Modern automation robotics have replaced many human workers in industrial factories around the globe. The robotic arms are used for several manufacturing applications, and their responses required optimal control. In this paper, a robust approach of optimal position control for a DC motor in the robotic arm system is proposed. The general component of the automation system is first introduced. The mathematical model and the corresponding transfer functions of a DC motor in the robotic arm system are presented.  The investigations of using DC motor in the robotic arm system without controller lead to poor system performance. Therefore, the analysis and design of a Proportional plus Integration plus Divertive (PID) controller is illustrated.

The appearance of Mixed Mode Oscillations (MMOs) and chaotic spiking in a Light Emitting Diode (LED) with optoelectronic feedback theoretically and experimentally have been reported. The transition between periodic and chaotic mixed-mode states has been investigated by varying feedback strength. In incoherent semiconductor chaotically spiking attractors with optoelectronic feedback have been observed to be the result of canard phenomena in three-dimensional phase space (incomplete homoclinic scenarios).

One wide-ranging category of open source data is that referring to geospatial information web sites. Despite the advantages of such open source data, including ease of access and cost free data, there is a potential issue of its quality. This article tests the horizontal positional accuracy and possible integration of four web-derived geospatial datasets: OpenStreetMap (OSM), Google Map, Google Earth and Wikimapia. The evaluation was achieved by combining the tested information with reference field survey data for fifty road intersections in Baghdad, Iraq. The results indicate that the free geospatial data can be used to enhance authoritative maps especially small scale maps.

In this study, four sampling stations were selected on the Tigris River (Baghdad region) in order to determine concentrations, seasonal variation and pollution intensity assessment of heavy metals (Cd, Zn and Mn) in water, sediments and Barbus xanthpterus fish in this river. The study results showed that the mean concentration of dissolved heavy metals (cadmium, zinc and manganese) were 0.004 ppm, 0.023 ppm and 0.007 ppm, respectively. Whereas, their concentrations in sediments were 1.38 ppm, 86 ppm and 231.4 ppm respectively. Irregular seasonal variation for concentrations of these metals in both sediments and water. The mean concentration of these metals in tissues of fish muscles were 0.0043 ppm, 0.0023 ppm and 0.03 ppm for cadmium, z

In the present paper, we will study the generalized ( p, q) -type and
generalized lower ( p, q) -type of an entire function in several complex
variables with respect to the proximate order with index pair ( p, q) are
defined and their coefficient characterizations are obtained.

      Attempts were made over the years to achieve economic and easy methods for water purification. This could well save time, cost, and earn a good process quality for many countries. This study aims to enhance the purification process parameters for Congo red dye polluted water  and introduce a developed methodology with an impact on many associated parameters such as the time for water purification process.  The research  proposes  a method to achieve this time reduction by mixing gold nanoparticle (AuNPs) (prepared by chemical reduction method) with Titanium dioxide nanoparticles (TiO2NPs) (prepared by sol-gel techniques). The resulting mixture is incorporated into PVA host to synthesize a hard disk used as a purification d

With a great diversity in the curriculum contemporary monetary and visions, and development that hit the graphic design field, it has become imperative for the workers in the contemporary design research and investigation in accordance with the intellectual treatises and methods of modern criticism, because the work design requires the designer and recipient both know the mechanics of tibographic text analysis in a heavy world of texts and images varied vocabulary and graphics, and designer on before anyone else manages the process of analysis to know what you offer others of shipments visual often of oriented intended from behind, what is meant, in the midst of this world, the curriculum Alsemiae directly overlap with such diverse offer

Seventeen core samples were taken from Luhais and Tuba oil wells according to the presence of oil bearing formations. These wells were located in the province of Basra/southern Iraq. The formation that the samples are collected from Zubair and Mishrif formations. The core samples were taken from the wells at different depths. In the current study the ultrasonic technique was conducted to measure (Vp and Vs) as well as to determine some petrophysical properties for core samples and some elastic moduli such as (Young's modulus, Bulk modulus, Shear modulus, Poisson's ratio and Lame's constant) depending on the values of Vp and Vs as well as density. The relationships between seismic wave velocities with elastic moduli and petrophysical prop

     Wasit Governorate is characterized by industrials activities such as groups of asphalts and bricks factories, oil fields and thermal power plant, in addition to the agricultural activity that is widely separated, which leads to pollution of the surface soils with heavy metals. The main objective in this research is to assess heavy metals pollution and understand the distribution in the surface soils in the studied area.  Twenty two surface soils samples were collected from 6 districts and 4 subdistricts within Wasit Governorate during April 2017. The results obtained showed that grain size analyzes are classified as sandy mud (sand 9.5%, silt 50.8 % and clays 39.8%). In the term of geochemic

The Qazaniyah study included the analysis of 18 wells and 2 springs for the dry period in October 2018 and the wet period in April 2019, including the analysis of physical and chemical properties and the study of heavy elements (Fe, Zn, Cd, Pb, Ni and Cu).The results showed that the water wells and springs for the two periods are highly mineralized and characterized by low alkalinity and very high hardness. Water was fresh in some wells and salty in the others, whereas it was fresh in the springs. Most  of the wells had sodium chloride type, except the wells 12, 7, 6, and 5 which were of Calcium chloride type. The springs for both seasons had calcium chloride type. Based on the World Health Organization criteria ,  all the well