In this paper, an enhanced artificial potential field (EAPF) planner is introduced. This planner is proposed to rapidly find online solutions for the mobile robot path planning problems, when the underlying environment contains obstacles with unknown locations and sizes. The classical artificial potential field represents both the repulsive force due to the detected obstacle and the attractive force due to the target. These forces can be considered as the primary directional indicator for the mobile robot. However, the classical artificial potential field has many drawbacks. So, we suggest two secondary forces which are called the midpoint

     This research focused up on the Seismic reflection study of a 268.7 km² area located in the central of Iraq within the Karbala province (Kifl area). The seismic data were reprocessed by Anadarko Petroleum Corporation and its partners Dome International and Vitol with OEC in 2005, the result of processing works has improved the quality of seismic sections in most of the study area.  The study area was interpreted by using 3-D seismic data from the Oil Exploration Company. By studying the seismic sections and applying seismic attributes (instantaneous phase) Faults were picked across 3D seismic volume of the studied reflectors. The study area affected by a major fault and minor normal faults, Two fa

     With and without the use of magnetic fields, titanium dioxide (TiO₂) nanoparticles were synthesized using the hydrothermal method at extremely high temperatures and pressures. Titanium tetra isopropoxide [Ti(C₁₂H₂₈O₄)] was used for the preparation, which was performed at pH 7 and under temperatures of 160 and 190 ˚C. UV spectroscopy, XRD crystallography, FE-SEM microscopy were used for characterizations. From UV spectroscopy, the energy gap values were clearly affected by the increase in temperature and the presence of the magnetic field. At the temperatures of 160 and 190 ^oC for TiO₂ without magnetic field, FE-SEM microscopy images have shown an average c

The current study summarized the construction of a three-dimensional geological model of the Aquitanian sediments age, which represented by the Euphrates and Serikagni formation in Ajeel Oil Field, where Ajeel Oil Field has structural closure towards northwest - southeast. Sedimentary of the current study consist of limestone, dolomitic limestone, dolomite (compose of skeletal grains, non-skeletal grains and cement) and the appearance of some anhydrite rocks.

     The petrographic study of the Euphrates Formation were prepared using a thin section of wells (Aj-1, Aj-4, Aj-5, Aj-6 and Aj-7), Previous studies and geological reports, as well as use well logs data  in the statistical analysis by Petrel softwa

Applying load to a structural member may result in a bottle-shaped compression field especially when the width of the loading is less than the width of bearing concrete members. At the Building and Construction Department – the University of Technology-Iraq, series tests on fibre reinforced concrete specimens were carried out, subjected to compression forces at the top and bottom of the specimens to produce compression field. The effects of steel fibre content, concrete compressive strength, transverse tension reinforcement, the height of test specimen, and the ratio of the width of loading plate to specimen width were studied by testing a total of tenth normal strength concrete blocks with steel fibre and one normal s

The research dealt with the reservoir division for Upper Shale Member from Zubair formation in Luhais field, Where it was divided into six units of reservoir and non-reservoir, including the main reservoir unit 1C, which is the subject of research in this study, and studied in terms of thickness and lithology.                                                                       

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Diagenetic processes and types of pores that control the reservoir properties are studied for Mauddud Formation in selected wells of Badra oil field, central Iraq. The microscopic study of the thin sections shows the effects of micritization, cementation, neomorphism, dissolution, dolomitization, compaction, and fracturing on Mauddud Formation carbonate microfacies. The decrease of porosity is resulted from cementation, compaction, and neomorphism. Different types of calcite cement occlude pore spaces such as drusy cement, syntaxial rim cement, and granular (blocky) cement. The neomorphism of micritic matrix and skeletal grains reduces porosity as indicated by development of microspar or pseudospar. Evidence of decreasing porosity by com

    This study aims to set up a 3D static model to characterize and evaluate Mishrif Formation which represents the main reservoir in Buzurgan Oilfield, southern Iraq. Six wells have been selected to set up structural, facies and petrophysical models of Mishrif reservoir by using Petrel Software. The structural model has been built based on the structural contour map of the top of Mishrif Formation, which derived from seismic interpretation, and by using different static algorithms in Petrel Software. The structural model showed that the Buzurgan Oilfield represents an anticlinal fold with two domes north and south separated by a depression. The petrophysical model included the porosity model and water saturation model. Th

     Since oil is the primary source of vanadium in the environment and crude oil has a correspondingly high percentage of vanadium. Vanadium is crucial as a sign of oil contamination. Twenty soil samples were taken from various locations surrounding the East Baghdad oil field in Iraq during February 2022 and then analyzed to determine the effects of industrialization along with urbanization-related pollutants. The soil samples were analyzed using spectrophotometry analysis. In soil samples taken from the research area, vanadium concentrations range from (0.26 to 1.2 ppm). The contamination (CF), geoaccumulation (Igeo) and Enrichment factors (EF) indicated that all the soil samples are uncontaminated.

Mishrif Formation is the main reservoir in Amara Oil Field. It is divided into three units (MA, TZ1, and MB12). Geological model is important to build reservoir model that was built by Petrel -2009. FZI method was used to determine relationship between porosity and permeability for core data and permeability values for the uncored interval for Mishrif formation. A reservoir simulation model was adopted in this study using Eclipse 100. In this model, production history matching executed by production data for (AM1, AM4) wells since 2001 to 2015. Four different prediction cases have been suggested in the future performance of Mishrif reservoir for ten years extending from June 2015 to June 2025. The comparison has been mad