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

     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.

Two-dimensional crystal has been achieved and controlled
with the aid of DC electric field applied between two electrodes at 5
millimeters separating distance between them. Sol-gel method has
been used to prepared nanosilica particle which used in this work as
well as TiO2 nanopaowder. The assembly of the silica particles is
due to the interaction between the electrical force, the particles
dipole, and the interaction between the particles themselves. When a
DC voltage is applied, the particles accumulated and crystallized on
the surface between the electrodes. The Light diffraction
demonstrates that the hexagonal crystal is always oriented with one
axis along the direction of the field. The particles disass

The study sought to identify the attitudes of PhD students towards establishing the field of educational administration. The study followed the descriptive survey method. The questionnaire was used to collect information from the study community consisting of (95) male and female students in the department of educational administration and Planning. Among the most important results about students ’attitudes towards establishing the educational administration field are the following: 1) identifying the necessity of establishing the educational administration field. 2) Encouraging students to attend seminars and scientific conferences in Islamic rooting. 3) there are no statistically significant differences in the attitudes of doctoral s

A 3D geological model for Mishrif Reservoir in Nasiriyah oil field had been invented "designed" "built". Twenty Five wells namely have been selected lying in Nasiriyah  Governorate in order to build Structural and petrophysical (porosity and water saturation) models represented by a 3D static geological model in three directions .Structural model showed that Nasiriyah oil field represents anticlinal fold its length about 30 km and the width about 10  km, its axis extends toward NW–SE  with structural closure about 65 km . After making zones for Mishrif reservoir, which was divided into 5 zones i.e. (MA zone, UmB 1zone,MmB1 zone ,L.mB1 zone and mB2zone) .Layers were built for each zone depending on petrophysical propertie

      The Mishrif Formation (Cenomanian – Early Turonian) is an important geologic formation in southern Iraq due to its petrophysical properties and geographic extensions, making it a good reservoir of hydrocarbons. Petrophysical properties of the Mishrif Formation in the current study at the Nasiriya oil field were determined from the interpretation of three open-hole logs data of (NS-1, NS-2, and NS-3) wells.

The results of the Mishrif petrophysical evaluation showed that the formation consists of five variable units (CRI, MA, CRII, MB1 and MB2), each one characterized by distinct petrophysical characteristics.

The upper (MA) and lower (MB) units were determined using electrical, porosity and gamma-ray logs. A sha

Noor Oil Field is one of Iraqi oil fields located in Missan province / Amarah city. This field is not subjected to licensing rounds, but depends on the national effort of  Missan Oil Company. The first two wells in the field were drilled in seventies and were  not opened to production until 2009. The aim of this study is to study the possibility of using the method of gas lift to increase the productivity of this field . PROSPER software was used to design the continuous  gas lift by using maximum production rate in the design.

   The design was made after comparing  the measured pressure with the calculated pressure, this comparison  show  that the method of Beggs-Brill and Petroleum Exper

Landsat-5 Thematic Mapper (TM) has been imaging the Earth since March 1984 and Landsat-7 Enhanced Thematic Mapper Plus (ETM+) was added to the series of Landsat instruments in April 1999. In this paper the two sensors are used to monitoring the agriculture condition and detection the changing in the area of plant covers, the stability and calibration of the ETM+ has been monitored extensively since launch although it is not monitored for many years, TM now has a similar system in place to monitor stability and calibration. By referring to statistical values for the classification process, the results indicated that the state of vegetation in 1990 was in the proportion of 42.8%, while this percentage rose to 52.5% for the same study area in

Abstract:Two-dimensional crystal has been achieved and controlled with the aid of DC electric field applied between two electrodes at 5 millimeters separating distance between them. Sol-gel method has been used to prepared nanosilica particle which used in this work as well as TiO2 nanopaowder. The assembly of the silica particles is due to the interaction between the electrical force, the particles dipole, and the interaction between the particles themselves. When a DC voltage is applied, the particles accumulated and crystallized on the surface between the electrodes. The Light diffraction demonstrates that the hexagonal crystal is always oriented with one axis along the direction of the field. The particles disassemble when the field is