, it can be concluded that superior performance parameters are attained with the hybrid LQG-IPSO controller when compared to its counterparts—the hybrid LQR-IPSO controller, LQG controller, and LQR controller—offering enhanced performance.

Keyw Keywords: Linear Quadratic Gaussian (LQG) controller, Linear Quadratic Regulator (LQR) controller, Improved Particle Swarm Optimization (IPSO) algorithm, Particle Swarm Optimization (PSO) algorithm and MATLAB etc

Artificial Intelligence in Education (AIEd) is an emerging education field. This Research Paper explicitly investigates the use of AI technology in language learning specifically in English as a Second Language (ESL). In recent years, the integration of Artificial Intelligence (AI) into our lives is becoming stronger, which can be seen in many areas, such as education. This has led to a revolution in teaching methods across different disciplines, particularly in the teaching of English as a Foreign Language (EFL), where it provides useful tools for teachers. The intersection between AI and FL represents a paradigm shift in educational practice, due to its ability to personalize learning experiences, provide instant feedback, and tailor to individual student needs Therefore, the main goal of this report is to analyze the uses of AI tools in EFL, and to propose concrete and suitable AI tools to enhance the teaching-learning process.

This research deals with estimating the likely switch of car ownership drivers and private transport vehicles modes

users to public transportation system (PT) modes in the main cities as Tripoli Capital city of Libya due to reduced

shopping travel time of all trips influenced by age, household size. Car ownership and shopping distance through

the introducing the public transport modes such as public buses. The data on other factors (variables) that could

potentially reason a model switch of from car ownership drivers and private transport vehicles modes users to

public transport were collected through a survey (questionnaire) with a specified predilection method. Modeswitch models to describe the switch of conduct of own car operators to PT system are developed. A binary

logistic regression model was used to assessment the transport displacement model for shopping trips. Probability

curves have been developed to change the position so that it is a user-friendly tool for analysing the potential

transformation Model of a variety of variables. One way to achieve this objective is by establishing reserved

public transportation lanes on main urban Tripoli city roads. The providing of private road lanes will increase of

service road level and reduce the level of road traffic congestion and this may effect in a switch of all or some

private transport mode users to public transport modes.

Key words: Own car, Public transport modes, logit model, shopping Travel time, shopping distance, age, car

ownership and switch probabilities, likelihood..

With the growing demand for fast and reliable telecommunications infrastructure, deploying a Long-Term Evolution (LTE) network has become a necessity to support both economic and social development. This paper presents three proposed layouts for designing an LTE network in the downtown area of Gharyan, which represents the city’s central and most densely populated zone. The project was motivated by the uneven distribution of coverage across the area, whereseveral locations experience either a complete lack of service or very weak signal reception. The aim is to support the city’s digital transformation by improving access to mobile internet and data services, which in turn enhances business performance, emergency response, public service efficiency, education, remote learning, telemedicine, and remote work opportunities. To implement this plan, the design process relied on Mentum Planet software, a tool specialized in mobile network planning, using real-world terrain and signal data provided by Almadar Company. Three different network layout designs were simulated using two built-in propagation models: the Planet General Model (PGM) and the Q9 model. These simulations were conducted to assess signal strength and coverage across the study area. The analysis showed that one of the layouts provided significantly better signal quality and broader coverage compared to the others. Moreover, the Q9 model proved more reliable in predicting signal behavior in densely built urban settings. Based on these findings, a set of technical recommendations has been developed to guide the future implementation of LTE networks in similar environments, while also addressing challenges such as terrain variations, signal interference, and infrastructurelimitations. In conclusion, this work contributes to enhancing telecommunications services in Gharyan and supports broader efforts toward innovation and digital inclusion across key sectors in the region.

1. Abstract: Albumin is the main protein found in the blood, and is the most abundant protein. It is manufactured in the liver and is a major factor in preventing blood fluids from leaking from the blood vessels to the body's tissues, as well as a link to vital compounds in the bloodstream and transporting them to the body's organs. However, a deficiency in the level of albumin in the bloodstream leads to increased permeability of the blood vessels, which leads to inflammation in the body and chronic liver disease or chronic kidney failure and some other diseases, and results in symptoms, the most important of which are swelling in the feet and face. This study was conducted to compare the deficiency of protein albumin in the blood by conducting a serum albumin analysis at Gharyan Central Hospital. This study included 90 cases divided into 30 cases with kidney failure, 30 cases with diabetes, and 30 healthy cases (control group), with ages ranging from 18 years to 80 years in the period from 3/2/2020 to 12/1/2021. The results obtained were compared using statistical methods, which showed through P-values that there is a weak direct relationship between age and albumin levels in people with kidney failure and healthy people (albumin levels increase with age), and also a weak inverse relationship between age and albumin levels in diabetes (albumin levels decrease with age). The results also showed significant differences, meaning that there is a difference between the average albumin levels in the three groups (kidney failure, diabetes, healthy people) by comparing the results obtained with the reference values, as it was found that the albumin levels in kidney failure were all at the reference value, while in diabetic patients and the healthy group, most of the readings were at the reference value for albumin.

Abstract The aim of this study was to estimate the levels of TNF-α in serum and gingival crevicular fluid, in patients with chronic periodontitis (CP), before and after phase I therapy with subgingival delivery of Hyaluronic acid (Gengigel Gel). A total of thirty subjects were included in this study; 20 CP patients as a study group (group I) and 10 systemically healthy subjects with clinically healthy gingiva as a control group (group II). The nonsurgical periodontal therapy (SRP) + HA gel were done in group I. Periodontal parameters, including PI, GI, BOP, PD and the CAL, were recorded. GCF and serum were collected from all individuals included in the study; the first sample was collected from all groups (study and control) before treatment. The second sample was collected 4 weeks after subgingival delivery of Hyaluronic acid & phase I therapy from group I. Levels of TNF-α in GCF and serum were quantified using ELISA. The results showed a statistically significant reduction in total levels of TNF-α in serum and TNF-α in GCF in study group after application of Hyaluronic acid with phase I therapy. Results also showed all clinical parameters were significantly improved after application of Hyaluronic acid with phase I therapy in groups I (p<0.001). Scaling and root planing (SRP) is the mainstay of treatment of periodontal diseases, furthermore subgingival application of Hyaluronic acid gel with SRP were effective in improving clinical parameters in CP patients. TNF-α level in serum and GCF are reduced after phase I therapy with application of Hyaluronic acid.