The applications of mobile robots in rescue scenarios, surviving to search, and exploration for outdoor navigation have received increasing attention due to their promising prospects. In this paper, a simulation of a differential wheeled mobile robot was presented, implementing a Global Positioning System (GPS) data points to specified starting points, final destination, and total error.

In this work, a simple kinematic controller for polar coordinate trajectory tracking is developed. The tracking between two points, pose to pose, was specified by using the GPS data points. After that, the geodesy (GEO) formulation was used to convert the geodesy coordinate to Euclidean or polar coordinate. The Haversine equation

The historic cities in the Arab and Islamic world (including the cities of the holy shrines in Iraq) suffer from many and varied problems and most notably it is clear in its origin functional structure. It had been transformed from a basic place to live for a few thousand of the population to the center or part of the main center of large city populations of more than one million. Functional structure of the ancient city have been change with the beginning of the twentieth century and accelerated rate of change in the second half of the last century. The research aims to analyze the problems of the historic centers of holy cities and analyze the methods of dealing with these problems, leading to discrimination method could be the

A program in Visual Basic language was designed to predict the type of radio storm that emitted from Jupiter at specific Local Time (LT) from two different Iraqi locations (Baghdad and Basra), such storms result from the Central Meridian Longitude (CML) of system ??? for Jupiter and phase of Io’s satellite (?Io). Some of these storms are related to position of Io (Io- A,B,C,D) and others are unrelated (non-Io-A,B,C,D) to its position. The input parameters for this program were user specified by determining the observer’s location (longitude), year, month and day. The output program results in form of tables provides the observer with information about the date and the LT of beginning and end of each type of emitted storm. Two Io-storm r

Background: Fertility plays great role in animal reproduction since high quality semen improves sheep industry reproduction. The current worldwide data revealed the closely related of CNP to reproductive function of rams. Aims: Evaluation the effect of CNP on cooled sperms using the traditional and molecular assays. Methods: Totally, 20 testicular samples were collected, processed to obtain the semen samples and divided into two parts; one treated with the suitable dose of CNP and the otherserved as a control. Sperm samples of both groups were cooled for 3 days and tested at 0 0h, 24h, 48h and 72h. Results: The findings revealed that the suitable dose of CNP-treated sperms was 0.0110-13. Values individual motility, live sperm

In this paper an estimator of reliability function for the pareto dist. Of the first kind has been derived and then a simulation approach by Monte-Calro method was made to compare the Bayers estimator of reliability function and the maximum likelihood estimator for this function. It has been found that the Bayes. estimator was better than maximum likelihood estimator for all sample sizes using Integral mean square error(IMSE).

The research aims to demonstrate the impact of tax techniques on the quality of services provided to income taxpayers by studying the correlational and influencing relationships between the exploited variable (tax techniques) and the dependent variable (the quality of services provided to income taxpayers), and in line with the research objectives, the main hypothesis of the research was formulated (there is a relationship Significance between tax techniques and the quality of services provided to income taxpayers) a number of sub-hypotheses emerged from this hypothesis that were stated in the research methodology, and a number of conclusions were reached, the most important of which were (through the use of the correlation coeff

Objective(s): To evaluate nurses' knowledge toward pain management of leukemic child in oncology wards
how were receiving chemotherapy.
Methodology: A descriptive study was conducted in two hospitals on (40) nurses, who provided care for the
children with leukemia in oncology wards (2) hospitals (Children Welfare Teaching Hospital and Child’s Central
Teaching Hospital) in Baghdad city from October 2010 up to the 27th of October 2011 for the purpose of
evaluating their knowledge towards pain management for leukemic child. A purposive "non-probability
sample" was selected that consisted of (40) nurse who are working in oncology wards. A questionnaire format
was used which consist of (2) parts, the first part includes