Robots have become an essential part of modern industries in welding departments to increase the accuracy and rate of production. The intelligent detection of welding line edges to start the weld in a proper position is very important. This work introduces a new approach using image processing to detect welding lines by tracking the edges of plates according to the required speed by three degrees of a freedom robotic arm. The two different algorithms achieved in the developed approach are the edge detection and top-hat transformation. An adaptive neuro-fuzzy inference system ANFIS was used to choose the best forward and inverse kinematics of the robot. MIG welding at the end-effector was applied as a tool in this system, and the wel

In the present work, the radioactivity of ten soil specimens has been measured, which were gathered from various sites from AL-Taimeem area in Al-Anbar province, The qualitative activity of natural radionuclides ²³⁸U, ²³²Th and ⁴⁰K for soil specimens were evaluated by utilizing gamma-ray spectroscopy with NaI(Tl) detector of (3"×3") dimension. The results revealed that, the qualitative activity, for ²³⁸U was varied from (14.730 Bq/kg) to (28.070 Bq/kg), for ²³²Th was varied from (16.510 Bq/kg) to (29.480 Bq/kg), for ⁴⁰K was varied from (143.820 Bq/kg) to (231.550 Bq/kg) ,with an average values of (21.152±2.98 Bq/kg) , (24.219±3.93 Bq/kg), (190.720±22.20 Bq/kg), success

First: People’s need for advocacy:

Calling for a legal necessity for all people, regardless of their races, colours, tongues, and culture, to explain the truth, spread fear, bring benefits, ward off evil, regulate a person’s relationship with his Lord, and his relationship with creatures, so that he knows his money and what he owes.

All of creation is in dire need of the call to God’s religion with insight due to their inability to reach out to goodness, righteousness, guidance, and success on their own. Man is limited in thinking in this universe, limited in his resolve, unable to know what will improve his affairs in the two worlds. His need for religion is one of the necessities of his life, and one of the comple

Earthquakes in the Holy Qur’an and the Hadith of the Noble Prophet, an intellectual approach

The Rwandan author of comfort chests and verse pleasure of the most important historians of the Seljuks in the sixth century AH / twelfth century and belongs to the mostly ethnic scientists family has won favor with the Sultans of the Seljuks until he became the most famous Markhém is his main source of research sources with respect to the political and social history the Seljuks and the relationship of the Seljuk sultans of the Abbasid caliphs in Baghdad.
The book included the history of the Seljuks from the time of statehood in the fifth century AH / atheist century AD until the death of the Sultan Tgrl bin Arslan year 590 AH / 1193 AD and then shed Akhawarzmeyen, and touched the author at the end of the book in separate chapters t

Heavy metal contamination comprises a great concern in the environment. A magnetic study combined with heavy metal analyses was performed in the Sawa Lake in Al-Muthanna governorate (southern Iraq). Concentrations of selected heavy metals (Cr, Fe, Ni, As and Pb) have been measured and magnetic susceptibility (χ) of sediment samples collected from the lake bottom was calculated.

The results confirmed that a cement plant, which is located less than two kilometers away from the lake has no contamination levels on the lake’s sediments. No enhancement in the magnetic susceptibility was observed. X-ray florescence (XRF) was performed for heavy metal analyses.

Spatial variations of χ with the mean value of 4.58 x

   The study have been conducted to estimated the  concentration levels of heavy metals  in samples  of solid particles residue which collected randomly from street dust that produced  with neglected municipality wastes  in Baghdad City. Samples were collecting from services and dwelling street in Elmashtal region in Resapha side and Albaya regions in Karkh side at Baghdad City, regions characterized with different activities, a qualities analysis for the compounds doing with the following tests: 1- By using soil sieves was fragmented and limited the particulates of dust especially the dangerous types which associated with dust compounds and air pollution. 2- Digesting and analyzing of samples have been

The topological indices of the "[(µ3-2, 5-dioxyocyclohexylidene)-bis ((2-hydrido)-nonacarbonyltriruthenium]” were studied within the quantum theory of atoms in the molecule (QTAIM), clusters are
analyzed using the density functional theory (DFT). The estimated topological variables accord with prior
descriptions of comparable transition metal complexes. The Quantum Theory of Atom, in molecules
investigation of the bridging core component, Ru3H2, revealed critical binding points (chemical bonding)
between Ru (1) and Ru (2) and Ru (3). Consequently, delocalization index for this non-bonding interaction
was calculated in the core of Ru3H2, the interaction is of the (5centre–5electron) class.