Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipul

There are different types of corruptions such as administrative, political, economic and financial corruption. The corruption forms also varied such as bribery, nepotism and extortion. All types and forms of corruption play significant role in the all economic variables generally and on investments in particular, and the corruption used to be an intermediate means in reducing the rate of economic growth.  The corruption contributes in reducing the domestic investments via pay bribery by investors to officials’ persons for supplemental contracts and tenders which finally leads to reduction in the investment efficiency. The corruption also contributes in rise of operational costs for the investment projects.  In additio

Voucher documents have become a very important information carrier in daily lives to be used in many applications. A certain class of people could exploit the trust and indulge in forging or tampering for short or long term benefits unlawfully. This holds a serious threat to the economics and the system of a nation. The aim of this paper is to recognize original voucher document through its contents. Forgery of voucher document could have serious repercussions including financial losses, so the signature, logo and stamp that are used to determine being a genuine or not by using multilevel texture analysis. The proposed method consists of several operations. First, detection and extraction of signature, logo and stamp images from original

Background: Because of many factors play a role in the developing of late lower arch crowding, therefore the objective of the current study is to do vertical analysis for subjects with late lower dental arch crowding. The conducted study is the first attempt to do vertical analysis for Iraqi subjects with late lower arch crowding to see if there is a vertical discrepancy in such patients. Subjects and methods: Eighty subjects were selected according to certain inclusion criteria from patients attending the Orthodontic Department in the College of Dentistry, Baghdad University, patients ranged between 18-25 years old. The 80 patients were divided into two groups (crowding and normal), 40 patients each (20 males and 20 females). A study cast

Ghar Formation outcrop at the Iraqi western desert was studied by microfacies analysis
of (13) thin sections collected from wadi Al-Ratgha ( west of Qaim ) . According to
petrographic com position and organisms content ,rocks were subdivided into (4)
microfacies units :bioclastic wackestone , mudstone , miliolids wackestone , and grainstone
with aggregate grains microfacies .Microfacies units reflect shallow marine environment of
low circulation of very warm water at the middle part . The lower and middle part
interbedded with quite open marine environment below the wave base . The upper part was
deposited at shallow marine environment of low circulation . The main diagenetic processes
were the transformation ( ty

The last decade of this 20th century provides a wide spread of applications of one of the computer techniques, which is called Fuzzy Logic. This technique depends mainly on the fuzzy set theory, which is considered as a general domain with respect to the conventional set theory. This paper presents in initiative the fuzzy sets theory and fuzzy logic as a complete mathematics system. Here it was explained the concept of fuzzy set and defined the operations of fuzzy logic. It contains eleven operations beside the other operations which related to fuzzy algebra. Such search is considered as an enhancement for supporting the others waiting search activities in this field.

In this work, an investigation for the dynamic analysis of thin composite cylindrical and spherical shells is presented. The analytical solution is based upon the higher order shear deformation theory of elastic shells from which the developed equations are derived to deal with orthotropic layers. This will cover the determination of the fundamental natural frequencies and mode shapes for simply supported composites cylindrical and spherical shells.

      The analytical results obtained by using the derived equations were confirmed by the finite element technique using the well known Ansys package. The results have shown a good agreement with a maximum percentage of discrepancy, which gives a confidence o

This paper is focusing on reducing the time for text processing operations by taking the advantage of enumerating each string using the multi hashing methodology. Text analysis is an important subject for any system that deals with strings (sequences of characters from an alphabet) and text processing (e.g., word-processor, text editor and other text manipulation systems). Many problems have been arisen when dealing with string operations which consist of an unfixed number of characters (e.g., the execution time); this due to the overhead embedded-operations (like, symbols matching and conversion operations). The execution time largely depends on the string characteristics; especially its length (i.e., the number of characters consisting

In this study, different oil fields in Mesopotamian basin, southern Iraq (Siba, Zubair, Nahr - Umr, Majnoon, Halfaya, Kumait, and Amara) were selected for studying burial history. PetroMod software 1D was used for basin constructing and to evaluate burial history of the basin. Results showed that in the upper Jurassic to the Recent, Mesopotamian Basin exhibited a complex subsidence history over a period of about 152 Ma.There are different periods of subsidence: high, moderate, and slow. High subsidence occurred at upper Jurassic- mid Cretaceous and at Miocene due to Tectonic subsidence. Slow subsidence occurred at upper Cretaceous and moderate subsidence at Paleogene. In the upper Jurassic, rapid subsidence is driven under the effect of

The aim of this paper is to construct the analysis mathematical model for stream cipher cryptosystems in order to be cryptanalysis using the cryptanalysis tools based on plaintext attack (or part from it) or ciphertext only attack, choosing Brüer generator as study case of nonlinear stream cipher system.
The constructing process includes constructing the linear (or non-linear) equations system of the attacked nonlinear generator. The attacking of stream cipher cryptosystem means solving the equations system and that means finding the initial key values for each combined LFSR.