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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
Wed Dec 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
التنبؤ بالأحتياجات من أدوية الأمراض المزمنة والمحافظة على المال العام* دراسة تطبيقية في دائرة العيادات الطبية الشعبية
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Abstract                                                                                

The health section is considered to be one of the most important section in the  field of service economical and social unit because of its concern in the life of human begin and society and the  process of determining t

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Publication Date
Mon Jun 01 2020
Journal Name
مجلة الحقوق
اثر تنفيذ الالتزام العقدي على حساب المدين في سلطة المحكمة ـ دراسة في القوانين المدنية والقانون الانكليزي
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يتناول البحث دراسة مقارنة بين القوانين المدنية والقانون الانكليزي لسلطة المحكمة في تنفيذ الالتزام العقدي على حساب المدين

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Publication Date
Thu Oct 22 2026
Journal Name
Karbala Journal Of Physical Education Sciences
تأثير تمرينات وقائية للذراعين في تطوير بعض القدرات البدنية للاعبي المنتخب الوطني بكرة السلة على الكراسي المتحركة
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Publication Date
Wed Feb 22 2023
Journal Name
مجلة علوم الرياضة
دراسة عاملية للأدلة والقوة العضلية والسرعة لعدائي(110) متر حواجز بحث مسحي على عدائي 110 متر حواجز
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Publication Date
Thu Dec 31 2020
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
تطبيق برنامج مقترح لتدقيق عمليات استكشاف الموارد المعدنية وتقييمها على وفق متطلبات معيار الابلاغ المالي رقم (6)
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Review of the research and the reality of the costs of the survey and exploration in the oil exploration company The study showed the effect of the application of standard financial reporting (6) "mineral resources exploration and evaluation" on the financial statements, have touched on a range of problems, the most important deficiencies in the disclosure of information relating to expenses of research and exploration that must be show Kmugod and which should be recognized as an expense in the financial statements of the company based on the international standard (6) for the purpose of knowing the financial situation of the company, and to find solutions presented researcher hypothesis is the following: that the Company's application s

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Publication Date
Sat Jan 01 2022
Journal Name
مجلة المستنصرية لعلوم الرياضة
علاقة السرعة الحركية بالاستحواذ على الكرة ودقة المناولة للاعبي مراكز الموهبة بكرة القدم بأعمار 12 – 14 سنة
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Publication Date
Thu Dec 26 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
في ترشيد التكاليف البيئية ABC تطبيق اسلوب الكلفة على اساس النشاط: بحث تطبيقي في شركة تعبئة الغاز
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   The aim of the research is to use methods based on cost-based activities )ABC) to identify the activities that cause the costs resulting from the environmental impact of the gas filling company and then to manage on the basis of the activities to manage the costs of these activities, which in turn rationalizes the environmental costs by eliminating activities that do not add .The research a number of conclusions, the most important of which is that the management of the company should continuously seek to train and qualify its staff on the accounting systems, especially in the field of accounting of environmental costs, the high environmental costs by the company, bears as a result of its activity.

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Publication Date
Mon Jan 01 2018
Journal Name
مجلة دراسات محاسبية ومالية
دور الذكاء الصناعي في تحقيق رضا الزبون وانعكاسه على محاسبة التكاليف بحث تطبيقي في شركة الصناعات الالكترونية
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دور الذكاء الصناعي في تحقيق رضا الزبون وانعكاسه على محاسبة التكاليف بحث تطبيقي في شركة الصناعات الالكترونية

Publication Date
Sat Oct 01 2022
Journal Name
Baghdad Science Journal
Designing and Synthesising Novel Benzophenone Biscyclic Imides Comprising Drug Moity with Investigating their Antimicrobial Activity
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The present work involved designing and synthesizing of a series of new. compounds which their molecules are composed from two biologically active components namely sulfamethoxazole or β-lactam containing drugs and cyclic imides. The target new compounds were synthesized by two steps in the first one a series of six bis (N-drug phthalamic acid_4-yl) ketone (1-6) were prepared from the reaction of sulfamethoxazole or β-lactam containing drugs with benzophenone 3, 3′, 4, 4′ -tetracarboxylic dianhydride.

In the second step, compounds (1-6) were introduced in dehydration reaction via fusion process producing the target compounds bis (N-drug phthalimidyl-4-yl) ketone (7-12). The antibacterial and antifungal high

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Publication Date
Sun Feb 25 2024
Journal Name
Baghdad Science Journal
Efficient Task Scheduling Approach in Edge-Cloud Continuum based on Flower Pollination and Improved Shuffled Frog Leaping Algorithm
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The rise of edge-cloud continuum computing is a result of the growing significance of edge computing, which has become a complementary or substitute option for traditional cloud services. The convergence of networking and computers presents a notable challenge due to their distinct historical development. Task scheduling is a major challenge in the context of edge-cloud continuum computing. The selection of the execution location of tasks, is crucial in meeting the quality-of-service (QoS) requirements of applications. An efficient scheduling strategy for distributing workloads among virtual machines in the edge-cloud continuum data center is mandatory to ensure the fulfilment of QoS requirements for both customer and service provider. E

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Scopus (7)
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