Kinematics is the mechanics branch which dealswith the movement of the bodies without taking the force into account. In robots, the forward kinematics and inverse kinematics are important in determining the position and orientation of the end-effector to perform multi-tasks. This paper presented the inverse kinematics analysis for a 5 DOF robotic arm using the robotics toolbox of MATLAB and the Denavit-Hartenberg (D-H) parameters were used to represent the links and joints of the robotic arm. A geometric approach was used in the inverse kinematics solution to determine the joints angles of the robotic arm and the path of the robotic arm was divided into successive lines to accomplish the required tasks of the robotic arm.Therefore, this

This paper investigates the persuasive strategies of English and Arabic psychological advertisements through a multimodal discourse analysis, underlining their cultural and linguistic differences. This research paper is important because it has focused on the conceptual aspect of mental health, aiming to reveal how the interplay of visual and verbal elements constructs meaning and influences perception. This study, based on both qualitative and quantitative approaches, investigates 5 advertisements from each language using Kress and van Leeuwen's 2006 framework of Systemic Functional Grammar and semiotics. Results showed sharp differences whereby while the focal factors of English advertisements were directed at individualism, Ethos appeal,

This paper examines bullying discourse in English posts on the X platform through a socio-critical discourse analysis, focusing on the linguistic and visual strategies through which bullying is constructed and sustained in digital interaction. Adopting a qualitative approach, the research analyzes 10 English posts using Fairclough’s (2001) Critical Discourse Analysis model to examine textual features, alongside Kress and van Leeuwen’s (2006) framework for analyzing visual meaning. The findings indicate that bullying discourse is shaped by implicit power relations, strategic lexical choices, evaluative language, and visual cues that function to intimidate, marginalize, or delegitimize targeted individuals. By demonstrating how language a

Given that the Crimean and Congo hemorrhagic fever is one of the deadly viral diseases that occur seasonally due to the activity of the carrier “tick,” studying and developing a mathematical model simulating this illness are crucial. Due to the delay in the disease’s incubation time in the sick individual, the paper involved the development of a mathematical model modeling the transmission of the disease from the carrier to humans and its spread among them. The major objective is to comprehend the dynamics of illness transmission so that it may be controlled, as well as how time delay affects this. The discussion of every one of the solution’s qualitative attributes is included. According to the established basic reproductio

The study aims to investigate qualitatively and quantitatively the intonational patterns of power abuse and manipulation in Blair’s speech regarding legitimating the war on Iraq. It focuses on examining the representative tonal contours in Blair’s speech, particularly the persuasive strategies of inequality and dissimulation. The major findings have shown that the signs of power are more than the signs of manipulation in Blair’s speech. This is because Blair took the role of an omnipotent character when asserting his truth claims, and attributed that to having a reputed status as a prime minister when accessing information. The most common contours used by Blair’s speech are (H* L-L%) and (L+H* L-L%). The simple high tone (H*) refle

This is an empirical investigation of the tribal power in Iraq and its consequences on the socio-political system. A theoretical background concerning thestate kinship, tribe and tribal involvement in politics has been displayed with example of tribal power over people within the social context. Socio-anthropological method of data collection has been used, including a semi-structured interview with a sample of 120 correspondents. The outcome revealed that the feeble and corrupted state (government) play a vital role in encouraging the tribe to be dominant. The people of Iraq are clinging to the tribe regardless of whether they believe in it or not. Although they are aware that the tribe is a pre-state organisation and marred shape of ci

ABSTRACT The role of specific amino acids namely cysteine, methionine, threonine and asparagine in the protection provided by vamin solution against B-lactam inhibition to E. coli was evaluated in vitro. In minimal medium, Cells were treated with 32 ug/ml of penicillin G, carbencillin, hostacillin, cloxacillin and cephalotin in the presence of specific amino acid supplementations. Deletion of specific amino acids from the media abolished the protection provided by vamin. Threonine was essential for the protection of cells against all tested antibiotics, while cysteine was essential for protection against carbencillin and cephalotin Deletion of methionine or asparagine abolished the protec- tion against carbencillin and to a less extent ce

Nine new compounds of 2-amino-5-chlorobenzothiazole derivatives were synthesized. These new compounds were formed through the reaction of 2-amino-5-chlorobenzothiazole 1 with ethyl chloroacetate and KOH, which gave an ester derivative 2, followed by refluxing compound 2 with hydrazine hydrate to afford hydrazide derivative 3. The reaction of compound 3 with CS₂ and KOH gave 1,3,4-oxadiazole-2-thiol derivative 4, and then the reaction of compound 2 with thiosemicarbazide to produce compound 5  then treated it with 4%NaOH led to ring closure to provide 1,2,4-triazole-3-thiol derivative