Scientific and technological progress over the last century has led to an enormous increase in consumption of minerals, including energy resources. Most exploited oil gas fields are already considerably depleted, so it is necessary search for new hydrocarbon resources, particularly at great depths. Deep drilling plays a special role solving this problem. The article considers world Russian expe...

background: rafsanjan -noogh- anar's plain (54°, 52′- 56°, 34′ longitudinally & 29°, 51′- 31°, 31′ latitudinally) is one of the iran's plains located in sub- basin of daranjir desert. anar's plain is located at the lowest part of rafsanjan -noogh- anar's plain. according to the geological and field studies of the area, the presence of west and east mounts and deposits re­sulting from evaporatio...

Nowadays, it is vital to pay attention more seriously to the urban environmental risks because of its effects on citizens' lives. One of these problems is groundwater pollution which threatens much valuable water resources. Drinking water in Qom City is provided from different resources, such as watersheds and water wells which are located within the city. Although there is a shortage of water ...

An efficient path planning algorithm for general 6 degrees of freedom robots is presented in the paper. The path planner is based on multiheuristic A search algorithm with dynamic subgoal generation for rapid escaping from deep local-minimum wells. The algorithm has been implemented as an extension to a robot off-line programming and simulation system for testing. The presented test results dem...