planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the

This matter demands protecting economy from the acquisition on it by the holding companies with their influential impacts as a willingness to dominate and control the other companies which could lead to the disruption of the principle of equality among the shareholders in the financial and administrative rights because some persons follow several methods of control over the activity of the acquisition- targeted companies  and the confiscation of the rights of others resulting in a negative impact if accompanied by a lack of transparency and disclosure by holding companies. The holding company, whether directly or indirectly, may control a company's administration or other companies' administration leading to expansion in acquisition

The tax legal system, with its rules relating to imposing and assessing the tax and how to collect it, is one of the issues that the taxpayer is keen to follow-up on and caring about, but the aforementioned system is contested by two conflicting interests, the taxpayer’s interest in the view of a money-cutter and a means of always depriving of his wealth to the tax-imposing authority that It seeks to ensure the regular and steady flow of financial resources to the public treasury, which necessitates the presence of a judicial body entrusted with the task of securing a balance between these two conflicting interests from issues that consider themselves strongly in the tax field. It is one of the oldest human rights and public freedoms,

In this paper, a new class of harmonic univalent functions was defined by the differential operator. We obtained some geometric properties, such as the coefficient estimates, convex combination, extreme points, and convolution (Hadamard product), which are required

The Tamarix aphylla is a wild perennial shrub with erect stems that are long and glabrous. They have leaves that are simple, alternate, sheathed, and the apex of the blade is acuminate. And a scaly clawed bract and the the inflorescences were simple, spike-like. The pistil consists of ovary pyramidal, 3 styles, and 3 stigmas. The androecium consists of five stamens that are antisepalous. The perianth was distinct with five sepals and five petals. The fruits were capsule-shaped, pyramidal, and smooth. The seed has an apical pappus of unicellular hygroscopic hairs; endosperm is absent. The anatomical study of the leaves contained a uniseriate epidermis consisting of one layer of elongated cells covered by a layer of papillary cuti

Let R be a 2-torision free prime ring and ?, ?? Aut(R). Furthermore, G: R×R?R is a symmetric generalized (?, ?)-Biderivation associated with a nonzero (?, ?)-Biderivation D. In this paper some certain identities are presented satisfying by the traces of G and D on an ideal of R which forces R to be commutative

So I present in the hands of the honorable reader what God Almighty has made easy for me in terms of what I dealt with in the rule (the principle of permissive things) and what branches from it and what is related to it.
This research was divided into an introduction, a preface, three demands, and a conclusion.
The preamble is to explain the meaning of the rule in language and terminology and the definition of the legal rule and what is related to it. The first requirement is to explain the rule that we have in our hands and the words related to its text - and is it a fundamentalist or jurisprudential rule? .
As for the second requirement - in the difference of scholars and their opinions in whether the origin of things is permi

     In this work, the electrical properties and optimum conditions of the plasma sputtering system have been studied. The electrical properties such as Paschen's curve, current-voltage, current pressure relations, the strength of magnetic field as a function of inter-electrode distance, the influence of gas working pressure and argon-oxygen ratio on the electrical characterization were studied to determine the basic optimum condition of the system operation. the discharge current as a function of discharge voltage showed high discharge current at 2.5 cm.  These parameters represent the basic conditions to operate any plasma sputtering system which are the right behavior to build up and design the discharge an el

In this work, two cone-inverted cylindrical and cross-hybrid dielectric resonator antennas are stacked and excited by the coaxial probe method with an operating standard resonant frequency of 5.438 GHz. A drawback of these standard Dielectric Resonator Antennas (DRAs) is their narrow bandwidth. For good antenna performance, a stacked DR geometry and a thick dielectric substrate having a low dielectric constant are desired since this provides large bandwidth, better radiation power, reduces conductor loss and nonappearance of surface waves. Many approaches, such as changing the shape of the dielectric resonator, have been used to enhance bandwidth. Using DRA, having the lowest dielectric constant, increases the bandwidth and the electroma

The extrasolar planets in the vicinity of stars are expected to be bright enough
and are very difficult to be observed by direct detection. The problem is attributed to
the side loops of the star that created due to the telescope diffraction processing.
Several methods have been suggested in the literatures are being capable to detect
exoplanet at a separation angle of 4λ/D and at a contrast ratio of 10-10. These
methods are more than one parameter function and imposing limitations on the inner
working distance. New simple method based on a circular aperture combined with a
third power Gaussian function is suggested. The parameters of this function are then
optimized based on obtaining a minimum inner working dis