Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC

Liquid-Liquid Extraction of Cu(II) ion in aqueous solution by dicyclohexyl-18-crown-6 as extractant in dichloroethane was studied .The extraction efficiency was investigated by a spectrophometric method. The reagent form a coloured complex which has been a quantitatively extracted at pH 6.3. The method obeys Beer`s law over range from (2.5-22.5) ppm with the correlation coefficient of 0.9989. The molar absorptivity the stoichiometry of extracted complex is found to be 1:2. the proposed method is very sensitive and selective.

In this study, the upgrading of Iraqi heavy crude oil was achieved utilizing the solvent deasphalting approach (SDA) and enhanced solvent deasphalting (e-SDA) by adding Nanosilica (NS). The NS was synthesized from local sand. The XRD result, referred to as the amorphous phase, has a wide peak at 2Θ= (22 - 23º) The inclusion of hydrogen-bonded silanol groups (Si–O–H) and siloxane groups (Si–O–Si) in the FTIR spectra. The SDA process was handled using n-pentane solvent at various solvent to oil ratios (SOR) (4-16/1ml/g), room and reflux temperature, and 0.5 h mixing time. In the e-SDA process, various fractions of the NS (1–7 wt.%) have been utilized with 61 nm particle size and 560.86 m²/g surface area in the presence of 12 m

Soil suction is one of the most important parameters describing the moisture condition of unsaturated soils. The measurement of soil suction is crucial for applying the theories of the engineering behavior of unsaturated soils.
The filter paper method is one of the soil suction measurement techniques In this paper, five soil samples were collected from five sites within Baghdad city – al-Rasafa region. These soils have different properties and they were prepared at different degrees of saturation. For each sample, the total and matric suction were measured by the filter paper method at different degrees of saturation. Then correlations were made between the soil properties and the total and matric suction. It was concluded that the

Six Bifidobacterium isolates, isolated from breast – feed infant faces on reduced de Man Rogosa and Sharp medium (MRS - C). Isolates identified to species level on the basis of : microscopical properties, biochemical tests, fructose-6-phosphate phosphoketolase enzyme(F6PPK) activity and carbohydrates fermentation profile. Results showed that B. adolescentis was the predominant species (B4,B5and B6),the other species were B. breve(B3),B. longum (B1), B. dentium(B2).
Strains were screened for their inhibitory effects against pathogenic bacteria shiga toxin producing E.coli(STEC)O157:H7 using agar – well diffusion method.B3 and B6 showed clear inhibitory actions toward STEC,22 mm and 15 mm diameter of inhibition zone srespectively. W

Background: Urinary tract infection (UTI) is the most common disease associated with pregnant women due to several anatomical and hormonal changes in pregnant women lead to ureteral dilatation and urinary infection, many of microorganisms such as fungi, viruses, and bacteria have numerous virulence factors that enhance their ability to colonize in pregnant women. Some bacteria have resistance toward many antimicrobial agents for treatment has led to therapeutic difficulties worldwide, in order that many investigators try to test fungal extract to reduce bacterial infection.

Objectives: To assess the effectiveness of extract of Calvatia craniiformis on different types of bacteria which wa

The concept of closed quasi principally injective acts over monoids is introduced ,which signifies a generalization for the quasi principally injective as well as for the closed quasi injective acts. Characterization of this concept is intended to show the behavior of a closed quasi principally injective property. At the same time, some properties of closed quasi principally injective acts are examined in terms of their endomorphism monoid. Also, the characterization of a closed self-principally injective monoid is given in terms of its annihilator. The relationship between the following concepts is also studied; closed quasi principally injective acts over monoids, Hopfian, co Hopfian, and directly finite property. Ultimately, based on

Background: Hydatidosis is a widespread chronic zoonotic disease caused by helminthic larval stage of tapeworm Echinococcus granulosus. It has a serious medical and public health problem. Recently many substances are used to activate and modulate the immune system of the host in order to control the cyst growth and development.
Materials and Methods: Protoscolices were isolated from human hydatid cysts and treated with four purified concentrations (25, 50, 75, 100μm/ml) of 1-HP plus hydatid cyst fluid as a positive control group for 4, 24, 48 and 72 hrs period of exposure. Then After 72 hours, the protoscolices which were treated with different concentration of 1-HP were inoculated intraperitonially of m

      In this article, the boundary value problem of convection propagation through the permeable fin in a natural convection environment is solved by the Haar wavelet collocation method (HWCM). We also compare the solutions with the application of a semi-analytical method , namely the Temimi and Ansari (TAM), that is characterized by accuracy and efficiency.The proposed method is also characterized by simplicity and efficiency. The possibility of applying the proposed method to many types of  linear or nonlinear ordinary and partial differential equations.