In this paper, a single link flexible joint robot is used to evaluate a tracking trajectory control and vibration reduction by a super-twisting integral sliding mode (ST-ISMC). Normally, the system with joint flexibility has inevitably some uncertainties and external disturbances. In conventional sliding mode control, the robustness property is not guaranteed during the reaching phase. This disadvantage is addressed by applying ISMC that eliminates a reaching phase to ensure the robustness from the beginning of a process. To design this controller, the linear quadratic regulator (LQR) controller is first designed as the nominal control to decide a desired performance for both tracking and vibration responses. Subsequently, discontinuous con

Background: Breast cancer is the malignant tumor that forms from the uncontrolled growth of abnormal breast cells. It usually affects tissues involved in milk production (Ductal and lobular tissues). It is the most common malignancy in women and it remains one of the greatest health threats facing women around the world as we enter the 21st century.
Objectives: To estimate the role of IL-10 in the progression of invasive ductal carcinoma.
Patients and Method: Seventy three metastatic invasive ductal carcinoma Iraqi women were admitted to Nuclear Medicine Hospital in Baghdad and 15 samples of apparently healthy women were involved as a control. The blood samples (2 mL) were drown from all studied cases in order to be used for measur

Pyometra is an uncommon gynecological condition resulted from occlusion of the cervix usually by a malignant condition. It has an incidence of 0.1%-0.5%. Untreated pyometra leads to rupture uterus and acute infective peritonitis presented as acute abdomen and needs urgent surgical intervention. Pyometra resulted from occlusion of the vagina is very rare. No cases have been described in the English literature to the best of our knowledge and in the PubMed. The purpose of reporting this case is to show that occlusion of the vagina could occur in postmenopausal women as a consequence of local infection and results in pyometra and also to show that pyometra can be presented in a different way apart from the classical presentation. The way to

The main purpose of this paper is to introduce and prove some fixed point theorems for two maps that

satisfy -contractive conditions with rational expression in partially ordered metric spaces, our results improve and unify a multitude of fixed point theorems and generalize some recent results in ordered partially metric space.

Background: Changes in the indication for splenectomy in hematology, especially in hematological malignancies, has been observed in the last 10 – 15 years. Yet splenectomy, as a diagnostic tool, is still an option in the management of isolated splenomegaly.
Objectives: to describe the outcome of diagnostic splenectomy in the management of 12 patients presenting with isolated splenomegaly.
Patients and methods: Between August 2005 and July2012, Twelve patients underwent splenectomy for diagnostic purposes in the hematology unit / Baghdad Teaching Hospital. Analysis of these patients was done with a median follow up of 16 months (6 months -4 years).
Results: The median age was 46 years (range 25-68). The median duration of sympt

The continuous growth in technology and technological devices has led to the development of machines to help ease various human-related activities. For instance, irrespective of the importance of information on the Steam platform, buyers or players still get little information related to the application. This is not encouraging despite the importance of information in this current globalization era. Therefore, it is necessary to develop an attractive and interactive application that allows users to ask questions and get answers, such as a chatbot, which can be implemented on Discord social media. Artificial Intelligence is a technique that allows machines to think and be able to make their own decisions. This research showed that the dis

The behavior and shear strength of full-scale (T-section) reinforced concrete deep beams, designed according to the strut-and-tie approach of ACI Code-19 specifications, with various large web openings were investigated in this paper. A total of 7 deep beam specimens with identical shear span-to-depth ratios have been tested under mid-span concentrated load applied monotonically until beam failure. The main variables studied were the effects of width and depth of the web openings on deep beam performance. Experimental data results were calibrated with the strut-and-tie approach, adopted by ACI 318-19 code for the design of deep beams. The provided strut-and-tie design model in ACI 318-19 code provision was assessed and found to be u

In this research was the study of a single method of estimation and testing parameters mediating variables (Mediation) in a specimen structural equations SEM a bootstrap method, for the purpose of application of the integrated survey of the situation Marital data and health mirror Iraqi (I-WISH) for the year 2011 from the Ministry of Planning - device Central Bureau of Statistics, and applied to the appropriate data from the terms of the data to a form of structural equation SEM using factor analysis affirmative (Confirmatory Factor analysis) CFA As a way to see the match variables that make up the model, and after confirming the model matching or suitability are having the effect of variables mediation in the model tested by the

Background: Factor V Leiden is considered the most common inherited risk factor for venous thrombosis in Caucasian populations, including those in the Eastern Mediterranean region. While several studies have addressed Factor V Leiden prevalence in patients with venous thrombosis in the Eastern Mediterranean countries, none have been reported from Iraq.
Objective: To study the prevalence of Factor V Leiden in an unselected group of Iraqi patients with Deep Venous thrombosis.
Materials and Methods: A total of 50 unselected patients with deep venous thrombosis referred to the Medical City Teaching Hospital in Baghdad, Iraq, as well as 40 age and sex matched controls, were enrolled. The evaluation included in addition to detailed histo

Current Thesis has aimed to identify : The Psychological barriers for university students , Differences in psychological barriers depending on the variable sex (Males – Females) , Adjustment to College life for university students, Differences in Adjustment to College at university life depending on the variable sex (Males – Females), and finally, The correlation between psychological barriers and Adjustment to College life. The researcher has prepared a sample consisted of (100) male and female students who were randomly selected from university students, The researcher has adopted a measure of (2002) to measure the psychological barriers, also the researcher adjustment scale with university life.
The results showed that universi