In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and cons

Atheism is one of the most dangerous absurd doctrines that have swept the world in the modern era. Its strength lies in the bodies that stand behind it and adopt its ideologies which are accompanied by the tremendous media momentum of the theses of its supporters based on scientific and non-scientific levels. And since the denial of the existence of the Creator is the main focus and central point which the atheists based their view towards the universe, life and man, this humble research came to discuss the claim of the existence of the world by pure chance, and try to explain this scientifically through the theory of natural selection and survival of the fittest developed by the English biologist Charles Darwin. The resea

This research has discussed the origins of ESP, addressed key notions about ESP and examined issues in ESP syllabus design. The content of the paper was determined by a need identified based on my  experience as an ESL instructor designing and delivering the content-based language program - Language Preparation for the Cadets and Employment in the Iraqi  College of Police . These issues, where possible, have been supported by current and pertinent academic literature. It is my sincerest hope that these observations will lend insight into the challenges facing the ESL instructor acting as ESP syllabus developer.

In our research, we dealt with one of the most important issues of linguistic studies of the Holy Qur’an, which is the words that are close in meaning, which some believe are synonyms, but in the Arabic language they are not considered synonyms because there are subtle differences between them. Synonyms in the Arabic language are very few, rather rare, and in the Holy Qur’an they are completely non-existent. And how were these words, close in meaning, translated in the translation of the Holy Qur’an by Almir Kuliev into the Russian language.

              Due to the increasing interest in the quality of auditing by writers, researchers and regulators of the auditing profession. The matter necessitated a statement of the extent to which the auditor practices professional skepticism, because of its significant impact in discovering errors and material misrepresentations contained in the financial statements in order to give the financial community confidence in them and the success of the audit process. The research aims to clarify the concept and importance of the practice of professional skepticism and its effect on the quality of the auditor's performance in Iraq. To achieve the research objectives, the two re

  Estimation stage is one of most important in process of selecting and identification for fit model, this model gives a best results if the good methods of estimation are depended on, one of those methods is Bayes method for estimation the parameters, it puts an assumption that parameter have a distribution.

 This paper studies the robustness of estimators of empirical Bayes to know the properties of those estimators.

This research work involves the preparation of nano activated carbonand macro activated carbon from corn seeds with a various mixing ratio ofpotassium hydroxide (1:0, 1:0.2, 1:0.4, 1:0.6, 1:0.8 and 1:1) % using thermaland micro radiation carbonization to identify the best mixing ratio. At studyto confirmed that the efficiency and effectiveness of the prepared of activatedcarbon samples increase when ratio potassium hydroxide increase with athermal and micro radiation carbonization was used. The study of samplesexternal surface area was performed via studying the adsorption of methyleneblue from their aqueous solution, also measured the internal surface area wasperformed via studying the adsorption of iodine from their aqueous solution.Measu

الأخطاء الصوتية الشائعة لدى طلبة معاهد اعداد المعلمين والمعلمات من غير الناطقين باللغة الكردية