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

the appearance and increasing of the young immigration within 2015, the researcher intuition as a mother and part of the society, and the role of the psychological attitude in enabling the individual to make decision, in the light of all the above come up the need for studying this problem.
The study aims at finding out:
1. The mental strain of the study sample.
2. The differences in mental strain of the study sample according to the gender, specification, the university, the study (private, not private), and if they have immigrated friends or relatives out of the Iraq.
3. The study sample attitudes towards immigration.
4. The study sample levels of attitudes towards immigration.
5. The differences in the sample attitud

إن بناء السمة هو الأساس في بناء الشخصية فالسمات هي التي تعطي ثباتاً للسلوك ومن ثم يمكننا بالتنبؤ به (1) . وان لكل لعبة رياضية ةتحتاج الى افراد تتناسب سماتهم الشخصية وطبيعة العمل الذي يقومون به اثناء تادية الواجب الخاص بهم " وان للعبة الجمناستك كلعبة فردية ، فان اللاعبة هي الوحيدة التي تقوم بنفسها بالتغلب على مخاوفها في تعلم حركات جديدة (2) . فهي تحتاج الى لاعبات تختلف سماتهن عن لاعبات كرة القدم والتي تعتبر من الا

This paper describes a number of new interleaving strategies based on the golden section. The new interleavers are called golden relative prime interleavers, golden interleavers, and dithered golden interleavers. The latter two approaches involve sorting a real-valued vector derived from the golden section. Random and so-called “spread” interleavers are also considered. Turbo-code performance results are presented and compared for the various interleaving strategies. Of the interleavers considered, the dithered golden interleaver typically provides the best performance, especially for low code rates and large block sizes. The golden relative prime interleaver is shown to work surprisingly well for high puncture rates. These interleav

Since the appearance of COVID-19 disease as an epidemic and pandemic disease, many studies are performed to uncover the genetic nature of the newly discovered coronavirus with unique clinical features. The last three human coronavirus outbreaks, SARS-CoV, MERS-CoV and SARS-CoV-2 are caused by Beta-Coronaviruses. Horizontal genetic materials transfer was proven from one coronavirus to the other coronavirus of non-human origin like infectious bronchitis virus (IBV) of avian. Horizontal genetic materials transfer was also from non-corona viruses like astroviruses and equine rhinovirus (ERV-2) or from coronavirus-unrelated viruses, like influenza virus type C. However, SARS-CoV-2 is identical to SARS-CoV and MERS-CoV. Interestingly, Wuhan ci

Breast cancer (BC) is one of the most frequently observed malignancy in females worldwide. Today, tamoxifen (TAM) is considered as the highly effective therapy for treatment of breast tumors. Oxidative stress has implicated strongly in the pathophysiology of malignancies. This study aimed to investigate the changes in the levels of oxidants and antioxidants in patients with newly diagnosed and TAM-treated BC. Sixty newly diagnosed and 60 TAM-treated women with BC and 50 healthy volunteers were included in this study. Parameters including total oxidant capacity (TOC), total antioxidant capacity (TAC), and catalase (CAT) activity were determined before and after treatment with TAM. The serum levels of TOC and oxidative stress index (OSI) were

Neonatal mortality is an indicator to assess maternal and neonatal care.1 Iraq has been suffering from wars, economic hardship, terrorism and internal displacement for last 4 decades.2 The impact of such suffering on health was reported.3 However, the impact of terrorism on health infrastructure which in turn manifested in neonatal mortality was neglected. This study carried out to demonstrate the effect of war against terrorism on neonatal mortality in Iraq.

