The inverse kinematics of redundant manipulators has infinite solutions by using conventional methods, so that, this work presents applicability of intelligent tool (artificial neural network ANN) for finding one desired solution from these solutions. The inverse analysis and trajectory planning of a three link redundant planar robot have been studied in this work using a proposed dual neural networks model (DNNM), which shows a predictable time decreasing in the training session. The effect of the number of the training sets on the DNNM output and the number of NN layers have been studied. Several trajectories have been implemented using point to point trajectory planning algorithm with DNNM and the result shows good accuracy of the end

Various industrial applications include the dyeing of textiles, paper, leather, and food products, as well as the cosmetics industry. Physic-chemical methods are required to breakdown dyes because they are known to be harmful and persistent in the environment. Many companies' treated effluents contain small amounts of dyes. When it comes to removing dye from wastewater, adsorption has verified to be aneconomical alternative to more traditional treatment procedures. It's important to degrade color impurities in industrial effluents since they constitute a serious health and environmental concern. One way that's been tried is using clay minerals as an adsorbent. Using adsorption for removing

The corrosion behavior of Zn in 0.1 M HCl solution containing various concentration of Ampicillin range (2 x 10-4 – 1x10-3) M was investigated. The corrosion rates were measured by using weight loss measurement and polarization curve, The results of polarization method obtained showed that the rate of corrosion of zinc increased with increasing the temperature from 293K to 323K and the values of inhibition efficiency of ampicillin increased with increasing the temperature and AMP concentrations, the results showed that AMP caused to protection efficiency reached to 88.8% when (1x10-3) M AMP concentration was used in 323K. The coverage (θ) of metal surface by AMP could be obtained from the rate of corrosion in the presence and absence

This paper is concerned with introducing and studying the new approximation operators based on a finite family of d. g. 'swhich are the core concept in this paper. In addition, we study generalization of some Pawlak's concepts and we offer generalize the definition of accuracy measure of approximations by using a finite family of d. g. 's.

The article examines metaphors as one of the fundamental means used by D. Rubina when writing the novel “Parsley Syndrome” to form images of dolls as equal heroes of the work. The author of the article continues research related to the work of Dina Ilinichna Rubina, a representative of modern Russian prose.

Background: Toxic-shock syndrome (TSS) is an acute onset; multiorgan disease caused mainly by Toxic-shock syndrome toxin-1 (TSST-1) producing Staphylococcus aureus strains.Testing for TSST-1 or anti-TSST-1 antibodies in the clinical setting may help to predict and prevent the appearance of TSS caused by nosocomial S. aureus infection.
Objectives: Detection of TSST-1 in the sera of children patients arranged to undergo surgical operations, and its relevance with certain demographic factors.
Patients and methods: This cross-sectional study was conducted in the Baquba General Teaching Hospital- Diyala province for the period from August 2015 to April 2016. Eighty eight patients from those undergoing surgical operations were enrolled.

      The complexes of Pd+2 ion with 2-(5-bromo-2-pyridylazo)-5-dieıhyl aminophenol (BPADAP) were studied kinetically and spectrophotometrically in aqueous ethanolic solutions. The reagent forms 1:1, 2:1 square planer and 1:1 bridged shape binuclear complexes with Pd+2 ion. All these complexes (violet colour) absorb light in the same region at 540, 575 and 618nm. The band at 618 nm seems to be specific for complexes of Pd+2ion with BPADAP.   The rate constants of the growth in 93% H2O + 7% ethanol of 1:1 and 2:1 complexes at 575 and 618 nm were followed the first order kinetics and are quite of the same values , 0.495 and 0.463 min- 1  respectively. The rate constants of the decay of 2:1 complex