Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC

     Nowadays, a strong relationship between the agriculture sectors and digital technologies is really interesting. The article describes how recent intelligent technologies can improve agricultural fields. Mobile applications are software programs created on smartphones, tablets, and computers. Agricultural fields mainly represent the pillar of the economy and the business sector that fulfills the world's food requirements. The United States has a valuable rank in potato production, which depends on this production economically.

Nevertheless, so many insects affect potato yield production quantitatively and qualitatively. So, a smartphone App was created to help potato growers diagnose insects that directly attack potato cro

In this paper the Galerkin method is used to prove the existence and uniqueness theorem for the solution of the state vector of the triple linear elliptic partial differential equations for fixed continuous classical optimal control vector. Also, the existence theorem of a continuous classical optimal control vector related with the triple linear equations of elliptic types is proved. The existence of a unique solution for the triple adjoint equations related with the considered triple of the state equations is studied. The Fréchet derivative of the cost function is derived. Finally the theorem of necessary conditions for optimality of the considered problem is proved.

This paper features the modeling and design of a pole placement and output Feedback control technique for the Active Vibration Control (AVC) of a smart flexible cantilever beam for a Single Input Single Output (SISO) case. Measurements and actuation actions done by using patches of piezoelectric layer, it is bonded to the master structure as sensor/actuator at a certain position of the cantilever beam.
The smart structure is modeled based on the concept of piezoelectric theory, Bernoulli -Euler beam theory, using Finite Element Method (FEM) and the state space techniques. The number of modes is reduced using the controllability and observability grammians retaining the first three
dominant vibratory modes, and for the reduced syste

The evolution in the field of Artificial Intelligent (AI) with its training algorithms make AI very important in different aspect of the life. The prediction problem of behavior of dynamical control system is one of the most important issue that the AI can be employed to solve it. In this paper, a Convolutional Multi-Spike Neural Network (CMSNN) is proposed as smart system to predict the response of nonlinear dynamical systems. The proposed structure mixed the advantages of Convolutional Neural Network (CNN) with Multi -Spike Neural Network (MSNN) to generate the smart structure. The CMSNN has the capability of training weights based on a proposed training algorithm. The simulation results demonstrated that the proposed

Objective: determine the effectiveness of an education program on youth's level of awareness towards
household waste control.
Methodology: A Quazi-experimental study was conducted. Non-probability (quota sample) of (80) young
persons is selected from Baghdad Governorate. They are divided into two equal groups of (40) subjects for the
study group which is exposed to the household waste control educational program. The remaining is the
control group which is not exposed to the educational program.
Results: The findings of the study indicated that youth of the study group have got benefits from the
implementation of the educational program towards household waste control and change has occurred to
their awareness tow

In IRAQ, the air conditioners are the principal cause of high electrical demand. In summer, the outer temperature sometimes exceeds 50⁰C which significantly effects on the A/C system performance and power consumed. In the present work, the improvement in mechanical and electrical performance of split A/C system is investigated experimentally and analytically. In this paper, performance and energy saving enhancement of a split-A/C system was experimentally investigated to be efficiently compatible with elevated temperature weathers. This improvement is accomplished via Smart Control System integrate with Proportional-Integral- Differential PID algorithm. The PIC16F877A micro-controller has been programmed with the PID and PWM c

The present study was conducted to biocontrol in vitro and in vivo of Fusarium
oxysporum that cause Fusarium wilt diseases for eggplant plants by using biological
control agent fungus Trichoderma harzianum. Fourteen isolates from F. oxysporum
were isolated and identified from two fields in Iraq. Pathogenicity test indicated that
all F. oxysporum isolates were pathogenic for eggplant but differed in its level of
pathogenicity. Four of the fourteen isolates from F. oxysporum were selected
depending on their highest pathogenicity for eggplant plants, F. oxysporum four
isolates F5, F6, F13 and F14 achieved at pre emergence 83.3%, 83.3%, 86.7% and
83.3% and at post emergence 90.0%, 90.0%, 83.3% and 76.7% respectively.

The aim of this research is controlling the amount of the robotic hand catching force using the artificial muscle wire as an actuator to achieve the desired response of the robotic hand in order to catch different things without destroying or dropping them; where the process is to be similar to that of human hand catching way. The proper selection of the amount of the catching force is achieved through out simulation using the fuzzy control technique. The mechanism of the arrangement of the muscle wires is proposed to achieve good force selections. The results indicate the feasibility of using this proposed technique which mimics human reasoning where as the weight of the caught peace increases, the force increases also with approximatel

Dates are considered one of the most important foods consumed in Arab countries. Dates are commonly infested with the sawtoothed grain beetle, Oryzaephilus surinamensis. Consequently, the date yield, quantity, and quality (economic value and seed viability) are negatively affected. This study was designed to investigate the effectiveness of air evacuation as eco-friendly and safe control method against adult O. surinamensis. Insects were obtained from the infested date purchased from a private store in sakaka city, Aljouf region, Saudi Arabia. Air evacuation (using a vacuum pump) and food deprivation were applied to O. surinamensis, and insect mortality was observed daily in comparison with the control group (a