A demonstration of the inverse kinematics is a very complex problem for redundant robot manipulator. This paper presents the solution of inverse kinematics for one of redundant robots manipulator (three link robot) by combing of two intelligent algorithms GA (Genetic Algorithm) and NN (Neural Network). The inputs are position and orientation of three link robot. These inputs are entering to Back Propagation Neural Network (BPNN). The weights of BPNN are optimized using continuous GA. The (Mean Square Error) MSE is also computed between the estimated and desired outputs of joint angles. In this paper, the fitness function in GA is proposed. The sinwave and circular for three link robot end effecter and desired trajectories are simulated b

The researcher studied transportation problem because it's great importance in the country's economy. This paper which ware studied several ways to find a solution closely to the optimization, has applied these methods to the practical reality by taking one oil derivatives which is benzene product, where the first purpose of this study is, how we can reduce the total costs of transportation for product of petrol from warehouses in the province of Baghdad, to some stations in the Karsh district and Rusafa in the same province. Secondly, how can we address the Domandes of each station by required quantity which is depending on absorptive capacity of the warehouses (quantities supply), And through r

     Agriculture is one of the major sources of livelihood for the Iraqi people as one-third of Iraq population resides in rural areas and depends upon agriculture for their livelihoods. This study aims to estimate the impact of temperature variability on crops productivity across the agro-climatic zones in Salah Al-Din governorate using climate satellite-based data for the period 2000 to 2018. The average annual air temperature based on satellite data was downloaded from the GLDAS Model NOAH025_M v2.1, and interpolates using Kriging interpolation/spherical model. Thirteen strategic crops were selected which is Courgette, garlic, Onion, Sweet Pepper, Watermelon, Melon, Cucumber, Tomato, Potato, Eggplant, Wheat, Barley

The purpose of this study is to measure the levels of quality control for some crude oil products in Iraqi refineries, and how they are close to the international standards, through the application of statistical methods in quality control of oil products in Iraqi refineries. Where the answers of the study sample were applied to a group of Iraqi refinery employees (Al-Dora refinery, Al-Nasiriyah refinery, and Al-Basra refinery) on the principles of quality management control, and according to the different personal characteristics (gender, age, academic qualification, number of years of experience, job level). In order to achieve the objectives of the study, a questionnaire that included (12) items, in order to collect preliminary inform

This research aims to study the economic, social, and political reality of Iraqi women by identifying the obstacles and diagnosing their empowerment trends in various fields, assessing the extent of their participation in economic activity, and re-achieving balance between women and men by reducing the gender gap between them and reducing the percentage of female unemployment to the lowest possible level. Is achieved by enhancing confidence in Iraqi women by enacting laws and making decisions that allow them to access resources freely. The researcher used the descriptive and analytical method to deal with information and data related to the research topic over a specific period (1990-2018), using local, Arab, and international re

The current study a accounts for the climate of the Diyala River Basin in Iraq where the climate is assessed depending on the most wellknown climatic classification. According to these classifications, it has been discovered that the area is located under Three climatic zones. The first zone is the semi humid or moderate, which covers the northern parts of the area. The second zone is the semi –dry climate which spreads over the middle part of the region. The third one, it extends over the southern parts and it is described as being dry .some maps were drawn to show the depth of rain fall for two successive periods. These maps indicate increase in the area of lands affected by the dry climate on account of the lands that used to lie

Abstract

  Natural gas is characterized by features that made from it a fuel and a raw material for many industries. Deepening its position as a favorite fossil supplier between other types of fossil fuel is the efficiency, diversity of its uses, low costs and compatibility with the environment which leads to increasing of its uses then increased global demand. So, the natural gas must take its place as an important resource in Iraq and participate the oil in the economic development process of building and financing of the general budget.

  Iraq is planning to continue of increasing the export capacity of raw oil to meet ambitious production targets emanating from the mai

Due to the intensity of competition between economic units that run the trade in durable goods had to pay a lot of these companies to follow the new selling methods aimed at attracting customers to be able to increase its sales and thereby increase their profits ,  these methods are installment sales, which had been in great demand by the customers with limited income, who provides them with the possibility of possession and use of such goods and to postpone the full amount of the payment to the seller, This transaction sales have grown even became installment sales system at the present time of the common types of sales transactions and deployed a lot in our environment and in many sectors of the market, and in some cases m

The deficit of the federal budget and the structural imbalances suffered by the Iraqi economy has affected the direction of research towards suggesting steps and mechanisms can be relied upon in the near term to form a broader base of non-oil revenues aimed at achieving a balanced budget, and to proceed to reform the financial situation, In reducing their financial dictates, whether capital or operational, which lead to significant financial and economic consequences. This also requires that the Iraqi political elite have the real will, strategic vision and full awareness that the implementation of these reforms has potential social and economic effects, with long-term measures to be taken. The aim is not only to reform the finan

     Soil acts as a last sink for elements that people release into the environment through a range of activities due to its physiochemical characteristics. These substances, whether are organic or mineral pollutants, accumulate in the soil and constitute a significant risk to the ecosystem in general because they mess with the chemical and physical equilibrium of the soil, get into the food chain, and eventually get to people. When pollutant concentrations during the bioaccumulated process exceed the global standards for what is regarded as a contaminant in water, air, and soil. Nine soil samples were collected from different sites and two samples from each site at two depths (0-20 and 20-40 cm) to determine if there were any