المقدمة : ان سرطان الدم اللمفاوي الحاد هو اكثر الامراض السرطانيه حدوثا في الاطفال، الذي يعالج باستخدام العلاج الكيمياوي فقط. الثايوبيورين هو دواء اساسي في كل الطرق الحديثة المتفق عليها لمعالجة سرطان الدم اللمفاوي، حيث يعمل كعامل مضاد للسرطان ولفتره طويله من العلاج، وقد يؤدي هذا الى التسمم الدوائي عند هؤلاء الاطفال ويعود السبب الى قلة فعالية انزيم الثايوبيورين ميثايل ترانسفيريز والذ

            El color es uno de los elementos novelísticos que ayudan los autores para desarrollar las acciones y llevarlas al desenlace adecuado. Y Blasco Ibáñez depende al color para pintar las escenas artísticas dentro sus novelas, especialmente, sus novelas que pertenecen al siglo de naturaleza. Él conocido con la abundancia de los colores para describir el ambiente y los personajes, como indica el autor catedrático José A. Balseiro:

  "su pluma no supo__ como el pincel de los primitivos__ del matiz logrado a toques mínimos, pacientes. ¿No era, a caso, coterráneo de Joaquín Sorolla, en cuya paleta mediterránea celebrábase, día tras día, el milagro del f

The codification of the social history of the city of Baghdad will be filled with an inherited folklore and folklore that has been descended to it from the previous generations with all its tales of folk tales, metaphors, parables, crafts and industries. Immortal

Background: Ovulation induction by human menopausal gonadotrophin (HMG) results in temporal luteal phase defect. Luteal support therapies are required to support embryo implantation in stimulated cycle especially in luteal phase defect infertile women. 
Objective: The objective of the present study was to investigate the clinical significance of progesterone, aspirin and HCG on human embryo implantation in women with luteal phase defect following ICSI and embryo transfer (ET).
Patients and Methods: The female patients were divided into six groups depending on the type of the luteal support protocols (LSP). Group 1 (No= 54), received 10 mg oral progesterone (P), group 2 (No= 35) received P plus HCG

The abdominal nerve cord of some species of Iraq Carabids has been studied to evaluate
the variation in the number of the abdominal ganglia among the species and to find out
relation of these variations with the classical taxonomy of the family Carabidae into tribes.

تكمن اهمية البحث في استخدام وسائل تدريبة متنوعة ومناسبة عند تدريب ذوي الاعاقة العقلية في الساحة والميدان وخاصة فعالية (100) متر عدو وحرصا من الباحثان على تطوير المستوى الرقمي للاعبين في هذه الفعالية لذى ارتى الباحثان القيام بأعداد تمرينات باستخدام وسيلة تدريبة وهي (المظلة الرياضية) والتعرف على تأثيرها لتطوير القوة السريعة والانفجارية وانجاز عدو (100) متر ، وتم استخدام المنهج التجريبي لملائمته لح

In this paper ,a new idea to combine Adjusted Step Size Least Mean Square (ASSLMS) algorithm with standard LMS active tap detection technique is presented .Then the combined method is used for estimating unknown time-invariant (stationary) and time varying (non- stationary) Finite Impulse Response (FIR) channel for adaptive noise cancellation (ANC) application. The focus of this paper is to improve the convergence rate and low level of the error in the steady state for the popular LMS adaptive filter. The simulation results have shown improvement on the convergence rate using the combined technique over both the ASSLMS algorithm and standard LMS active tap detection technique if they are used alone.

Baghdad Metro is a vital project to fulfill the rapidly increased traffic volume requirements. The proposed metro will connect both sides of Baghdad City, passing under the Tigris River. This study is employed finite elements software (PLAXIS 3D) to evaluate the seepage force developed around the sub-river segment during different construction stages and for other water levels of Tigris. The study found that when the water level changes from maximum to minimum, the developed seepage force decreases by (8 to 13%) and (22 to 27%) respectively. The seepage forces were found to be maximum during the excavation stage. The concrete lining process led to a noticeable reduction in seepage forces at all locations. The study also

    الخطاب التداولي للحجاج خطاب اقناعي يحمل مقاصد وغايات تتجلى عن طريق الاستراتيجية التواصلية والتي يمكن ان تتحقق بوساطة السلالم الحجاجية، وهي بدورها تقوم بالتأثير في المتلقي، ومعرفة ردود افعاله الممكنة والمحتملة ومحاولة إقناعه بقضية معينة او سلوك أخلاقي يظهر في طباع او تصرفات المخاطب

