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

      The study investigates the anion and cation concentrations and their distribution in the Dammam  aquifer to assess the groundwater suitability for irrigation and livestock in Sayed Al-Shuhadaa, Karbala, central Iraq. It lies between longitudes 43º 29' 00'' – 43^º 40' 00'' E and latitudes (32^º 17' 00'' – 32^º22' 00'') N. The physicochemical properties, cations and anions were measured in 14 active wells distributed in the study area. The assessment was conducted based on the sodium adsorption rate (SAR), sodium percentage (Na%), electrical conductivity (EC), total dissolved solids (TDS), and Hydrogen number (pH). Groundwater in the study area is very good for livestock and characterised b

Background: The bond strength of the root canal sealers to dentin is very important property for maintaining the integrity and the seal of root canal filling. The aim of this study was to evaluate and compare the push-out bond strength of root filled with total fill Bioceramic, AH Plus and Gutta-flow®2 sealers using GuttaFusion®obturation system versus single cone obturation technique. Materials and method: sixty of mandibular premolars teeth with straight roots were used in this study, these roots were instrumented using Reciproc system, instrumentation were done with copious irrigation of 3 mL 5.25% sodium hypochlorite solution (NaOCl) during all the steps of preparation, and smear layer will be removed with 1 ml of 17% EDTA kept in

Background: The bond strength of the root canal sealers to dentin is very important property for maintaining the integrity and the seal of root canal filling. The aim of this study was to evaluate and compare the push-out bond strength of root filled with total fill Bioceramic, AH Plus and Gutta-flow®2 sealers using GuttaFusion®obturation system versus single cone obturation technique. Materials and method: sixty of mandibular premolars teeth with straight roots were used in this study, these roots were instrumented using Reciproc system, instrumentation were done with copious irrigation of 3 mL 5.25% sodium hypochlorite solution (NaOCl) during all the steps of preparation, and smear layer will be removed with 1 ml of 17% EDTA kept in

The issue of the research lies in the non-representation of the models developed for the communication process in the interaction and networking processes through social media, as the research sought to build a network model of communication according to the specific data and features of social media platforms in order to reach a special generalization to understand how the process of networking operates in cyberspace.

The researcher followed the analytical survey approach as she described the communication models outwardly in order to be able to build a networked communication model that represents the flow of post-reactive communication. Therefore, it has been named "Nebula - Sadeem" after the concept of post-space and cosmic g

Objectives: The aim of this study to assess instructional labor support behaviors among laboring
women in teaching hospitals in Hilla city.
Methodology: A descriptive analytic study was concluded to select a sample purposely of one hundred
multipara laboring women in maternity hospital in Hilla city and data was collected through
questionnaire form during February (1
st to March 30th) 2014. A descriptive statistical method was used
to analyze the data.
Results: The result showed that the highest percentage of study sample was at age (20-24) years, most
of them was house wife, more than third graduate from primary school, and more than half of them
lived in rural area, (86%) of study sample delivered normal deli

This Research involves radiological study to assess the marl layer in the Euphrates Formation (Early Miocene) as a raw material for Portland cement industry. Nine wells are drilled penetrating the marl layer to the limestone beneath it. Nine samples were collected from core wells. Each sample represents one well. The concentration of the natural radionuclides 226Ra, 232Th and 40K are 14.91, 5.16 and 223.98 Bq/kg-1, respectively. They are determined by using the technique of gamma-ray spectroscopy with HPGe detector. The radiation doesn't exceed the globally
permissible limits. Then the results were compared with the reported data of other countries and with the world average activity of cement raw materials. The radium equivalent (Rae

Objective: To assess mothers' knowledge and practices concerning cholera and their relationship with some
sociodemographic characteristics of those mothers.
Methodology: A sample of (100) mother was selected through a convenience sample for the period of July First
through August 31 2007 '؛
. Data were collected through interview of mothers were visiting PHC centers by using
of constructed questionnaire developed by the researcher that contains (31) item. Reliability and Validity of the
tool were determined through pilot study. A descriptive and inferential statistical approaches were used for data
analysis.
Results: The study indicated that mothers’ knowledge and practices concerning cholera were unacceptable

     Brick factories distributed within the study area use fuel oil to complete the burning of the bricks, were high amounts of gases and suspended particles with different concentrations of heavy elements are produced and cause air and soil pollution. It is noted that the workers suffer from respiratory diseases and other health problems. This study is an attempt to detect the sources and concentrations of pollutants and to propose modalities for their treatment and reduction. Air and soil samples were collected from different sites in Abu Smeache brick factory in Al-Kifl area to the south of Babel city, Iraq, during two seasons (summer and winter). The process also included collecting and modelling of dust and soil