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Control of Omni-Directional Mobile Robot Motion
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This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller.

      In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.

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Publication Date
Sat Dec 01 2018
Journal Name
Al-nahrain Journal Of Science
Image Classification Using Bag of Visual Words (BoVW)
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In this paper two main stages for image classification has been presented. Training stage consists of collecting images of interest, and apply BOVW on these images (features extraction and description using SIFT, and vocabulary generation), while testing stage classifies a new unlabeled image using nearest neighbor classification method for features descriptor. Supervised bag of visual words gives good result that are present clearly in the experimental part where unlabeled images are classified although small number of images are used in the training process.

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Publication Date
Sun Dec 16 2018
Journal Name
Al-academy
Melodic and Rhythmic Construction of Monologues in Iraq
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The research studies the melodic and rhythmic characteristics of monologue, in addition to how it was transferred from the Arab homeland to Iraq and   reviewed its most prominent performers, as well as a review     of the monologue types and their propagation in the Arab homeland such as comical, dramatic, and political and guidance monologues. 

The methodological framework included: the problem of the research, the importance of the research and the objective of the research which is to uncover the melodic and rhythmic structure of the monologue in Iraq.   The limits of the research included the objective limit tackling the  art of monologue and the spatial limit which is Baghdad

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Publication Date
Mon Sep 03 2018
Journal Name
Al-academy
Performance possibilities of the flute (Descriptive analytical study)
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The nay is one of the important in stvument in Arabic music which is considered one of the oriental instruments used in the oriental music tect, and is also considered one of the basic instruments in Arabic music, It is used in many religious and mundane areas, through its expressive capabilities through which expression and conveyance of feelings to the recipient, despite their importance and role in music, and through the researcher's follow-up to this subject did not find a study on the potential capabilities of the machine. In view of the above, and given the importance of this subject at the researcher, the need arose for research to study (the potential of the flute machine)..

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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Engineering
THE STATIC ANALYSIS OF COMPOSITE AIRCRAFT WINGBOX STRUCTURE
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In this paper, the static analysis for finding the best location of boxes inside the composite wing-box structure has been performed. A software ANSYS (ver.11) was used to analyses the Aluminum wing to find the maximum stresses reached in. These results are used as a base for the composite wingbox to find the numbers of layers and location of the box beam and its dimensions so that the composite wingbox may carry the same loading conditions in the Aluminum wing. Analysis showed that a composite wingbox having two boxes is better than the single or triple boxes wing based on stress to weight ratio. Mass saving of (40%) had been achieved when composite wing-box is used instead of Aluminum wing.

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Publication Date
Wed Sep 30 2015
Journal Name
College Of Islamic Sciences
Retreat and the science of speech Contemporary reading
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However, the effects of these ideas are still evident
Think of those who follow the footsteps of Muslim scholars and thinkers.
Intellectual source of Gnostic Gnar
And in dealing with issues of Islamic thought
Annalisa intersecting trends of thought, Minya who melts in Masarya and supported him and believes in Bo and extremist Vue,
 Lea, trying to throw it with a few times, looks at Elya look
There are those who stand in the opposite position
There are those who stand in a selective compromise, but this school of thought remains
 G - the features of Islamic thought that believes in the mind and Imoto in the defense of
An intellectual station and generalized bar
Creed. In his study, the researcher wi

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Publication Date
Thu Aug 03 2023
Journal Name
Journal Of Legal Sciences
Superiority of Peremptory Norms in Public International Law
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International law has proven that it is an evolving and flexible law over the years, and despite that, this development takes a very long time, as the concept of peremptory norms took 83 years to crystallize and have concrete and impactful applications, and within this development another modern concept emerged, which is the obligations Erga Omnes in the Barcelona Traction case 1970. We have concluded that these two concepts fall under a broader concept, which is peremptory norms, and this concept represents the common supreme interests of the international community, and consists of rules that transcend all other rules in international law, and it is not permissible to derogate or deviate from them. On the other hand, it bears the oblig

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Publication Date
Mon Jan 02 2023
Journal Name
Welcome To International Journal Of Research In Social Sciences & Humanities
A Pragmatic Study of Hedging in Academic Discourse
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Welcome to International Journal of Research in Social Sciences & Humanities (IJRSSH). It is an international refereed journal of Social Sciences, Humanities & Linguistics in English published quarterly, both print and online.

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Publication Date
Thu Jun 01 2023
Journal Name
Baghdad Science Journal
Topological Indices Polynomials of Domination David Derived Networks
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The chemical properties of chemical compounds and their molecular structures are intimately connected. Topological indices are numerical values associated with chemical molecular graphs that help in understanding the physicochemical properties, chemical reactivity and biological activity of a chemical compound. This study obtains some topological properties of second and third dominating David derived (DDD) networks and computes several K Banhatti polynomial of second and third type of DDD.

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Publication Date
Sun Mar 04 2018
Journal Name
Baghdad Science Journal
Detection of Chlamydia pneumoniae in Ankylosing Spondylitis Patients
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Ankylosing spondylitis is a complex debilitating disease because its pathogenesis is not clear. This study aims at detecting some pathogenesis factors that lead to induce the disease. Chlamydia pneumoniae is one of these pathogenesis factors which acts as a triggering factor for the disease. The study groups included forty Iraqi Ankylosing spondylitis patients and forty healthy persons as a control group. Immunological and molecular examinations were done to detect Chlamydia. pneumoniae in AS group. The immunological results were performed by Enzyme-Linked Immunosorbent Assay (ELISA) to detect anti-IgG and anti-IgM antibodies of C. pneumoniae revealed that five of forty AS patients' samples (12.5%) were positive for anti-IgG and IgM C. pneu

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Publication Date
Sun Jun 03 2018
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Phytochemical Investigations of Iraqi Abrus precatorius Linn. plant
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    The plant Abrus precatorius, which belong to Leguminosae (Fabaceae) family and known as Crab’s eyes, Rosary pea with characteristic red and black seeds. It was used in folk medicine in India, China and East Asian countries for treatment of various diseases.    The plant was extracted by '' general method of extraction'' (Harborne, 1973) using 80% aqueous ethanol as a solvent of extraction by soxhlet apparatus. Preliminary qualitative phytochemical screening were performed on the crude ethanolic extract  and revealed the presence of alkaloids, flavonoids ,terpenoids and phytosterols in Iraqi Abrus precatorius plant. Three different fractions were obtained from crude extract which are fraction one (chloroform fractio

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