This paper presents a control system to make the robotic hand mimic human hand motion in real time and offline mode. The human hand tracking system is a wearable sensing arm (potentiometers) used to determine the position in space and to sense the grasping task of human hand. The maskable sensing arm was designed with same geometrical arrangement of robotic hand that needs to be controlled. The control software of a robot was implemented using Visual Basic and supported with graphical user interface (GUI). The control algorithm depends on joint to joint mapping method to match between the motions at each joint of portable sensing arm with corresponding joint of a robot in order to make the robot mimic the motion.
This study included the effect of chronic exposure of different concentrations of sodium chloride on the freshwater Crustacean Daphinea pulex from the order of Cladocera. The concentrations used for the chronic exposure were( 0.1‰, 0.5‰, 1‰, 1.5‰, 2‰ )to investigate the effect on the some reproductive parameter which included mean number of eggs and juveniles produced per female and per clutch,and mean number of clutch per female which decline from (6.0) clutch/female in the control treatment to (3.0) clutch/female in (2‰) concentrations, as well as to investigate the number of females produce the clutches and we found only one female produced six cluthes in the( 2‰) concentration of sodium chlor
... Show MoreThe fatty acid composition in the seed and flower of Ligustrun lucidum and olive oil was studied by Gas Chromatography. Results showed that the main components of seed oil were Palmitic (C16:0) 5,893% ,Palmitolic acid (C16:1)0,398%, Steaeic (C18:0)2,911% ,Oleic (C18:1)74,984%,Linoleic (C18:2) 12,959%,and Linolenic (C18:3) 0,997%. The proportion of unsaturated fatty acid was above 89,338%, so the seed oil of L. lucidum ait belonged to unsaturated oil which possessed promising application. The components of flower oil were Palmitic (C16:0) 65,674% ,Palmitolic acid (C16:1)6,516%, Steaeic (C18:0)2,641% ,Oleic (C18:1)14,707%,Linoleic (C18:2) 3,113%,and Linolenic (C18:3) 2,70%. The proportion of unsaturated fatty acid and saturated fatty acid wa
... Show MoreColon cancer is an abnormal growth of cells that occurs in the large intestine. Sometimes growth remains restricted for a relatively long time before it becomes a malignant tumor and then spreads through the intestinal wall to the lymph nodes and other parts of the body. The study aims to estimate the effectiveness and partial purification of lipoxygenase (LOX) enzyme and measure gamma-glutamyle transferase (GGT) activity in serum patients of colon cancer in Baghdad. The study included (80) case male patients with colon cancer with (50) samples of apparently healthy males (control) as comparison group. The result displayed a noteworthy increase in lipoxygenase effectivene
... Show MoreBackground: Echocardiography is a very important diagnostic modality in the clinical practice of cardiology. Although it has been extensively used as a diagnostic tool. Echocardiography has recently emerged as a sensitive, non invasive technique for evaluating left ventricular mass(LVM) and detecting left ventricular hypertrophy. Objective: to determine the effect of sex, age, and anthropometric measurements on echocardiographic values for cardiac chambers, left ventricular mass index in adults Iraqi sample.
Methods: This was observational study based on a randomly selected sample from Baghdad city, 75 normal obese Iraqi subjects with no history of cardiovascular disease underwent transthoracic echocardiography.
The following M-mod
A potentiostatic study for the corrosion of pure zinc in 0.01 M HCl was achieved in absence and presence of (linear alkylbenzene solfonate LAS) detergents in a range of concentrations (0-50) mg/L. The electrochemical studies included anodic, cathodic polarization by using potentiostat over temperature rang (293- 323) K. The mechanism of corrosion rate of pure zinc was suggested by evaluating of αa , αc , ba , bc , i0 , Rp and the kinetic parameters also calculated ( Ea , A) at the above temperature rang, The thermodynamic of corrosion, corrosion accelerating and corrosion protecting were investigated by calculating (∆G, ∆H and ∆s) values
The utilization of recycled brick tile powder as a replacement for conventional filler in the asphalt concrete mix has been studied in this research. This research evaluates the effectiveness of recycled brick tile powder and determines its optimum replacement level. Using recycled brick tile powder is significant from an environmental standpoint as it is a waste product from construction activities. Sixteen asphalt concrete samples were produced, and eight were soaked for a day. Samples contained 5% Bitumen, 2% to 5% brick tile powder, and conventional stone dust filler. The properties of samples were evaluated using the Marshall test. It was observed that the resistance to stiffness and deformation of asphalt concrete
... Show MoreAlthough many technological improvements are occurring in power production worldwide, power plants in third world countries are still using old technologies that are causing thermal pollution to the water bodies. Power facilities that dump hot water into water bodies are damaging aquatic life. In the study, the impact of the Al Dora thermal power plant on a nearby stretch of Tigris River in Baghdad city was assessed by measuring the temperature of the disposed of hot water in various cross-sections of the selected stretch of Tigris River, including measuring the thermal mixing length. The measurements were conducted in winter, spring, and summer. For field measurements, it was found that the impact of recovery distances
... Show MoreThe experiment was carried out in the wooden canopy in the green garden of Biology Department , College of Education for Pure Science – Ibn AL –Haitham, Baghdad University, during the growing season of 2012- 2013 , to study the influence of foliar application of three concentrations of zinc (0,50,75)mg. L ¯¹ with four concentrations of boron (0, 25, 50, 75) mg. L¯¹ and their interactions on some growth parameters of vegetative part of chickpea plant. The experiment was designed according to Randomized Completely Block Design(RCBD)with three replications, results indicated that:- 1- Foliar application of zinc and boron caused a significant increase in the averaye of dry weight for t
... Show MoreRifampicin (RF) considered a hepatotoxic drug. Is one of the first line successful drugs of management of tuberculosis. To reduce injury and protect liver from adverse effect of Rifampicin, this study was designed to investigate the activity of Nigella Sativa (NS) seeds powder aqueous suspension to hepato protection against Rifampicin.
For conducting this study,24 male albino rats were divided into four groups and all treated orally as follow; group І (control), received normal saline alone; group II, received RF (50mg/kg body weight/day); group III received NS it's called normal dose, (2g/kg body weight day); group IV RF (50mg/kg body weight) + NS (2g/kg body weight).Respectively for 28 days. Blood samples obtained for estimation of
Purepolyaniline and doped with hydrochloric acid was prepared in different molarities at room temperature. The a.c electrical properties were stadied.AC conductivityσac (ω), is found to vary as ωS in the frequency range (100Hz-10MH), S< 1and decreases indicating a dominate hopping process. Thedielectric constant ε1and dielectric loss ε2 have been determined for bulk polyaniline. ε1 decrease with the increase frequency. Electrical conductivity measurements increase with the increases both of the amount of HCl and the dose of radiation. The dielectric investigations show decrease with dose radiation.