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Minimizing error in robot arm based on design optimization for high stiffness to weight ratio
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In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effector’s error, a comparison had been made between the tri-tube section and the traditional square cross section for a robot arm, the study shows that for the same weight of square section and tri-tube section the error may be reduced by about 33%.

A program had been built up by the use of MathCAD software to calculate the minimum weight of a square section robot arm that could with stand a given pay load and gives a minimum deflection. The second part of the program makes an optimization process for the dimension of the cross section and gives the dimensions of the tri-circular tube cross section that have the same weight of the corresponding square section but with less deflection.

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Publication Date
Mon Nov 19 2018
Journal Name
Arab Science Heritage Journal
مصادر مصادر القانون الدولي في الألفية الثانية ق.م (أواخر عصر البرونز)
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 In the second millennium BC, the international community change at the ancient Near East, There has been a significant developments with the appearance of five kingdoms (Babylon, Assyria, Mitanni, Egypt, and Hatti) called themselves the (Great Powers) and their kings named (Great King), and Correspondence among themselves on behalf of (the brothers),  to differentiate themselves from the small kingdoms Minor of them.

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Publication Date
Sat Mar 01 2014
Journal Name
Journal Of The College Of Languages (jcl)
Comparación entre los dos gigantes de la literatura universal "Miguel de Cervantes y William Shakespeare"
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The literature in general, such as the spanish literature as british literature presence lot of literary figures giant that managed its continuing work that leaves lasting impression and clear in all fields of literary world throughout history, among these writers giants can remind great writer spanish (Miguel de Cervantes) and the great british writer (William Shakespeare), this study is about them.

We can say that there are a lot of studies , works and gossip , whether literary or non- literary show how the close relationship that bound both Cervantes and William Shakespeare, although they did not meet personally never, it was not able to critics that the sweep of the differences and similarities that was between the two, becau

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Publication Date
Tue Jan 05 2010
Journal Name
Political Sciences Journal
دور المراكز البحثية في الحياة السياسية وصنع القرار السياسي الخارجي الامريكي
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دور المراكز البحثية في الحياة السياسية وصنع القرار السياسي الخارجي الامريكي

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Publication Date
Sun Jul 03 2011
Journal Name
Journal Of Educational And Psychological Researches
المشكلات التي تعاني منها المرأة العراقية الأرملة في ظل الظروف الراهنة
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This research aims at identifying problems  that the  Iraqi widow woman suffers from. The research is limited to a Sample of terrorism victims widows which is up to (70) widows from Al-Amal center for widows and orphans care in Baghdad.                                                                                <

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Publication Date
Sun Jan 04 2015
Journal Name
Journal Of Educational And Psychological Researches
Smart thin king and its relation with cognitive (intuitive- Systematic) style among the university lecturers
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Smart thinking requires a continuous flexible systeroatic  teaching in order that the lecturer can reach at easily, The Successful individuals in smart thin king are the most knowledgably with  it, where the cognitive (intuitive- systematic) style has common bases with another cognitive styles in many traits, and these two concepts are the core of theorization of the rost important cognitive styles. The present study aims to measure the Smart thinking among university lecturers according to sex variable and recognize the statistically differences significance in the level of cognitive (intuitive- systematic) style among the university lecturers according to sex variable and recognize the correlation between smart thinki

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Publication Date
Sun Jun 30 2013
Journal Name
Al-khwarizmi Engineering Journal
Efficiency Prediction and Performance Characterization of Photovoltaic Solar Panel at Baghdad Climate Conditions
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The performance of a solar cell under sun radiation is necessary to describe the electrical parameters of the cell. The Prova 200 solar panel analyzer is used for the professional testing of four solar cells at Baghdad climate conditions. Voltage -current characteristics of different area solar cells operated under solar irradiation for testing their quality and determining the optimal operational parameters for maximum electrical output were obtained. A correlation is developed between solar cell efficiency h and the corresponding solar cell parameters; solar irradiance G, maximum power Pmax, and production date P. The average absolute error of the proposed correlation is 5.5% for 40 data points. The results also show th

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Publication Date
Thu Dec 08 2022
Journal Name
مجلة حمورابي
العقيدة العسكرية للمنظمات الارهابية الحرب اللامتماثلة في العراق عام 2014 انموذحا
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Publication Date
Thu Nov 29 2018
Journal Name
Arab Science Heritage Journal
الخطوط الخطوط الدررالكامنه لابن حجر العسقلاني(ت852هـ) (دراسة منهجية) في كتاب
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Ibn Hajar is one of historian who had a role in historical writing represented by his writings in those active participation in the Arab-Islamic civilization, particularly his approach to intellectual, and pictures of us in his book that's part of the intellectual heritage, but a line that was a key part of the book, any manuscript

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Publication Date
Wed Jun 01 2016
Journal Name
Journal Of The College Of Languages (jcl)
BARBARA : structure et signification Étude analytique du langage prévertien à travers son poème Barbara
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Cette recherche étudie les structures composant Barbara, un poème de Jacques Prévert pour mettre en valeur la particularité de ce langage. Nous avons d'abord, dissocié ces structures, en : structure thématique, actancielle, syntaxico-énonciative, sémantique, formelle et finalement spacio-temporelle en vue de les analyser minutieusement. Le poète a adopté pour les thèmes : souvenir, nostalgie et guerre, un langage simple et une syntaxe incomplexe. L'usage du lexique et des figures de style célèbrent ces thèmes. La forme, la versification et la sonorité approfondissent ces images et renforcent ce langage. Ce poème dépend des phrases simples et variées : affirmative, interrogative, exclamative qui s'orientent vers des acte

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Publication Date
Wed Sep 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
محاولة لصياغة برنامج تمويلي متكامل لدعم المشروعات الصغيرة والمتوسطة في العراق
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تعمل البنوك والمؤسسات المالية كوسيط مالي بين أصحاب المدخرات والودائع من جهة ومستخدمي هذه الأموال من جهة أخرى، وممارسة هذه الوساطة المالية بين الطرفين توضح العلاقة التي ينشأ عنها الائتمان، فالائتمان علاقة بين طرفين أولهما تزيد موارده على احتياجاته وهم (المدخرون) والثاني تزيد احتياجاته على موارده وهم (المقترضون)، وطبيعة العلاقة التي تنشأ بينهما تأخذ أحد شكلين: مباشر دون وساطة من أي طرف خارجي، أو غير مباشر عن

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