<p>The directing of a wheeled robot in an unknown moving environment with physical barriers is a difficult proposition. In particular, having an optimal or near-optimal path that avoids obstacles is a major challenge. In this paper, a modified neuro-controller mechanism is proposed for controlling the movement of an indoor mobile robot. The proposed mechanism is based on the design of a modified Elman neural network (MENN) with an effective element aware gate (MEEG) as the neuro-controller. This controller is updated to overcome the rigid and dynamic barriers in the indoor area. The proposed controller is implemented with a mobile robot known as Khepera IV in a practical manner. The practical results demonstrate that the propo

The purpose of this paper is to shed light on the concept of fuzzy logic ,its application in linguistics ,especially in language teaching and the fuzziness of some lexical items in English.
Fuzziness means that the semantic boundaries of some lexical items are indefinite and ideterminate.Fuzzy logic provides a very precise approach for dealing with this indeterminacy and uncertainty which grows (among other reasons) out of human behavior and the effect of society.
The concept of fuzzy logic has emerged in the development of the theory of fuzzy set by Lotfi Zadeh(a professor of computer science at the university of California) in 1965.It can be thought of as the application side of the fuzzy set theory. In linguistics, few scholars

This paper delves into the significant role played by local social and traditional structures in shaping Traditional Community Tenure (TCT) within Iraqi Land Tenure Legislation (ILTR), and examines their impact on gender inequalities, with a specific focus on women's land tenure rights. The methodological approach employed in this study identified the sources of barriers to gender equality within TCT as outlined in ILTR at two different bilateral levels, with input obtained from key stakeholders in a selected city in Iraq. The case study survey encompassed three districts, which served as local layers within the historic sectors of the Iraqi city of Al-Nasiriya. the study employed quantitative methods, including a household surveyو with

Literary heritage and its employment in poetry has received the attention of poets, and they have employed it in their literary texts, as this employment is one of the oldest phenomena in Arabic literature, that the inspiration of this heritage in texts through the overlap of their texts with previous texts, and no poet neglected the importance of this employment.  The ancient critics determined that the poet’s special culture is represented in the necessity of taking from the ancients, and this taking is the reference from which the poet draws his material and idea, as well as to clarify the meaning and its significance

Literary heritage and its employment in poetry has received the attention of poets, and they have employed it in their literary texts, as this employment is one of the oldest phenomena in Arabic literature, that the inspiration of this heritage in texts through the overlap of their texts with previous texts, and no poet neglected the importance of this employment.

    Much has been written about Baghdad in the history books and documents ,about the Origin  of its call , Reality ,history ,peoples ,Rulers and  all that have passed since  the beginning of creation and so far...

One of the crucial public health problems worldwide is the urinary tract infections (UTIs) that are derived from uropathogenic bacteria (UPBs). Slime layer is known to have the ability to permit bacteria to achieve smooth surfaces attachment like catheters and prosthetic implants which in turn, facilitate biofilm formation and may cause lethal infections. On the other hand, Extended-spectrum beta-lactamase (ESBL) production is considered a growing concern among UPBs due to the limiting of the treatment options and contributes to resistance toward antibiotics. The principal study's point is the finding out the slime layer and ESBL production in Escherichia coli and Klebsiella pneumoniae of uropathogenic origin. Ten ready isolates (five isola

In this paper, a method for hiding cipher text in an image file is introduced . The
proposed method is to hide the cipher text message in the frequency domain of the image.
This method contained two phases: the first is embedding phase and the second is extraction
phase. In the embedding phase the image is transformed from time domain to frequency
domain using discrete wavelet decomposition technique (Haar). The text message encrypted
using RSA algorithm; then Least Significant Bit (LSB) algorithm used to hide secret message
in high frequency. The proposed method is tested in different images and showed success in
hiding information according to the Peak Signal to Noise Ratio (PSNR) measure of the the
original ima

Concentrations of heavy metals (Copper Cu, Iron Fe, Manganese Mn, Cadmium Cd, and Lead Pb) have been studied in river crab Sesarma boulengeri (Outer part of the shield and interior tissues) which caught from two stations in Shatt Al – Arab river (Salhia and Aldeir areas). Elements concentrations were measured by Flame Atomic Absorption Spectrophotometer, concentration of heavy metals in the internal tissues was higher than in the outer shield in both of the stations with the highest value of the elements was to iron 95.21 mg\ kg during the spring as well as copper was 55 mg\kg and manganese was 39.09 mg\kg. The study showed the presence of seasonal changes in the studied heavy metals concentrations values in the tissues of river crab;