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

In this paper, the first integrals of Darboux type of the generalized Sprott ET9 chaotic system will be studied. This study showed that the system has no polynomial, rational, analytic and Darboux first integrals for any value of . All the Darboux polynomials for this system were derived together with its exponential factors. Using the weight homogenous polynomials helped us prove the process.

In the name of of Allah the Merciful
Praise be to Allah, Lord of the Worlds, and prayers and peace be upon the Seal of the Prophets and Messengers. The envoy is a mercy to the worlds Muhammad Sadiq Al - Amin, and to the pure and good companions of the Tayyibites.
The formula of the morphological formulas, which have diverged from other meanings, whether lexicon or contextual and what this formula contains many meanings (effective source) and (effective in the sense of effective) and (effective sense reactor) and (effective sense) and ( (F) in the sense of a similar character) and ((the name of the) (collect). This was dealt with in the formula in Surat al-Nisaa a gramophone study. As mentioned in the study of the morphological subj

Increasingly important public opinion polls steadily .... especially in electoral campaigns, sheds searchlight on the side of the US elections, in different time periods, and cited the words of experts and people involved in it, and reviews Find great development that took place in the polls and what could happen to this work It is important in the future. Display search for certain types of polls, dividing them on as stated by the experts in the United States... This division shows that the surveys of the most political processes and accuracy of information, and that their Money being made and companies specialized in the administration of this type of measuring public opinion ..... what is returned decision-making, for example, in conj

One of the main criteria taken by the reader in the correct reading of a statement is the standard morphological, Vabv Eetmisah from the rest of science that examines the word andchanges therein lead to new meanings, which is the rule months in Morphology, every increase in construction lead to an increase in meaning.
Who took behind with the likes of ten readers Morphology a way to show the most rightly reading, to perform the desired effect, it has committed as committed behind bin Hisham statement argument morphological under which the clear sense of the formula of distinguished from Matheladtha of formulas feature to perform their intended meaning. And here that God Almighty was meant to each formula is contained in verse without

أعددت العدة لتسليط الضوء على خصوصية اختيار أداةاستفهام دون غيرها من الأدوات التي يصح أن تنوب عنها،مع التأكيد على ما يكمن وراء المعنى المجازي من مضمون. يفس: ر خصوصية الاستفهام وفضله في التعبير( وهذه المنهجية انصبت على15)?خمسة عشر موضعا(استفهام في استفهاميا ? في السورة المباركة ،وزعتها بين) ( )استفهام في الخطاب البشري ، وقد و الخطاب الإلهي) ( ) (زمام المعاني باقتدار، الإنكار و التعجب أمسك فيها غرضاولعل ذلك يناسب سورة

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many painters tried to mix colors with Music by direct employment through colorful musical pieces or the use of multiple instruments and techniques , or vice versa, including the French artist )Robert Stroben(, he transferred the piece of music to be depicted on the painting and worked on the tones of music (Johann Sebastian Bach) by dropping the color on the lines of the musical scale, for example (the C tone) ranging from brown to red ( Tone La A) from gray to orange, and so on, the presence of links and similarity factors between the world of music and the world of colors facilitated the process of linking musical notes with colors, the most famous of which was presented by the world (Newton) in the circle of basic colors and linking

The difficulties of language acquisition of the first signs and indicators that are observed in a student who lacks the development of mental knowledge, so are the problems of the language of most problems and deepest because any deficiency in the development of these capabilities affect negatively on the level of intelligence of the students, a student who is characterized by the use of language is reflected positively on the intelligence of language, where (owned by rhetorical) any use of language to persuade others of certain conduct, and capacity to address the construction of linguistic and scientific use to rhetoric or statement, as he earns the student the ability of language to help him fluency of speech with all the clar

   This research is entitled (civil society in Islamic political thought) which is an intellectual approach with theories of governance in Islam) to be as an attempt to clarify the confusion between mandatory and governorship text basis, and the extent of the nation’s movement within the framework of guiding to translate requirements of the responding towards the civil state project through civil visions according to the Islamic perspective.

      In other words, It is the relationship of man and society in one hand and with an authority with other hand , according to an attempt vision that is to emphasize that Islamic religion can manage modern society and can prove legal philosophical reason