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

This research includes a study of the ability of Iraqi porcelanite rocks powder to remove the basic Safranine dye from its aqueous process by adsorption. The experiments were carried out at 298Kelvin in order to determine the effect of the starting concentration for Safranin dye, mixing time, pH, and the effect of ionic Strength. The good conditions were perfect for safranine dye adsorption was performed when0.0200g from that adsorbed particles and the removal max percentage  was found  be 96.86%  at 9 mg/L , 20 minutes adsorption time and at PH=8 and in 298 K. The isothermal equilibrum stoichiometric adsorption confirmed, the process data were examined by Langmuir, Freundlich and Temkin adsorption equations at different temperatures

Background : The kidneys may be injured in abdominal trauma, both blunt & penetrating. Renal trauma may manifest in a dramatic fashion for both the patient and the clinician. Objectives: To evaluate the incidence, management, morbidity &mortality of renal injury in blunt & penetrating abdominal trauma.
Results:The majority o f patients were males (35= 77.8%), the rest were females (10= 22.2%). The average age was 37 years (range= 18-56 years). The most common grades were grade1, grade2 and grade3 (40=88.9%), while 5 patients (11.1%) were grades 4 and 5.The most common associated injuries were liver, spleen, small & large bowels and diaphragm. The mortality was 20% (9 patients). The most common cause of death was multip

The study aimed to introduce the effect of Giardia lamblia infection on changes in
some biochemical parameters in serum of infected patients before and after treatment during a
period of one year, (from Feb, 2008 to Jan, 2009).
Samples of 50 infected patients who referred to Al-Kadimiyah Teaching Hospital,
were collected before and after 7 days of treatment.
The activity of liver enzymes (Gpt and Got) before treatment increased significantly as
it reached up to (8.47) u/L and 19.06 u/L, comparing with control values (6.455) u/L and
(8.39) u/L respectively. The activity of the enzymes decreased after treatment but the values
of Gpt and Got remained higher than the control values as reached 7-27 u/L, 11-64 u/L

The current research focuses on examining the isohyets in a set of (3) climatic maps of Iraq. Two of these maps were published in the Iraq Climate Atlas and the third one was published in an English source about the geography of Iraq. The first map represents the period from 1923-to-1944, the second is for the period from 1961-to-1990, whereas the third represents the period from 1971-to-2000. Comparing among these three maps, it has become clear that there are noticeable changes of rain in Iraq. In the first map, which represents the decade of the twenties, thirties and early forties, Iraq was located between two Isohyet lines (127 mm) in the far south and (1270 mm) in the far north. As for the second map, which represents the sixties,

Breast cancer becomes a major threat to female health, many reports refer to a high incidence of breast cancer in Iraq; especially, in the last years. The micro RNA-370 molecules have not been reported in Iraqi cancer patients. Our objective in this study was to identify the expression of micro RNA-370 molecules in breast cancer patients as an early detection biomarker of breast tumors and detect its relation with clinicopathological characters of breast cancer patients. Fifty fresh tissue samples were collected from benign and malignant breast patients in addition to ten normal tissue samples collected as a control group, the age ranged was(19 - 77) years for patients. The miR-370 gene expression level was measured by the quantitative r

Several attempts have been made to modify the quasi-Newton condition in order to obtain rapid convergence with complete properties (symmetric and positive definite) of the inverse of  Hessian matrix (second derivative of the objective function). There are many unconstrained optimization methods that do not generate positive definiteness of the inverse of Hessian matrix. One of those methods is the symmetric rank 1( H-version) update (SR1 update), where this update satisfies the quasi-Newton condition and the symmetric property of inverse of Hessian matrix, but does not preserve the positive definite property of the inverse of Hessian matrix where the initial inverse of Hessian matrix is positive definiteness. The positive definite prope

The physical and chemical parameters of Tigris River water in AL- Kut City have been studied. Three stations have been chosen. . The sampling of study was made monthly and for six months from September 2014 until February 2015.The result of turbidity values showed height mean in summer 84 NTU, The decrease of turbidity was one of the positive results to the effect of AL-Kut Dam on the Tigris River after the Dam and on the total suspended solids. The electrical conductivity was 1340 µs/cm in winter that may be due to the existence of the polluted elements. The river water was fresh (0.48‰ semiebrachish) with a good aerated water and the height of the dissolved oxygen mean value has been noticed 13.1mg/L at many times. Over satura

Reliability is an essential measure and important component of all power system planning and operation procedures. It is one of the key design factors when designing complex, critical and expensive systems. This paper presents a fuzzy logic approach for reliability improvement planning purposes. Evaluating the reliability of the complex and large planned Iraqi super grid ;as Al- Khairat generating station with its tie set is intended to be compact to that grid; and determination of the given reliability improvement project are the major goals of the paper. Results show that the Iraqi super grid reliability is improved by 9.64%. In the proposed technique, fuzzy set theory is used to include imprecise indices of different components in normal