The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinemati

Background: obesity is a major global health problem with more than 200 million obese men and almost 300 million obese women. Melatonin is a well-known molecule for its involvement in circadian rhythm regulation and has multiple pathological actions including control of appetite, sleep wake cycle and metabolic syndrome.

Aim: to estimate the effect of melatonin supplements on obese patients on a calorie restricted diet in comparison to patients on lifestyle measures only in the form of weight loss, waist circumference and sleep quality.

Subjects and Method: one hundred patients with body mass index > 24 were collected, fifty patients were starte

     The study of the chemical and physical factors that induce egg-laying is important for understanding mosquitoes' ecology. These substances may also help assess and control mosquito populations. With this in mind, we have highlighted the attractiveness of Culex pipiens gravid females concerning the containers' color and surface, which has enabled us to show that females of this species are always attracted to large containers of yellow. The ethological tests were made with four biopesticides on the attractiveness of C. pipiens females. It has been observed that the highest densities of the eggs are deposited in the container which contains the biopesticides extracts compared to that which includes the spring wat

Most of the mosques in the Islamic world fall under specific and known forms and patterns to a large extent, and such patterns have grown and evolved from the few basic and uniform models, but they changed slowly due to the impact with a mixture of changing functional requirements and cultural landscapes because of the variables of time and place to form patterns known and famous in this day across parts of the Islamic world and its borders. There was no exception to these patterns, but small numbers of mosques that were probably the result of personal experiences or improvisational resolutions, or in response to specific or temporary stimuli. However, the emergence of a specific pattern which does not belong to any of these patt

The twentieth century witnessed developments, transformations and artistic revolutions, including what was witnessed in Arab art, especially contemporary Iraqi plastic art, and as a result, research and studies have increased that dealt with its topics in different ways, which has become a presence that gave it its own language and unique discourse, especially the body, thus opening the way for its employment in composition, to become a form. It denotes interpretable meanings through its various formal representations, which are artistic, cultural and cognitive products. The modernity of the Iraqi formation in the body has passed through different roles, so it started to deal with the body as a representation that reflects the real envir

The nuclear structure of  ⁴⁰Ar, ¹¹²Cd, ¹³³Cs, ¹⁵¹Eu, ¹⁵⁴Sm, and ²²⁶Ra target nuclei used in nuclear battery technology was investigated. These nuclei are widely used for the radioisotope thermo-electric generator space studies and for betavoltaic battery microelectronic systems. For this purpose, some nuclear static properties were calculated. In particular, the single particle radial nuclear density distribution, the corresponding root mean square radii, neutron skin thicknesses, and binding energies were calculated within the framework of Hartree-Fock approximation with Skyrme interaction. The bremsstrahlung spectra produced by the absorption of beta particles throu

Estimations of average crash density as a function of traffic elements and characteristics can be used for making good decisions relating to planning, designing, operating, and maintaining roadway networks. This study describes the relationships between total, collision, turnover, and runover accident densities with factors such as hourly traffic flow and average spot speed on multilane rural highways in Iraq. The study is based on data collected from two sources: police stations and traffic surveys. Three highways are selected in Wassit governorate as a case study to cover the studied locations of the accidents. Three highways are selected in Wassit governorate as a case study to cover the studied locations of the accidents. The selection