. تكمن اهمية البحث في معرفة علاقة الأرتباط بين اشكال السرعة، وذلك للوصول الى افضل المستويات التي تساعد اللاعب في استثمار الفرص المتاحة في اثناء المباريات والتي تتطلب في ربط بين هذه السرع للوصول الى الأداء المثالي, ولكون الباحث احد لاعبي كره القدم ومن خلال المتابعه الميدانيه ومشاهدته للمباريات لاحظ ان هناك ضعفا في بعض انواع السرعه (الحركية – الانتقالية – سرعة الاستجابة) لدى لاعبي الرديف لنادي الزوراء الريا

Urbanization can not be seen as a modern phenomenon. It has led people to live and live in cities for thousands of years. It should be noted here that the oldest villages and large cities have emerged after the crystallization of civilization, that the emergence of cities was one of the phenomena of civilization. There is no doubt that the cities after the emergence has contributed to the development of civilization effective contribution. There has been a civilizational progress when the man practiced agriculture and used metal tools and invented the wheels and went to write in the New Stone Age. In this period, many changes in the field have taken place in economic, cultural and social life. In the economic and cultural aspect, this tr

The aim of this study is to evaluate the association between IBD and oral symptom and mucosal lesions in patients with Crohn’s disease and ulcerative colitis

Methods: This is a cross-sectional study that has been done in (Kurdistan center for Gastroenterology and hepatology) of Teaching Hospital in Sulaymaniyah-Iraq, which included 101 patients previously diagnosed with Inflammatory Bowel Disease who were interviewed regarding manifestations of inflammatory bowel disease especially oral manifestations. Required data were collected through a specially designed questionnaire,

Results: The patients’ mean age was 45.74±12.58 years. Patients with ulcerative colitis and Crohn’s disease w

Background: Energy drinks are non alcoholic beverages which contain stimulant drugs chiefly caffeine and marketed as mental and physical stimulators. Consumption of energy drinks is popular practice among college students as they are exposed to academic stress. Caffeine which is the main constituent of energy drinks could become an addictive substance or cause intoxication. Objectives: This study aims to assess the prevalence of energy drinks consumption among medical students of alkindy college of Medicine.Type of the study: A cross sectional study.Methods: It was performed at alkindy medical college on March 2016. A total number of 600 students were contacted to participate in this study. A self administered questionnaire was used to c

شكلت النزاعات والصراعات والاضطرابات الداخلية للدول ، منذ أواخر الثمانينيات ، إحدى التهديدات الخطيرة للمجتمع الدولي في حفظ الأمن والسلم الدوليين ، إذ بلغت حدة الصراعات والنزاعات درجة خطيرة من حيث الأثار والنتائج اذ أثرت تلك النزاعات والصراعات في كافة المجالات للدول التي دارت بها ، بل حتى تعدت إقليميا ودوليا وامتدت من افريقيا واسيا وحتى أوربا .

Rudimentary non-communicating functional uterine horn with unicornuate uterus, originating from anomalous embryological development of one Mullerian duct, is prone to different complications either at the gynecological or obstetrical level such as chronic pelvic pain, hematometra, subfertility and decreased quality of life. This unique case report presents a 14-year-old female with a history of severe chronic pelvic pain. She was diagnosed with Familial Mediterranean Fever (FMF) and had an appendectomy for suspected appendicitis within the symptoms’ interval. Ultrasound showed a right 5*6 cm right complex cystic mass assuming ovarian in place. She underwent a suspected endometrioma cystectomy operation and was diagnosed with left unico

استهدف البحث الحالي التعرف على مستوى المساندة الوجدانية ودلالة الفرق في المساندة الوجدانية تبعاً لمتغير الجنس (ذكور، اناث) لطفل الروضة ، وتحقيقاً لأهداف البحث الحالي قامت الباحثة ببناء مقياس المساندة الوجدانية ، وتم تطبيقه على عينة البحث البالغة (400) طفل وطفلة من اطفال الرياض تم اختيارهم بطريقة العينة العشوائية البسيطة للعام الدراسي (2022-2023) وتم استخراج القوة التمييزية، واستخراج الصدق الظاهري وتم التحقق من

