planning is among the most significant in the field of robotics research.  As it is linked to finding a safe and efficient route in a cluttered environment for wheeled mobile robots and is considered a significant prerequisite for any such mobile robot project to be a success. This paper proposes the optimal path planning of the wheeled mobile robot with collision avoidance by using an algorithm called grey wolf optimization (GWO) as a method for finding the shortest and safe. The research goals in this study for identify the best path while taking into account the effect of the number of obstacles and design parameters on performance for the algorithm to find the best path. The simulations are run in the MATLAB environment to test the

التنغيم (الصولفيج-Solfege) كأي مادة من مواد التعليم الموسيقي، يعمل على تنمية القابليات الموسيقية لدى تلاميذ مدارس ومعاهد وكليات الموسيقى. والمعروف بأن نسبة عالية من تلاميذ وخريجي مؤسساتنا تلك يفشلون في شق طريقهم الموسيقيي الحقيقي، لضعف إعدادهم في مادة التنغيم، فما أكثر حالات وجود خريجين في تلك المؤسسات عاجزين عن تنغيم أبسط الألحان برؤية نصها الموسيقي لأول وهلة. فقد شاع في التطبيق العملي للتنغيم إعتماد قرار ال

The aim of this paper is to examine cases of deletion not dependent on linguistic context. Perlmutter (1971) claims that any sentence other than an imperative¹ in which there is an S that does not contain a subject in the surface structure is ungrammatical. Dillon (1978) counts elliptical sentences such as ^ Beg your pardon² as grammatically incomplete (and hence as strictly ungrammatical). Such statements are, however, not without problems for reasons that will be given below.

That our focus on cost industrial indirect lies in the fact that the relative importance of these costs compared with elements other costs have increased significantly and in the environment of modern industrial and multiple clauses due to reliance on mechanization high in production and that led to lower cost labor as a natural result of the use of machinery and equipment of high-tech programmed, which requires control and tighten control on this type of an attempt by officials costs reduced to its borders possible requirement to maintain quality.

The method is simple linear regression and multiple, one efficient and effective methods to achieve these goals in the light of modern environ

The education sector, before and after 2003, inherited a heavy legacy. Successive governments are trying hard to reduce the effects of that legacy by filling the shortage in school buildings. The best example of this is the shortage in public schools in Wasit governorate, as this governorate lacks a number of factors that make education in it. Vulnerable due to the lack of schools, where we find in most government schools that the number of students in one class is more than 50 male and female students, as most parents resorted to registering their children in private schools, so we will address in this research to some predictive methods to find solutions Where we dealt with the traditional trend methods represented by the exponential smoo

تقدير النموذج اللوجستي باستخدام اوزان بيز المتسلسل

In this research, one of the nonlinear regression models is studied, which is BoxBOD, which is characterized by nonlinear parameters, as the difficulty of this model lies in estimating its parameters for being nonlinear, as its parameters were estimated by some traditional methods, namely the method of non-linear least squares and the greatest possible method and one of the methods of artificial intelligence, it is a genetic algorithm, as this algorithm was based on two types of functions, one of which is the function of the sum of squares of error and the second is the function of possibility. For comparison between the methods used in the research, the comparison scale was based on the average error squares, and for the purpose of data ge