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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
Fri Feb 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
Organizational spirituality and its implications for organizational performance: A survey of the opinions of employees of the General Company for Food Industries in Abu Ghraib (Baghdad)
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The research discusses with organizational spirituality and its implications on the organizational performance in the General Company for Food Industries in Abu Ghraib (Baghdad). The aim of the research was to determine the contribution of organizational spirituality in the organizational performance of the surveyed company. In order to achieve the objectives of the research، two main hypotheses were adopted. Several sub-hypotheses centered on the relationship between organizational spirituality and organizational performance in terms of its dimensions (Meaning work، self-esteem، community affiliation،

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Publication Date
Thu Jun 30 2022
Journal Name
Iraqi Journal Of Laser
PDF Temporal Pulse Compression Using Double Cladding Polarization Maintaining Fiber Nested Mach- Zehnder Interferometer
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Abstract: Narrow laser pulses have been essential sources in optical communication system. High data rate optical communication network system demands compressed laser source with unique optical property. In this work using pulsed duration (9) ns, peak power 1.2297mW, full width half maximum (FWHM) 286 pm, and wavelength center 1546.7 nm as compression laser source. Mach Zehnder interferometer (MZI) is built by considering two ways. First, polarization maintaining fiber (PMF) with 10 cm length is used to connect between laser source and fiber brag grating analysis (FBGA). Second, Nested Mach Zehnder interferometer (NMZI) was designed by using three PMFs with 10 cm length. These three Fibers are splicing to sing

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Publication Date
Thu Sep 01 2022
Journal Name
مجلة الدراسات المستدامة
مدى التزام المصارف الخاصة باليات تشكيل لجان التدقيق على وفق قانون الشركات وميثاق البنك المركزي العراقي
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ى ىلإ يقيبطتلا وبناج يف ثحبلا ىعس دقو ،ةصاخلا ةيراجتلا ؼراصملا يف ؽيقدتلا فاجل ؿيكشت ( تمض ةنابتسا ةرامتسا ـيمصت متخم تاعاطق ىمع ؿماكلاب ايعاجرتسا ـتو فايبتسا ةرامتسا ) 36 ةف فم فإ :ايمىا فاك تاجاتنتسلاا فم ةعومجمل ثحبلا ؿصوت دقو ،ؽيقدتلا فاجل ؿمعب ةمص تاذو تامومعملاب ةقثلا زيزعتو ةيلاملا ريراقتلا ةدوج فامض يف اىرود وى ؽيقدتلا فاجمل ةميملا ـايملا ا يف يرادلإاو يلاملا ءادلأا طبض ةيممع ىمع سكعني هرودب يذلاو

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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
أثر التغيـيـر فـي رأس المال الممتلك على ربحيـة المصـارف: دراسة تحليلية لمصرف الشرق الأوسط العراقي للاستثمار
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Capital is a property bank is very important, because it is part of the liquidity in the bank, which is a line of defense in the bank and secured against any losses that may be exposed to the banks, and in the case of low value of any item of the assets and the lack of a dedicated absorb the decline, while play a key role to some extent in the financing of fixed assets and in particular the relative importance of fixed assets is relatively small compared to the size of bank  assets.                                           &n

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Publication Date
Tue Sep 30 2014
Journal Name
مجلة العلوم الاقتصادية والادارية - جامعة بغداد
تحليل الأثر الارتدادي و التفاعلي بين السياسة المالية و النقدية على التوازن الاقتصادي العام (IS-LM)‎
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يتناول هـذا البحث بالتحليل التفاعل و التنسيق بين السياستين الماليـة و النقديـة و اثر هذا التفاعل و التنسيق على الاستقـرار و النمـو الاقتصـادي، و كيف ان الآثار المالية للسياسة النقدية قد تحفز الإجراءات الخاصة بالسياسة النقدية و معالجة الآثـار الجانبيـة و طبيعـة التفاعل و الارتداد بين إجراءات كلتا السياستين و أثرهما في التـوازن الاقتصـادي العــام، و تم في ثنايا البحث توضيح مسوغات التنسيق و مدى ضرورة ذلك بهد

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Publication Date
Sat Oct 01 2016
Journal Name
Journal Of The College Of Basic Education
EC 80التأثير السمي للمبيد العشبي الكولد توبيك ,على غلاصم سمكة الكمبوزيا هولبروكي Gambusia holbrooki Girard 1859
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Publication Date
Thu Mar 01 2012
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
النجاح الستراتيجي للمنظمــــات على وفــق ابعــــــــــاد القيــــــــــــادة التحويليـــــــــــة: دراســـــــــــة استطلاعيــــــــــــة لعينـــــــــــــة من افراد الهيئـــــــــــة العامــــــــــــة للضرائب
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In today's world the role of leadership in the control factors of the organization different and advancement, and that the possession of the human ability to the development and creation and innovation varies from one individual to another depending on experience; and levels of performance and intellectual; and his mental and physical and other such factors can create a kind of differentiation between the built humans, and this distinction creates our leaders are able to influence others and have the wisdom and connect active individuals and organizations. as the need for organizations of all sizes and levels of leadership transformation is an urgent need to link the application of the various plans and strategies device which direction

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
Developing Faculty Performance Competencies and their Reflection on Achieving Total Quality in Higher Education Institutions
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Total Quality Assurance Concept have appeared in Higher Education Institutions as a result of the continuous criticism for the lower quality of the outputs of these institutions and their inappropriacy to the needs of the job market. The faculty, i.e. teaching staff member, is one of the most important output for his/her responsibility to achieve the stated goals in higher education. This represents a problem that may influence the construction of society which has to limit his tasks, responsibilities, and competencies that should be found in a faculty, and evaluating his teaching profession in light of the prerequisites of the century to become an input to achieve quality assurance in Higher Education. Therefore, the present study aims

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Publication Date
Mon Feb 16 2026
Journal Name
Sciences Journal Of Physical Education
المشكلات النفسية المترتبة على جائحة كوفيد 19 لدى طالبات وتدريسيات جامعة بغداد الممارسات وغير الممارسات للرياضة
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Publication Date
Mon Jan 01 2024
Journal Name
المجلة العراقية للعلوم الاقتصادية
قياس وتحليل تأثير صدمات أسعار النفط الخام على راس المال البشري في العراق للمدة (1970 – 2021)
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قياس وتحليل تأثير صدمات أسعار النفط الخام على راس المال البشري في العراق للمدة (1970 – 2021)