<span lang="EN-US">In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, and industry. In this paper, the physical prototype of a proposed self-balancing platform that described the self-balancing attitude in the (X-axis, Y-axis, or biaxial) under the influence of road disturbance has been introduced. In the physical prototype, the inertial measurement unit (IMU) sensor will sense the disturbance in (X-axis, Y-axis, and biaxial). With the determined error, the corresponding electronic circuit, DC servo motors, and the Arduino software, the platform overcame the tilt angle(disturbance). Optimization of the proportional-integral-derivative (PID) controllers’ coefficients by the genetic algorithm method effectively affected the performance of the platform, as the platform system is stable and the platform was able to compensate for the tilt angle in (X-axis, Y-axis, and both axes) and overcome the error in a time that does not exceed four seconds. Therefore, a proposed self-balancing platform’s physical prototype has a high balancing accuracy and meets operational requirements despite the platform’s simple design.</span>
The research aims to identify the tax policy strategy adopted in Iraq after the change of the tax system in 2003 and beyond, and then make a comparison of the two strategies on corporate data whether they are charged with progressive tax rates and after the change of the system as the tax rates became fixed, and then indicate the changes In the tax proceeds, and knowing the dimensions of the approved tax policy, is it a tax reform strategy or a strategy to attract investments.
The research started from the problem of exposure of the Iraqi tax system to several changes in the tax strategy from 2003 until now, as this led to a reflection on the technical organization of taxes, in terms of the tax exemption.And these many amendments
... Show MoreBackground: Extreme obesity is recognized to be a risk factor for coronary heart disease. It is unclear whether overweight and normal weight also poses a risk.
Objective: The study aims to determine the effect of the body mass index on coronary arteries and left ventricular functions in patients with post myocardial infarction (MI) angina
Method: The study included 50 patients with the diagnosis of post MI angina consecutively admitted to the medical ward of Iraqi Center for Heart Disease. All patients underwent
coronary artery catheterization and Echocardiography for assessment of coronary artery and left ventricular functions
Results: The results of the study showed that there is a significant diff
ABSTRACT : Bacillus cereus and Pseudomonas aeruginosa is the ability to produce a wide antimicrobial active compounds (Bacillin and S-Pyocin) against pathogenic microorganism. In vitro assay with the antagonists of both crude bacteriocin and partial by precipitation 75% ammonium sulfate showed that the effectively inhibited growth of the following (Candida kefyer and Fusarium spp) and Propionibacterium acnes. The results showed the inhibition zone of reached Bacillin (9-13 mm), while Pyocin (13 - 16mm) in solid medium.
This paper aims to study a mathematical model showing the effects of mass transfer on MHD oscillatory flow for Carreau fluid through an inclined porous channel under the influence of temperature and concentration at a slant angle on the centre of the flow with the effect of gravity. We discussed the effects of several parameters that are effective on fluid movement by analyzing the graphs obtained after we reached the momentum equation solution using the perturbation series method and the MATHEMATICA program to find the numerical results and illustrations. We observed an increased fluid movement by increasing radiation and heat generation while fluid movement decreased by increasing the chemical reaction parameter and Froude number. 
... Show MoreThe present research includes the effect of different concentrations of NaCl on some biological aspects (longevity, growth and molting) of Acanthocyclops bicuspidatus (Copepoda; Cyclopoida). The results showed a decrease of longevity with the increase of salt concentrations. The lowest mean of male′s longevity was 6.8 day in the 2ppt concen. compared with the control treatment 34.2 day, The lowest mean of female′s longevity was 5.1 day in the 2ppt concen. compared with the control treatment 30.1 day. The mean growth for males was lower than the mean growth of females. In males the lowest m
... Show MoreThe current study included the isolation, purification and cultivation of blue-green alga Oscillatoria pseudogeminata G.Schmidle from soil using the BG-11liquid culture medium for 60 days of cultivation. The growth constant (k) and generation time (G) were measured which (K=0.144) and (G=2.09 days).
Microcystins were purified and determined qualitatively and quantitatively from this alga by using the technique of enzyme linked immunosorbent assay (Elisa Kits). The alga showed the ability to produce microcystins in concentration reached 1.47 µg/L for each 50 mg DW. Tomato plants (Lycopersicon esculentum) aged two months were irrigated with three concentrations of purified microcystins 0.5 , 3.0 and 6.0
... Show MoreThe fish assemblage structure in Al-Huwaizah marsh, southern of Iraq was assessed. Fish samples collected monthly by different fishing means from period December 2017 to November 2018. A total of 28959 individual of fish belonging to 9 families and 19 species were collected, 11 of them of native species and 8 of alien
species. The numerical dominance index value (D3) of the highest three abundant species comprised 74.26% of the total fish caught, included Planiliza abu (Al-Keshny) 38.2% ; Coptodon zilli (Tilapia red abdomen) 29.41% and Carassius auratus (Prussian carp) 6.65%. The total weight of fish caught 2,190,680 tan, highest weight 312,242kg achieved in July, while lowest weight 41,590 kg found in&nb
This paper is focused on studying the effect of cutting parameters (spindle speed, feed and depth of cut) on the response (temperature and tool life) during turning process. The inserts used in this study are carbide inserts coated with TiAlN (Titanum, Aluminium and Nitride) for machining a shaft of stainless steel 316L. Finite difference method was used to find the temperature distribution. The experimental results were done using infrared camera while the simulation process was performed using Matlab software package. The results showed that the maximum difference between the experimental and simulation results was equal to 19.3 , so, a good agreement between the experimental and simulation results was achieved. Tool life w
... Show MoreThe objective of the research is to determine the nature of the strategic direction of the institution and its impact on enhancing the indicators of institutional performance. The strategic direction is the main purpose for which it was found. Therefore, it is the main engine for all activities and tasks that the institution can carry out to achieve its objectives within the environment in which it operates. The promotion of corporate performance indicators is one of the major challenges that senior management must address in order to help the organization invest its human resources in the best possible way.
The research problem was determined by means of the intentional sample, consisting of (33) members
... Show MorePhytophagous stink bugs (Hemiptera, Pentatomidae) are economically important insect pests of fruit, vegetable, nut and field crops. This study was carried out during the season of 2013 in orchards within Erbil city, to follow the stink bug Mustha spinulosa (Lefebvre, 1831) seasonal fluctuation on some fruit trees: olive, plum, apricot, pear, apple and almond.
The stink bug reaches its maximum abundance throughout the second week of August (38.2/tree) coinciding with mean temperature and relative humidity of 33.40C and 28.14% respectively, and the highest total mean of the number of the insect was recorded on the olive trees (181.8/tree). The study reveals that the stink bug attacked 22 trees (fruit and forest) while it has not atta