Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process.

This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and

قسمت هذه الدراسة إلى فصلين تسبقهما مقدمة وتليهما خاتمة ثم قائمة. وقد تم استعراض مصادر البحث ومراجعه في الفصل الأول بعنوان المرأة في التشريع القديم وأثرها على وضع المرأة من خلال هذه التشريعات. أما الفصل الثاني بعنوان “المرأة في التشريع الإسلامي” فقد استعرض وضع المرأة من خلال التشريع الإسلامي، ممثلا بمصدريه الأساسيين، القرآن الكريم. والحديث النبوي الشريف والخاتمة لخصت نتائج البحث.

Forecasting has become common process and reality. Since man has found multiple forms of simple predictive predictions, fruitful predictive results have emerged, such as weather forecasting or trading on stock exchange. The research was organized by defining the problem, which was manifested by the question:
(What is the prediction in global logo design methods?)
The aim of the research: (revealing design prediction in the methods of global logos). The theoretical framework was: (the concept of prediction in the design of global logos), (methods of global logos), (types of prediction) and then were attached to indicators, results and conclusions, including:
- The color value of international logos came with human needs: a

      الحمدُ للهِ رب العالمين ، والصلاة والسلام على نبيه الأمين محمد r وعلى آله الطيبين الطاهرين ، وأصحابه الغر الميامين:

             تعد الصورة السمعية مفهوما بيانيا نجده في البلاغة العربية واضحاً مؤثرا، مؤديا دورا جوهريا في إيصال الفكرة التي يروم الأديب إيصالها إلى المتلقي   ولا تبدو السمعية واضحة إلاّ إذا نظر إليها في حالة أدبيه تهز كيان الشاعر &nbsp

Research Summary

First: the problem of research and its importance

      The teacher's success in facilitating the students' learning and growth according to the educational and educational goals set out, he must identify the problems of discipline of students in the classroom in terms of sources and reasons and types and methods of prevention and treatment and the teacher to remember that success in his teaching and instruction is not completed more fully once he has the information And knowledge of the subject of the lesson, but must understand the dynamics of the group (class group) and master the skills of classroom management, su

The study of this topic is not to underestimate the previous studies but to the great importance of the Sunnis of the report. The reasoning of the Hadiths of the report is a kind of invisibility in that the significance is not a phenomenon such as the emergence of reasoning in the words of words and deeds. With the introduction of all types of Sunnah and protest, there is no difference between them, and that the Sunnis argument like other Sunnah. What we will see in the research.

Employee Stealing or internal theft is considered from the passive practices that can’t be denied or be hidden, In spite of the hospital privacy as a serving organization that works 24\7 and deleing with human lives, they weren’t infallible from that kind of practice. To prevent or reduce this practice, it was important to search for the organizational and behavioral factors influencing internal thefts.

   The study problem briefly is to reach the most organizational and behavioral factors influencing internal theft, in governmental hospitals in Baghdad Rusafa Health district, this was done by analyzing (20) administrative cases, of thefts occurred in the District, also a sample of (60) sp

The purpose of this paper is to shed light on the concept of fuzzy logic ,its application in linguistics ,especially in language teaching and the fuzziness of some lexical items in English.
Fuzziness means that the semantic boundaries of some lexical items are indefinite and ideterminate.Fuzzy logic provides a very precise approach for dealing with this indeterminacy and uncertainty which grows (among other reasons) out of human behavior and the effect of society.
The concept of fuzzy logic has emerged in the development of the theory of fuzzy set by Lotfi Zadeh(a professor of computer science at the university of California) in 1965.It can be thought of as the application side of the fuzzy set theory. In linguistics, few scholars

Eminent figures in Quranic studies in the fourth century of the Hegira, in his
copacity as the founder of the essentials of the indicative approach in interpretation
which is based on the consideration of research principles in interpretation science.
Al-Qushayri participated in clarifying the promotions of this approach in his
works which represent this approach. The mast distinguished of these works is
Tafseer Lataef Al-Isharat. The researcher examined the characteristics of this
approach and its effect on the interpretative movement in Al-Qushayri age an come to
employ them as a practical example for the indicative approach in studying the
interpretation mebods in Islamic sciences.