In this paper, a modified derivation has been introduced to analyze the construction of C-space. The profit from using C-space is to make the process of path planning more safety and easer. After getting the C-space construction and map for two-link planar robot arm, which include all the possible situations of collision between robot parts and obstacle(s), the A* algorithm, which is usually used to find a heuristic path on Cartesian W-space, has been used to find a heuristic path on C-space map. Several modifications are needed to apply the methodology for a manipulator with degrees of freedom more than two. The results of C-space map, which are derived by the modified analysis, prove the accuracy of the overall C-space mapping and construction, and then a successful and guaranteed path from a start to goal configuration has been obtained without any collision probability. The results had been achieved by (Matlab R2015a) software, which run on Intel (R) Core (TM) i3-3120M CPU.
The audience is one of the important practical elements in the theatrical show and its importance is not confined to its static activity as a receiver element only, rather it went beyond that issue as an effective and influential element in the proceedings of the show and the process of meaning construction, that it gains an active role in the construction and production of the connotation that influences and is influenced by the actor, where the communication channels are open between the two sides, consequently a kind of watching and joint interaction happens between them. Thus, it has become necessary for the actor to create a suitable environment for the onlookers in order for it to be an essential part of the show system. The
... Show MoreThe aim of this research is to study the effects of the North Atlantic Oscillation (NAO) on the temperature and precipitation patterns in Baghdad city. Data of the monthly means of the NAO index,the monthlymeans of temperature, and the monthly total of precipitation were analyzed for the period 1900-2008. Non-parametric tests were used to investigate the correlations between these variables. The time series of temperature and precipitation showed no trends. The results indicated that is a slight correlation between the NAO and temperature and precipitation suggesting that NAO has no major effects on the temperature and precipitation patterns in Baghdad city.
The ground pearls, Porphyrophora tritici (Bod.) is a new insect pest on wheat recorded for
the first time from Mousl Province, North of Iraq.
An experimental study was carried out for an evaporative cooling system in order to investigate the effect of using an aluminum pad coated with fabric polyester. In the present work, it was considered to use a new different type of cooling medium and test its performance during the change in the wet-bulb temperature and dry-bulb temperature of the supply air outside of the pad, the relative humidity of the supply air, the amount of air supplied (300-600) CFM and also the change of the amount of circulated water (1.75, 2.5, 4.5) liter per minute. A decrease in the WBT of the air was obtained, whereas the WBT of the air entering the pad was 26.5 . In contrast, the WBT of the outside air had reached 23 even though eva
... Show MoreIntroduction: An aneurysmal bone cyst are enigmatic lesionof unknown cause and presentation and are difficult todistinguish from other lesions, it is a benign, but expansibletumor like lesion that generally occurs in the long bones. Ananeurysmal bone cyst arising from the flat bone like clavicleis rare .Case presentation: We report a 12-year-old girl child with ananeurysmal bone cyst of the lateral third of left clavicletreated with enblock resection. The pathologic findingsconfirmed the diagnosis of aneurysmal bone cyst. Thepatient has been followed up for one year with no evidenceof recurrence .Conclusion: En bloc resection can be curative and provide good results for this rare type of clavicle tumour.
Iraqi western desert is characterized by a widespread karst phenomenon and caves. Euphrates formation (Lower Miocene) includes enormous sinkholes and cavities within carbonate rocks that usually cause severe damages to any kind of engineering facilities built over it. 3D resistivity imaging techniques were used in detecting this kind of cavities in complicated lithology. The 3D view was fulfilled by collating seven 2D imaging lines. The 2D imaging survey was carried out by Dipole-dipole array with (n) factor and electrode spacing (a) of 6 and 2m respectively. The horizontal slices of the 3D models give a good subsurface picture. There are many caves in all directions (x, y, z). They reveal many small caves near the surface. Thes
... Show MoreBackground: Staphylococcus aureus is a Gram-positive, spherical, grape like clusters arrangment
bacterium, non-spore forming. Is a genus that causes many hard diseases such as food poisoning,
gastroenteritis with severe symptoms. S. aureus is commonly found in the wide environment (soil, air and
water) and is importantly found in the nose and skin in the humans. And can causes ear infection by
entering the ear. The diagnosis of Otitis externa is usually made clinically and bacterial tests.
Objective: To detection and isolation of the bacteria Staphylococcus aureus from pus specimens of ear
swab, among Iraqi children with Otitis externa.
Patients and methods: Eighty ear swab specimens from suspected cases of Otitis ex
In this research constructed N2 laser system by use developed method of electric discharge. In this method used four step of electric discharge by using four capacitors, three spark gaps, high tension power supply varying in range from 12kV to 24 kV and three resistors, this method called three stage blumlein circuit. The breakdown time delay of these parallel spark gaps cement strong ultraviolet preionization in the laser channel, thus the result of these amendments the laser output is many doubled and is more increasing than that obtained using the one and two stage blumlein circuits. This system has been designed and operated to give pulse laser with wavelength at 337.1 nm. This laser system can operate without mirrors and optical res
... Show MoreThe aim of this study is to find a relationship between oxidative stress and adiponectin in Iraqi patients with acromegaly. The present study included 30 patients with acromegaly disease attending at Al-Yarmuk teaching hospital , and 30 healthy individuals as a control group.The two groups with ages ranging (30-55) years. The results revealed a highly significant elevation in all parameters (GH,IGF-1 , adiponectin , malondialdehyde , and peroxynitrite ) levels in sera of patients when compared with healthy control .It can be concluded that oxidative stress (malondialdehyde and peroxynitrite ) may be valuable in detecting of endocrine diseases like acromegaly .
The problem of housing in Iraq is a long-rooted and rooted problem, and it needs a great effort to find out its causes and thus give essential points that contribute to alleviating and addressing it, and it is worth noting that research into the housing problem and the housing sector in Iraq is not done in isolation from other sectors and studies. As well as the economic policies pursued and the social and political conditions. It is known that the Iraqi economy is a unilateral (rentier) economy, that is, it depends almost entirely on exporting oil and obtaining revenues, and that the economic decision and economic policies followed in Iraq are greatly affected by several factors, including the economic, social and political fact
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