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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
Thu Jan 30 2014
Journal Name
Al-kindy College Medical Journal
Serological and histopathological study of thyroid diseases, prospective study
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Background: Accurate detection of thyroid autoantibodies by enzyme linked immunosorbant assay technique namely thyroglobulin antibody, thyroid peroxides antibody is crucial in the differentiation of autoimmune thyroid disorders from other form of thyroid diseases.
Objective: Evaluation of the detection of thyroglobulin antibody and thyroid peroxides antibody in different thyroid diseases using enzyme linked immunosorbant assay technique.
Methods: - Seventy-five patients admitted to Surgical Units of Baghdad Medical City Hospital for the period between "October 2010 to June 2011" they were waiting to do thyroidectomy. They were chosen nonselectively for serological evaluation of above autoantibodies , and correlation of the results

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Publication Date
Tue Jun 30 2015
Journal Name
Al-kindy College Medical Journal
Symptoms profile of patients with major depression in Baghdad
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:Background: Many studies had stated that there are marked variations in the clinical presentation of depressive states between different cultures.Objectives: The main aim of the study is to identify the symptoms profile of patients with major depressive disorder living in Baghdad.Method: Ninety two patients with major depressive disorder consulting Ibn-Rushd psychiatric teaching hospital were studied thoroughly to identify the frequency of symptoms among them. The fifth edition of the Arabic version of the Mini-International Neuropsychiatric Interview (M.I.N.I) was used to identify the Diagnostic and Statistical Manual – fourth edition (DSM-IV) symptoms. A list of other symptoms, which were found to present variably in depression acco

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Publication Date
Wed Dec 30 2009
Journal Name
Iraqi Journal Of Physics
The effect of scrap glass powder in traditional porcelain
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In this work, Soda Lime Glass (S.L.G.) powder was used ,as
fluxe in traditional porcelain instead of feldspar. Two ceramics
porcelain were compared; commercial or traditional porcelain that
content of 50wt % kaolin, 25wt % quartz, and 25wt % feldspar.
Feldspar mass was substituted by scraps soda lime glass yielding a
new porcelain composition, to determine the softening points and
then the effect of glass addition on porcelain firing process.
Eight samples, for each patch, were prepared and 8wt % water
was added. The resulting composite blends were then die pressed at
2N, to produce disk specimens with diameter of 1.5 cm, and then
they were sintered at (1000, 1100, 1200, 1250,1300,1350,1400 and
1450) ˚C,

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Publication Date
Sun Dec 04 2011
Journal Name
Baghdad Science Journal
Dopping Effect on Optical Constant of Poly (Vinyl Chloride)
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Thick films of poly(vinyl chloride)(PVC)& PVC doped with Zn(etx)2 salt complex have been prepared by cast method with fixed thickness almost (120±5) Microns. Optical studies were carried out in the wavelengths region(200-900)nm based on absorption & transmition measurement. Optical parameters such as absorption coefficient(?) ,refraction index(n) and extinction coefficient(K) were observed to be effected by adding the dopant.Electrical parameters such as real(?)& imaginary(?) part of dielectric constant were also calculated part of dielectric constant were also calculated from the optical parameters using Maxwell equation.

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Publication Date
Mon Feb 01 2021
Journal Name
Iop Conference Series: Materials Science And Engineering
Separation of oil/water emulsions by microbubble air flotation
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Abstract<p>Oil/water emulsions are one of the major threats to environment nowadays, occurs at many stages in the production and treatment of crude oil. The oil recovery process adopted will depend on how the oil is present in the water stream. Oil can be found as free oil, as an unstable oil/water emulsion and also as a highly stable oil/water emulsion. The current study was dedicated to the application of microbubble air flotation process for the removal of such oily emulsions for its characters of cost-effective, simple structure, high efficiency and no secondary pollution. The influence of several key parameters on the process removal efficiency was examined, namely, initial oil concentration, pH value of t</p> ... Show More
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Publication Date
Sun Nov 01 2020
Journal Name
Iraqi Journal For Electrical And Electronic Engineering
A Systematic Review of Brain-Computer Interface Based EEG
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The futuristic age requires progress in handwork or even sub-machine dependency and Brain-Computer Interface (BCI) provides the necessary BCI procession. As the article suggests, it is a pathway between the signals created by a human brain thinking and the computer, which can translate the signal transmitted into action. BCI-processed brain activity is typically measured using EEG. Throughout this article, further intend to provide an available and up-to-date review of EEG-based BCI, concentrating on its technical aspects. In specific, we present several essential neuroscience backgrounds that describe well how to build an EEG-based BCI, including evaluating which signal processing, software, and hardware techniques to use. Individu

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Publication Date
Thu Mar 30 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Factors Affecting the Formulation of Carbamazepine Extended Release Tablet
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Carbamazepine is an anticonvulsant agent which acts on the central nervous system and used for the treatment of epilepsy. Carbamazepine was formulated as an oral extended release tablets using ethyl cellulose as retardant substance. Different types of tablets additives such as cellulose materials (sodium carboxymethyl cellulose  and microcrystalline cellulose ), lactose, calcium phosphate and solubilizing agents ( sodium lauryl sulphate and polyethylene glycol 6000) were utilized to study their effect on the release profile of drug from ethyl cellulose matrices. It was found that sodium carboxymethyl cellulose increased the carbamazepine release and the same effect was obtained when the same amount of microcrystalline cellulose used

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Publication Date
Sat Aug 01 2015
Journal Name
International Journal Of Emerging Trends Technology In Computer Science
A survey of similarity measures in web image search
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Publication Date
Wed Jun 30 2021
Journal Name
Scientific Review Engineering And Environmental Sciences
Mesoscale modeling of fracture in cement and asphalt concrete
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In this paper, mesoscale modeling is performed to simulate and understand fracture behavior of two concrete composites: cement and asphalt concrete using disk-shaped compact tension (DCT) tests. Mesoscale models are used as alternative to macroscale models to obtain better realistic behavior of composite and heterogeneous materials such as cement and asphalt concrete. In mesoscale models, aggregate and matrix are represented as distinct materials and each material has its characteristic properties. Disk-shaped compact tension test is used to obtain tensile strength and fracture energy of materials. This test can be used as a better alternative to other tests such as three points bending tests because it is more convenient for both field and

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Publication Date
Wed Feb 20 2019
Journal Name
Political Sciences Journal
The phenomenon of military governments in the Arab countries
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The modern nation state, by virtue of its institutional nature, is divided into political and non-political institutions according to their respective jurisdictions. It is natural for non-political institutions to perform their functions under the control of the political establishment, for two reasons: first, Second: Ensuring the achievement of cooperation, harmony and integration between these different institutions in serving the stability of the society and its continuity and achieving its supreme objectives. The location of the military establishment is part of the non-political institutions of the state, since it carries out a non-political function that is based on defending the homeland against any threats that may threaten its s

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