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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
Tue Feb 01 2022
Journal Name
Baghdad Science Journal
Retina Based Glowworm Swarm Optimization for Random Cryptographic Key Generation
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The biometric-based keys generation represents the utilization of the extracted features from the human anatomical (physiological) traits like a fingerprint, retina, etc. or behavioral traits like a signature. The retina biometric has inherent robustness, therefore, it is capable of generating random keys with a higher security level compared to the other biometric traits. In this paper, an effective system to generate secure, robust and unique random keys based on retina features has been proposed for cryptographic applications. The retina features are extracted by using the algorithm of glowworm swarm optimization (GSO) that provides promising results through the experiments using the standard retina databases. Additionally, in order t

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Publication Date
Mon Sep 15 2025
Journal Name
مجلة الانبار للقانون والعلوم السياسية
الصراعات الدولية وانعكاساتها على الامن الانساني في منطقة الشرق الاوسط بعد عام 2003
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تعد ظاهرة الصراعات ظاهرة قديمة كقدم الوجود البشري وهذا يطبق على المستوى الدولي مما يجعل الدول الصغرى هي ساحة تصفيات كما هو الحال في سوريا مما يجعل الامن الانساني فيها معدوم

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Publication Date
Sun Jan 13 2019
Journal Name
Arab Science Heritage Journal
استخدام الفرز , الاستدارة والارضية دلائل على طاقة البيئة الترسيبية لتكوين المودود ( جنوب العراق)
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أن تكوين المودود شكل (1)  فى منطقة الدراسة يعتبر من التكاوين المهمة فى منطقة الخليج العربى وايران . لقد تم وصف هذا التكوين لاول مرة  من قبل (1) فى المقطع المثالى فى بئر ( دخان  -1 ) والذى قسمة الى قسمين رئيسين . القسم الاعلى  يتكون من حجر جيرى حامل للدمالق  اما القسم  الاسفل فهو  صلصالى . 

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Publication Date
Sun Dec 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Analysis The Consistency Between The Tariff And The Exchange Rate And Their Reflection On The Trade Balance In Iraq
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       The trade balance is considered as a way to join the national economy with the world, So it is the mirror that reflect the economic center of the country and it is point to competitive ability of it, The tariff and the exchange rate perform a great role to motivate the domestic production and improve the trade balance if we direct them to achieve the same purpose. The Iraqi economic has trade balance which achieve overabundant during the years of studying because of the oil exports, while the other exports represent a small percentage it is hardly remember, and expansion in imports from other side causes exhaustion in oil revenues, and this make the trade balance in permanent

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Publication Date
Sun Dec 02 2018
Journal Name
Arab Science Heritage Journal
نافذة نافذة على مدينة واسط في العصر الأموي والعباسي (دراسة في مورفولوجية المدينة)
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This research submitted to be a clear form for a city has famous civilization extended many centuries , made its obvious stamps & prominent for eyesight through what left us of edifices stated witnesses of Islamic cities , that are distinguished from others by its model , engineering of buildings that are taken special characteristics display thought creativity features & Islamic Arabian art , and this research clarifies from thought & design of Al-Hajjaj in building Wasit City that appeared as a result from the political conditions that Iraq faced them in general , and Al-Hajjaj in particular , the increasing of revolutions from different governorates

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Publication Date
Sun Dec 15 2019
Journal Name
Al-academy
Quality in Industrial Products Designs and its Reflection on Achieving Competitive Advantage: علاء إسماعيل كمر
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  The study (Quality in the Industrial Products Designs and its Reflection on Achieving Competitive Advantage) focused on developing the products in a way that satisfies human desires through the impact of technology on products design systems and performance enhancement. The study question is: how to effectively achieve quality in industrial products designs that influences competitiveness? The aim of the research is to show the design contexts for the product and its reflection on competitiveness. The study is limited to (LG) products in 2017-2018. The results and conclusions reached at by the researcher are included in the study.
The sample models adopted contexts, forms and relational relations transcending traditional contex

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Publication Date
Mon Nov 12 2018
Journal Name
Arab Science Heritage Journal
شواهد شواهد الضرورة الشعرية في كتاب شرح ابن عقيل على ألفية ابن مالك
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The poetic necessity in evidence to explain Ibn Aqeel were not alike, came a statement from him as a necessity in some verses and the other came as abnormal, differentiating it from the language, but he never mentioned in some verses in which the need as a necessity,

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Publication Date
Sat Jul 01 2023
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
A proposed audit program for a comprehensive electronic banking system based on business risks : applied research
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The research seeks to identify the comprehensive electronic banking system and the role of the auditor in light of the customer's application of electronic systems that depend on the Internet in providing its services, as a proposed audit program has been prepared in accordance with international auditing controls and standards based on the study of the customer's environment and the analysis of external and internal risks in the light of financial and non-financial indicators, the research reached a set of conclusions, most notably, increasing the dependence of banks on the comprehensive banking system for its ability to provide new and diverse banking services, The researcher suggested several recommendations, the most important of whi

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Publication Date
Thu Jun 20 2019
Journal Name
Baghdad Science Journal
An Optimised Method for Fetching and Transforming Survey Data based on SQL and R Programming Language
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The development of information systems in recent years has contributed to various methods of gathering information to evaluate IS performance. The most common approach used to collect information is called the survey system. This method, however, suffers one major drawback. The decision makers consume considerable time to transform data from survey sheets to analytical programs. As such, this paper proposes a method called ‘survey algorithm based on R programming language’ or SABR, for data transformation from the survey sheets inside R environments by treating the arrangement of data as a relational format. R and Relational data format provide excellent opportunity to manage and analyse the accumulated data. Moreover, a survey syste

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Publication Date
Wed Nov 14 2018
Journal Name
Arab Science Heritage Journal
الخلاف الخلاف على ولاية العهد وأثره في ظهور الأحزاب في إنكلترا (1672 – 1685)
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يمكن القول ، أن أزمة الاستبعاد والخلاف بشان ولاية العهد شهدت ولادة النظام الحزبي الحديث في إنكلترا، واظهرت حالة جديدة للتنظيم والدعاية الحزبية وادخال طرق جديدة للتأثير في الرأي العام في اثناء الانتخابات، واختلفت تلك الاحزاب في ايديولوجياتها فحزب الويك كانت له ارتباطات دينية بين اعضائه مع البيورتان أذ تشاركوا في مفاهيم حرية التعبير عن الرأي ومقاومة  هيمنة رجال الكنيسة المتنفذين، في حين  كان حزب التور

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