This study covered approximately 150 km from the northern part of the Euphrates River in Iraq. Water and phytoplankton samples were monthly collected from six selected stations from April 2013 to March 2014; three stations were distributed within Hadithah Reservoir, while the three others were in the river's inflow. Water physical and chemical parameters and the phytoplankton community structure were analyzed. The most important results of this study were the diagnoses of 355 phytoplankton species belong to eight phylums. Algal class Bacillariophyceae which belong to phylum Ochrophyta was the most qualitative and quantitative dominant in all stations over the study period. The stations within the reservoir were characterized by higher nu

     This research was conducted to measure the levels of asbestos fibers in the air of some dense sites of Baghdad city, which were monitored in autumn 2019. Samples collection was conducted via directing air flow to a mixed cellulose ester membrane filter mounted on an open‑faced filter holder using sniffer with a low flow sampling pump. Air samples were collected from four studied areas selected in some high traffic areas of Baghdad city, two of them were located in Karkh (Al-Bayaa and Al-Shurta tunnel) and two in Rusafa (Al-Jadriya and Al-Meshin complex), then analyzed to determine concentrations of asbestos. Measuring of levels of asbestos fibers on the filters was carried out via using scanning electron micros

This study seeks to shed light on the aspects of visual pollution and its impact on the aesthetics of the town of Al-Eizariya known to suffer from the phenomenon. In order to identify the real causes of the problem which develops in various forms and patterns, threatening not only the aesthetic appearance of the towns, but also causes the emergence of new problems and phenomena that will have negative repercussions on the population. The researcher uses the analytical descriptive method to analyze the phenomenon of visual pollution in terms of reality, development, manifestations and spread and uses photos which document the visual pollution and its impact on the aesthetics of the known. The study concluded the existence of a strong rela

     The aim of this study was to evaluate the effects of noise exposure in certain residential districts in Fallujah city. Twenty-nine stations were selected and divided into two groups; the first group was located 50 to 100 metres from the main streets (quiet areas), whilst the second was located directly on the main streets. Noise levels were measured at a rate of three readings per station for different time periods for approximately sixty days in the year 2020. Mean values were taken in both the morning and evening using a portable sound level meter (Auto range, RS-232). The highest noise level was measured at Alforkan station for the morning reading (83.8 dB) within the second group, while the lowest noise level

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

In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.  The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform

Increasing Mobile Device on Cloud Technology will dominate the various industries. Cloud has different data storage and data protecting techniques that based on Data User (DU) and industry’s needs. In this paper, an efficient way of managing user data sharing via Mobile Agent (MA) also called Mobile Proxy (MP) is proposed. The role of Mobile Agent Authorize User to collect the data from Cloud like Proxy and supply data to another Client due to this missing of cloud data is not possible. Instead of access data for all clients, the proxy hold required data and share the customer because of this network reliability, Network Bandwidth, User Congestion, Data Security. Also, this proposed scheme have more functionality like Cloud Authen

This study describes how fuzzy logic control FLC can be applied to sonars of mobile robot. The fuzzy logic approach has effects on the navigation of mobile robots in a partially known environment that are used in different industrial and society applications. The fuzzy logic provides a mechanism for combining sensor data from all sonar sensors which present different information. The FLC approach is achieved by means of Fuzzy Decision Making method type of fuzzy logic controller. The proposed controller is responsible for the obstacle avoidance of the mobile robot while traveling through a map from a home point to a goal point. The FLC is built as a subprogram based on the intelligent architecture (IA). The software program  uses th

<span>As a result of numerous applications and low installation costs, wireless sensor networks (WSNs) have expanded excessively. The main concern in the WSN environment is to lower energy consumption amidst nodes while preserving an acceptable level of service quality. Using multi-mobile sinks to reduce the nodes' energy consumption have been considered as an efficient strategy. In such networks, the dynamic network topology created by the sinks mobility makes it a challenging task to deliver the data to the sinks. Thus, in order to provide efficient data dissemination, the sensor nodes will have to readjust the routes to the current position of the mobile sinks. The route re-adjustment process could result in a significant m