This paper describes the problem of online autonomous mobile robot path planning, which is consisted of finding optimal paths or trajectories for an autonomous mobile robot from a starting point to a destination across a flat map of a terrain, represented by a 2-D workspace. An enhanced algorithm for solving the problem of path planning using Bacterial Foraging Optimization algorithm is presented. This nature-inspired metaheuristic algorithm, which imitates the foraging behavior of E-coli bacteria, was used to find the optimal path from a starting point to a target point. The proposed algorithm was demonstrated by simulations in both static and dynamic different environments. A comparative study was evaluated between the developed algori

The study discusses the marketing profile of electoral candidates and politicians especially the image that takes root in the minds of voters has become more important than the ideologies in the technological era or their party affiliations and voters are no longer paying attention to the concepts of a liberal, conservative, right-wing or secular, etc. while their interests have increased towards candidates. The consultants and image experts are able to make a dramatic shift in their electoral roles. They, as specialists in the electoral arena, dominate the roles of political parties.
The importance of the study comes from the fact that the image exceeds its normal framework in our contemporary world to become political and cultural

In this current work, Purpose; to clearly the fundamental idea for constructing a design and
investigation of spur gear made of composite material its comes from the combination of (high
speeds, low noise, oil-les running, light weight, high strength, and more load capability)
encountered in modern engineering applications of the gear drives, when the usual metallic gear
cannot too overwhelming these combinations.
An analyzing of stresses and deformation under static and dynamic loading for spur gear tooth
by finite element method with isoparametric eight-nodded in total of 200 brick element with 340
nods in three degree of freedom per node was selected for this analysis. This is responsible for the
catastropic fa

Many oil and gas processes, including oil recovery, oil transportation, and petroleum processing, are negatively impacted by the precipitation and deposition of asphaltene. Screening methods for determining the stability of asphaltenes in crude oil have been developed due to the high cost of remediating asphaltene deposition in crude oil production and processing. The colloidal instability index, the Asphaltene-resin ratio, the De Boer plot, and the modified colloidal instability index were used to predict the stability of asphaltene in crude oil in this study. The screening approaches were investigated in detail, as done for the experimental results obtained from them. The factors regulating the asphaltene precipitation are different fr

This study aims to demonstrate the morphotectonic evidence (drainage pattern, formations of sedimentary rocks, structural ridge deformations and spectral reflectance differences…etc.) for tectonic uplift with the syncline zone between two major anticlines, Kirkuk anticline in the northeast and Qara Chauq anticline in the southwest. The study area is located in the low folded zone at the geographical coordinates of 35º 45´ to 35º 55´ North and 43º 30´ to 44º 00´ East. In this study, the tectonic uplift was named as Dushwan uplift, because the uplift of the rocks was adjacent to Dushwan village.

     The regional stress, originating from the collision of the Arabian plate with the E

Volumetric Modulated Arc Therapy (VMAT) and Intensity Modulated Radiation Therapy (IMRT) are comparable for nasopharyngeal cancerous radiation therapy. This research intends to analyze the high-quality plan using accomplishment, conformance, and homogeneity criteria.

The study involved 40 patients with a postnasal cancerous tumor. The patients underwent computed tomography (CT) simulation to scan the anatomical details of the patients' heads. Then, their data was forwarded to the treatment planning system (TPS) workstation for IMRT and VMAT planning. The plans were evaluated using the IOA, HI, and CI indices.

The nasopharynx coverage results consist of the GTV and PTV at 95%. The statistical study reveals that VMAT provides

Were arranged this study on two sections, which included first section comparison between markets proposed through the use of transport models and the use of the program QSB for less costs , dependant the optimal solution  to chose the suggested market  to locate new market that achieve lower costs in the transport of goods from factories (ALRasheed ,ALAmeen , AlMaamun ) to points of sale, but the second part has included comparison of all methods of transport (The least cost method ,Vogels method , Results Approximations method , Total method) depending on the agenda of transport, which includes the market proposed selected from the first section and choose the way in which check the solution first best suited in terms

In this study, a new, rapid and sensitive batch and flow injection-merging zones spectrophotometric methods for the determination of hydroquinone in a pure material and in pharmaceutical preparation were proposed. These methods were based on the oxidative-coupling reaction of HQ with 2,4-dinitrophenylhydazine (DNPH) in the presence of sodium periodate and sodium hydroxide to form a dark brown water slouble dye that is stable and has maximum absorption at 530 nm, graphs of absorbance versus concentration show that Beer's low is obeyed over the concentration rang of 1-40 and 3-300 μg.ml-1 of hydroquinone, with detection limits of 0.162 and 0.510 μg.ml-1 of hydroquinone for batch and FIA methods, respectively. The optimized FIA system is

     The assignment of suitable sites for water harvesting techniques is a promoted strategy to be introduced to the community, for handling the water scarcity and risk due to floods. In the eastern part of Missan, water is always hampered due to the limited availability during the drought, while floods frequently and intensely occur in the wet season. This study aimed to choose the potential and suitable sites for applied water harvesting system using remote sensing techniques and analytic hierarchy process (AHP). Ali Al-Garbi city is divided into three watersheds (site1, site2, and site3), which have been characterized by flash floods that produce high quantities of runoff. The six parameters: slope, lineament density, drainage den