In this study, the kinematic analysis including the forward and inverse kinematic developed for a 5 degree of freedom robotic arm. The forward kinematic is elaborated using Denavit-Hartenberg (DH) convention. Inverse Kinematic is established using Deep Neural Network (DNN) model with five hidden layer each contain 50 neurons fully connected using ReLu activation. A data of inputs and outputs are created and trained. The inputs are the end-effector position and orientation. The outputs are the joint angles of the manipulator. The data is generated by the forward kinematics, where a set of joint angles that limited by their corresponding ranges are inserted to the forward kinematic equations to result the end-effector positions and or

The lead-acid battery has become so dependable in its used applications of automobile starting, emergency lighting and telecommunications, which left an impression that no further investigation is necessary or desirable. While there has been slow continuous improvements in lead-acid battery performance and mainly limited to design and material engineering. This work is mainly devoted to the properties of the active mass of the positive electrode and the acid/water ratio during the manufacturing process. A field study is carried out at the State Battery Manufacturing Company located in Baghdad, to prepare batches of lead mono-oxide with predefined quantities of liquid additives (i.e. sulfuric acid and water). Quality control and laborator

Polyaniline (PANI) and Ag/PANI nanocomposite thin films have prepared by microwave induced plasma. The Ag powder of average particle size of 50 nm, were used to prepare Ag/PANI nanocomposite thin films. The Ag/PANI nanocomposite thin films prepared by polymerization in plasma and characterized by UV-VIS, FTIR, AFM and SEM to study the effect of silver nanoparticles on the optical properties, morphology and structure of the thin films. The optical properties studies showed that the energy band gap of the Ag/PANI (5%wt silver) decreased from 3.6 to 3.2 eV, where the substrate location varied from 4.4 to 3.4 cm from the axis of the cylindrical plasma chamber. Also the optical energy gap decreased systematically from 3.3 to 3 eV with increas

Background: Oral lichen planus is one of the most common dermatological diseases presenting in the oral cavity. Hence, viral infection of the oral mucosa may be involved in the pathogenesis of oral lichen planus, Taking in to consideration the oncogenic potential of HSV-1, this study aimed to assess the presence of Herpes Simplex Virus type one by direct immunoflourescent in oral lichen planus. This study aimed to assess the presence of HSV type1 by direct immunofluorescent in histopathologically diagnosed OLP Material and Method: Twenty formalin fixed embedded tissue blocks of oral lichen planus with 2 Positive control cases were taken from patients having infection with herpes labialis, US Biological herpes simplex virus-1 Glycoprotein

The Tigris River is one of the main rivers and an important resource for the population of Iraq. The present study aimed to quantify the concentration of surface-active substances in the Tigris River and to investigate the dynamics of this ecosystem. Five sampling sites were selected along the river within Baghdad city (Al-Muthanna Bridge, Al-Greaat Bridge, Al-Sarrafia Bridge, Al-Jadriyah Bridge, and Al-Za'franiya Area) for the period from July 2020 to April 2021. The study examined the relationship between the concentrations of surface-active materials (surfactants, including anionic and nonionic types) and their potential interaction with nutrients—nitrate (NO₃⁻), phosphate (PO₄), and sulfate (SO₄²⁻)—as well as the

Occurrence the heavy metals in water is one of the most important concerns. may cause savior health problems. In this work we made an attempt to know the quantity of six heavy metals in groundwater in different locations of Baghdad city. Examinations were made on groundwater of the review region to assess the heavy metals. Groundwater samples were gathered and analyzed utilizing Atomic Absorption Spectrophotometer for their Manganese, Iron, Zinc, Cadmium, Copper and Lead content and their levels compared with World Health Organization (WHO) specified maximum contaminant level. In order to accomplish this, water samples were obtained from 10 randomly selected wells in the region, in February and August, 2016. The study showed that the ground

Objective: The present study aims to assess the stressful life events for patients with substance abuse in Baghdad city.
Methodology: A descriptive study was carried out at (Baghdad teaching hospital and Ibn-Rushed Psychiatric hospital).
Starting from 1
st of December 2012 to 3
rd of July 2013, A non-probability (purposive) sample of 64 patients that
diagnosed with substance abuse, the data were collected through the use of semi-structured interview by
questionnaire, which consists of three parts sociodemographic data, medical information, and Life events scale
consists of 49-items distributed to six domains including, family and social domain, health domain, security, legal and
criminal domain, work and school do

Objective: Assessment of primary schools science teachers' knowledge towards health promotion in Baghdad City.
Methodology: A descriptive study was conducted at (100) primary school at Al-Rasafa, and Al-Karkh sectors in
Baghdad City, from November 29th 2007 to January 20th 2009. A probability stratified random sample of (100)
teachers who teach science subject was selected, and had at least one year of employment in the teaching field. A
questionnaire format was used which was consisted of (2) parts. The overall number of the items included in the
questionnaire were (205) items. The first part was related to the demographic data of the teachers, the second part
(six sections) was concerned with teachers' knowledge about