This paper presents a comparative study of two learning algorithms for the nonlinear PID neural trajectory tracking controller for mobile robot in order to follow a pre-defined path. As simple and fast tuning technique, genetic and particle swarm optimization algorithms are used to tune the nonlinear PID neural controller's parameters to find the best velocities control actions of the right wheel and left wheel for the real mobile robot. Polywog wavelet activation function is used in the structure of the nonlinear PID neural controller. Simulation results (Matlab) and experimental work (LabVIEW) show that the proposed nonlinear PID controller with PSO
learning algorithm is more effective and robust than genetic learning algorithm; thi

The current investigation included study of leaf surface epidermis beside indumentum for the species Galium aparine L., G. ceratopodum Boiss, G. setaceum Lam., G. spurium L., and G. tricornatum Dandy, the study showed that paracytic type of stomatal complex is the only type occur in leaf. The indumentum compose of eglandular hairs vary in their apices, length and occurrence of different part of plant body

     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

Fifty five surface and subsurface soil samples were taken from the area between Tigris and Euphrates Rivers along the Main Drain course from north Baghdad to Basrah to evaluate the geochemical, physical characteristics and the probability contamination of these samples. The study area is covered by Quaternary sediments of complex alternation of sand, silt and clay. Significant variation in the textural content of the present soils is observed, where the northern and southern parts are characterized by silt predominance, while sand is prevailing in the central parts as a result of the extensive spreading of aeolian deposits represented mostly by sand dunes. Mineralogical analysis explains wide variations in the heavy minerals distribution

The current study aimed to assessing the water quality and discussing the hydrochemical characteristics and seasonal variation of surface water on the aspect of metals in Shatt-Al-Hilla, Babil Governorate, Central Iraq. Water samples were collected from eleven sampling sites of Shatt Al-Hila for wet season in March (18/3/2018), and a dry season in July (30/7/2018).

Surface water samples were analyzed for physiochemical parameters such as water temperature pH, EC, TDS, major ions (Ca²⁺, Mg²⁺, Na⁺, K⁺, SO₄^2-, Cl^-, and HCO₃^-), nutrients (NO₃^-, and PO₄^3-) for both seasons and DO for one season

The wide use of pesticides in recent years leads to rapid distribution of these pollutants in the environment (air, water and soil).They were transported by means of air or water to biological ecosystems. They become more toxic through the processes of biological magnification while some of them persist for along period.The aim of this work is to show the negative effect that chemical pesticides causes, and in the same to show their side effect on the environment and health in Iraq. We could conclude that the bad use of these chemicals could cause an urgent impact now or in the future. Governmental offices dealing with these materials should take the right measures to minimize the danger and the misuse of these chemicals by seeking alternat

The purpose of this research highlight the achievement of the effectiveness of small and medium enterprises dimensions and conformable to analyze the relationship between business strategies and human resources management strategies , and launched search of a dilemma thought provoking fundamental questions revolve around the search is the lack of appropriate strategies in these enterprises to help them continuity and permanence in business and markets , as these enterprises lack the human resources management strategies appropriate , as well as business strategies that make them withstand the changes in the market environment is changing and volatile . It was to

In Iraq most of the small buildings deployed a conventional air conditioning technology which typically uses electrically driven compressor systems which exhibits several clear disadvantages such as high energy consumption, high electricity at peak loads. In this work a thermal performance of air conditioning system combined with a solar collector is investigated theoretically. The hybrid air conditioner consists of a semi hermetic compressor, water cooled shell and tube condenser, thermal expansion valve and coil with tank evaporator. The theoretical analysis included a simulation for the solar assisted air-conditioning system using EES software to analyze the effect of different parameters on the power consumption of c

    Ten species of whiteflies (Hemiptera, Aleyrodidae) representing six genera were studied from a collection from different localities in the middle of Iraq. These species are Acaudaleyrodes rachipora (Singh, 1931); Bemisia afer  (Priesner and Hosny,1934); Bemisia tabaci (Gennadius, 1889); Dialeurodes citri (Ashmead,1885); Dialeurodes kirkaldy (Kotinsky, 1907); Neomaskellia andropogonis Corbett, 1926;  Siphoninus phillyreae (Haliday, 1835); Trialeurodes ricini (Misra, 1924); Trialeurodes vapovariorum (Westwood,1856) and Trialeurodes irakeensis (Al-Malo and Abdul-Rassoul, 2000). Notes are given on their localities, date of c

The work included study of external morphology of white cabbage butterfly Pieris rapae (Linnaeus, 1758). The study included the external morphological characters of different body regions in addition to the male and female genitalia. The studied morphological characters were supported by photos and illustrations. Specimens of the work were collected from north and middle of Iraq and dates and sites of collection were fixed.