Background: Few updated retrospective histopathological-based studies in Iraq evaluate a comprehensive spectrum of oro-maxillofacial lesions. Also, there was a need for a systematic way of categorizing the diseases and reporting results in codes according to the WHO classification that helps occupational health professionals in the clinical-epidemiological approach.

Objectives: to establish an electronic archiving database according to the ICD-10 that encompasses oro-maxillofacial lesions in Sulaimani city for the last 12 years, then to study the prevalence trend and correlation with clinicopathological parameters.

Subjects and Methods:  A descri

In this paper, an enhanced artificial potential field (EAPF) planner is introduced. This planner is proposed to rapidly find online solutions for the mobile robot path planning problems, when the underlying environment contains obstacles with unknown locations and sizes. The classical artificial potential field represents both the repulsive force due to the detected obstacle and the attractive force due to the target. These forces can be considered as the primary directional indicator for the mobile robot. However, the classical artificial potential field has many drawbacks. So, we suggest two secondary forces which are called the midpoint

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      The experimental results showed that the acc

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