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

The current study uses the flame fragment deposition (FFD) method to synthesize carbon nanotubes (CNTs) from Iraqi liquefied petroleum gas (LPG), which is used as a carbon source. To carry out the synthesis steps, a homemade reactor was used. To eliminate amorphous impurities, the CNTs were sonicated in a 30 percent hydrogen peroxide (H₂O₂) solution at ambient temperature. To remove the polycyclic aromatic hydrocarbons (PAHs) generated during LPG combustion, sonication in an acetone bath is used. The produced products were investigated and compared with standard Multi-walled carbon nanotube MWCNTs (95%), Sigma, Aldrich, using X-ray diffraction (XRD), thermo gravimetric analysis (TGA), Raman spectroscopy, scanning el

The researcher identified the objective of this research Do you know the impact of the way to solve problems in the achievement of the students in the fourth grade prep Islamic Education, and the researcher has identified the limits of the search, and the terms contained in the title researched and then offered the researcher previous studies relate to the subject studied, introduced Studies in Arab and foreign countries dealt with how to solve problems, the researcher identified the methodology discussed public represented by experimental method, and the sample consisted of two groups, one experimental and the other officer, and worked on the set of variables that may affect the results between the two groups in vkavot changers task, th

      This study was carried out in Baghdad (Al-Jadiriya) in 2006 by  detecting ability of aquatic reed plant to remove heavy metals (Chromium) from waste water by batch process of adsorption with considering that acidic solution is best selection for such process with constant initial chromium concentration(60 mg/l),speed of shaking(300 rpm), temperature (30 Co) and constant contact time (4 h) but with different weights of adsorbent (reed) (0.5 ,1 ,2 ,3 and 4 )gm for each 100 ml volume of sample .          The results showed that the percentage of the removed chromium were ( 8% ,17.5% ,31% ,40% and 50%) respectively for each sample according to the mass of adsorb

The quantum chromodynamics theory approach was taken to study the photonic emission from interaction of quark gluon at high at Bremsstrahlung processes. Strength coupling, quark charge 𝑒𝑞 , flavor number 𝑛𝐹 , thermal energy T of system, fugacity of gluon ƛ𝑔, fugacity of quark ƛ𝑞 , critical temperature 𝑇𝐶 and photons energy 𝐸 are taken to calculate photons rate via the quantum system. Photons emission rate studies and calculates via high energy 400MeV to 650 MeV using flavor number 3 and 7 for 𝑢̅𝑔 → 𝑑̅𝑔𝛾 and 𝑐𝑔 → 𝑠𝑔𝛾 systems at bremsstrahlung processes with critical temperature (𝑇𝑐 = 190 and 196) MeV with photons energy (1-10) GeV. The confinement and de-confineme

This research presents the possibility of using banana peel (arising from agricultural production waste) as biosorbent for removal of copper from simulated aqueous solution. Batch sorption experiments were performed as a function of pH, sorbent dose, and contact time. The optimal pH value of Copper (II) removal by banana peel was 6. The amount of sorbed metal ions was calculated as 52.632 mg/g. Sorption kinetic data were tested using pseudo-first order, and pseudo-second order models. Kinetic studies showed that the sorption followed a pseudo second order reaction due to the high correlation coefficient and the agreement between the experimental and calculated values of q_e. Thermodynamic parameters such as enthalpy change (ΔH

Objective(s): To measure serum C-reactive protein (CRP) titer as a predictive diagnosis of acute hepatitis C virus (HCV)
infection.
Methodology: Two hundred and ten patients with acute HCV infection and 234 apparently healthy individuals as
control group were enrolled in this study in Baghdad medical city (Teaching Laboratories). The patents include
74(35.2%) females and 136 (64.8%) males with mean age (27±16.5) years. The control group includes 114 (48.7%)
females and 120 (51.3%) males with mean age (26±5.8) years. Blood samples were collected from out patients from
Alfadul in Baghdad city. Sera were separated and stored at 20 0
C. The diagnosis of acute HCV infection was based on
detection of HC Ag and anti- H

In this work laser detection and tracking system (LDTS) is designed and implemented using a fuzzy logic controller (FLC). A 5 mW He-Ne laser system and an array of nine PN photodiodes are used in the detection system. The FLC is simulated using MATLAB package and the result is stored in a lock up table to use it in the real time operation of the system. The results give a good system response in the target detection and tracking in the real time operation.

Ad-Hoc Networks are a generation of networks that are truly wireless, and can be easily constructed without any operator. There are protocols for management of these networks, in which the effectiveness and the important elements in these networks are the Quality of Service (QoS). In this work the evaluation of QoS performance of MANETs is done by comparing the results of using AODV, DSR, OLSR and TORA routing protocols using the Op-Net Modeler, then conduct an extensive set of performance experiments for these protocols with a wide variety of settings. The results show that the best protocol depends on QoS using two types of applications (+ve and –ve QoS in the FIS evaluation). QoS of the protocol varies from one prot

   The aim of this paper is to introduce and study new class of fuzzy function called fuzzy semi pre homeomorphism in a fuzzy topological space by utilizing fuzzy semi pre-open sets. Therefore, some of their characterization has been proved; In addition to that we define, study and develop corresponding to new class of fuzzy semi pre homeomorphism in fuzzy topological spaces using this new class of functions.