Autonomous motion planning is important area of robotics research. This type of planning relieves human operator from tedious job of motion planning. This reduces the possibility of human error and increase efficiency of whole process.

This research presents a new algorithm to plan path for autonomous mobile robot based on image processing techniques by using wireless camera that provides the desired image for the unknown environment . The proposed algorithm is applied on this image to obtain a optimal path for the robot. It is based on the observation and analysis of the obstacles that lying in the straight path between the start and the goal point by detecting these obstacles, analyzing and studying their shapes, positions and

     Transformation and many other substitution methods have been used to solve non-linear differential fractional equations. In this present work, the homotopy perturbation method to solve the non-linear differential fractional equation with the help of He’s Polynomials is provided as the transformation plays an essential role in solving differential linear and non-linear equations. Here is the α-Sumudu technique to find the relevant results of the gas dynamics equation in fractional order. To calculate the non-linear fractional gas dynamical problem, a consumer method created on the new homotopy perturbation a-Sumudu transformation method (HP TM) is suggested. In the Caputo type, the derivative is evaluated. a-Sumudu homotopy pe

In this research, Haar wavelets method has been utilized to approximate a numerical solution for Linear state space systems. The solution technique is used Haar wavelet functions and Haar wavelet operational matrix with the operation to transform the state space system into a system of linear algebraic equations which can be resolved by MATLAB over an interval from 0 to . The exactness of the state variables can be enhanced by increasing the Haar wavelet resolution. The method has been applied for different examples and the simulation results have been illustrated in graphics and compared with the exact solution.

The aim of this paper is to propose a reliable iterative method for resolving many types of Volterra - Fredholm Integro - Differential Equations of the second kind with initial conditions. The series solutions of the problems under consideration are obtained by means of the iterative method. Four various problems are resolved with high accuracy to make evident the enforcement of the iterative method on such type of integro differential equations. Results were compared with the exact solution which exhibits that this technique was compatible with the right solutions, simple, effective and easy for solving such problems. To evaluate the results in an iterative process the MATLAB is used as a math program for the calculations.

In this paper, a method based on modified adomian decomposition method for solving Seventh order integro-differential equations (MADM). The distinctive feature of the method is that it can be used to find the analytic solution without transformation of boundary value problems. To test the efficiency of the method presented two examples are solved by proposed method.

This paper demonstrates a new technique based on a combined form of the new transform method with homotopy perturbation method to find the suitable accurate solution of autonomous Equations with initial condition.  This technique is called the transform homotopy perturbation method (THPM). It can be used to solve the problems without resorting to the frequency domain.The implementation of the suggested method demonstrates the usefulness in finding exact solution for linear and nonlinear problems. The practical results show the efficiency and reliability of technique and easier implemented than HPM in finding exact solutions.Finally, all algorithms in this paper implemented in MATLAB version 7.12.

The scholars of Iraq in the modern and contemporary era have been interested in the definition of tremendous knowledge treasures left by the successive Iraqi civilizations on Mesopotamia and around the cities, through the census and extrapolation of manuscript heritage and even printed, they compiled indexes,evidence

The increasing rates of consumption of cigarettes harmful, to health in the world in general, and in Iraq in particular, and because of the costs borne by individuals, and the state as a result of addressing its damage, as well as Iraq's commitment, to international conventions against cigarettes, and demands of the World Health Organization, to raise prices to reduce consumption. Therefore, the tax Selectivity is one of the most important ways of regulating the consumption of this commodity on the one hand and increasing the tax revenue on the other. The research aims to shed light on the issue of selective tax on cigarettes and the impact of their application in increasing tax revenues and identify the effectiveness of the application

     Islamic manuscripts are considered an identity for the civilizational, cognitive and cultural development of nations and the Islamic world as a whole, and to identify this identity, the closing statement usually written at the end of the manuscript helps us with this, meaning that the closing entries serve as the identity document of the manuscript