David Hare (b.1947) is one of the most critically acclaimed, contemporary British dramatists. A playwright, director and filmmaker, he has written more than thirty plays for the stage and seven original screen plays for cinema and TV (Susan Emerling, p.1). He began his dramatic career in the late sixties. Along with such dramatists as Howard Brenton and Trevor Griffiths, he writes in the aftermath of the "Angry Young Men" tradition of John Osborne. It is a well-known fact that the element of anger continued in the drama of the 1960s and became even more radicalized after the social, cultural and political unrests of 1968 by the dramatists of the "second wave" to whom Hare belongs (John Russell Taylor, p.14). Setting his plays in a variet

 The rate of electron transfer from N3 sensitized by dye to TiO2 semiconductor in variety solvent have been calculated as a function of reorientation energy effective free energy , volume of semiconductor , attenuation and lattice constant of semiconductor .       A very strong dependence of the electron transfer rate constant on the reorientation and effective free energy .Results of calculation indicate that TiO2 is available to use with N3 dye .Our calculation results show that a good agreement with experimental result

This study consist of using Metarhizium anisopliae as abioinsecticide against house fly
Musca domestica L. For controlling it biologicaly its Larvae were treated by sprying them
directly and sprying their food with 2.3 × 10
8
conidia / ml of Metarhizium anisopliae .
Infected Larve showed symptoms of slugishness and slow growth. Histopathological study of
the dead Larve showed Conidial adhesion and germ tube penetrations through body wall and
begining of fungus hyphal growth under the body wall and hyphal invasion in haemocoel and
gut.

  Let R be an associative ring with identity and M a non – zero unitary R-module.In this paper we introduce the definition of purely co-Hopfian module, where an R-module M is said to be purely co-Hopfian if for any monomorphism f Ë› End (M), Imf is pure in M and we give  some properties of this kind of modules.

This experiment was carried out in the field of botanical garden which belongs to Biologi
Department , College of Education (Ibn Al-Haitham), University of Baghdad during the
growing season 2009-2010.The experiment was designed to study the effect 5 concentrations
of Gibberellic acid(GA3)( 25,50,75,100and125mg.L
-1
) and 2 levels of NPK (17:17:17)
fertilizer (200 and 400 Kg.ha
-1
) and their interaction on the rates of absorption and transport
of some macronutrient elements in two varieties of chamomile plant ( Local variety ,
Matricaria chamomilla L. and German variety , Matricaria recutitia L.) . Randomized
Complete Block Design (RCBD) was used with 3 replicates for each treatment .Control plants

A total of 116 males with primary infertility and 32 fertile males (normozoospermia;
NOR) were studied to evaluate parameters of seminal fluid analysis. Based on WHO criteria
of 2010 for general seminal fluid analysis, the patients were distributed into three groups: 32
azoospermic (AZO), 40 oligozoospermic (OLI) and 44 asthenozoospermic (AST) patients.
AZO and OLI patients and NOR shared an approximated mean of seminal fluid volume (2.25,
2.75 and 2.50 ml, respectively), while it was significantly increased (3.58 ml) in AST patients.
In NOR men, the spermatozoa concentration was 65.13 x 10
6
spermatozoa/ml, while it was
significantly decreased in AST (51.42 x 10
6
spermatozoa/ml) and OLI (5.58 x 10

 Thin films of tin disulphide SnS2 with different thicknesses (2500,4000,5000)A0 have been prepared by chemical spray pyrolises technique on substrate of glass with temperature (603)K .  The effect of thickness on the optical properties of SnS2 has been studied.the optical  study that includes the absorptance and transmittance spectra in the wavelength range (300900)nm demonstrated that the value of absorption coefficient (α) ) was greater than (104 cm-1) the  electronic transitions at the fundamental absorption edge were of the indirect kind whether allowed and forbidden . Absorption edge shift slightly towards higher wave  length.The value of energy gaps (Eg) for all the films prepared are decreased with inc