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

 This study deals with segmenting the industrial market as an independent variable and targeting the industrial market as a dependent variable. Since the industrial sector represents one of the most important fundamental pillars to build the economies of countries and their development , the Iraqi industrial sector was chosen as a population for the study . Based on measuring the study variables , identifying them and testing the correlation and effect on each other , the study reached a group of findings:

1- Increasing the level of availability of study variables inside the companies “The study sample”.

2- There is a correlation between the independent v

In this paper, 3D simulation of the global coronal magnetic field, which use observed line of sight component of the photosphere magnetic field from (MDI/SOHO) was carried out using potential field model. The obtained results, improved the theoretical models of the coronal magnetic field, which represent a suitable lower boundary conditions (Bx, By, Bz) at the base of the linear force-free and nonlinear force free models, provides a less computationally expensive method than other models. Generally, very high speed computer and special configuration is needed to solve such problem as well as the problem of viewing the streamline of the magnetic field. For high accuracy special mathematical treatment was adopted to solve the computation comp

Many experiments were achieved to determine the allelopathic potential of the plant Myrtle parts in which it may affects other plants, like: volatile substances which released from the Myrtle leaves , and its effect examined on the germination (GE) and growth (GR) of the selected crops ; Chickpea ( C ) , Wheat(W) , and Lentil (L)., the aqueous extract of the leaf and the root of the plant examined to test its effect on the (GE) and (GR) of the selected crops ; (C) , (W) , and (L)., also plant residue of (M) and its effect tested on the (GE) and (GR) of the selected crops ; ( C ) , (W) , and (L) . Experiments proceeded on Spring 2007 in the greenhouse conditions , and main results which found were that; the effect of the volatile s

    The present study aimed to the isolation and identification of Penicillium chrysogenum from subclinical bovine mastitis as well as the evaluation of their potential to produce the main virulence factors by assessing proteinase production, urease production, growth rate at 37 ̊C, and hemolytic activity on Blood agar. One hundred milk samples were assembled from the White Gold village and surrounded outlying farms of Abu-Ghraib, Baghdad province, during the period from November 2018 to March 2019. Each milk sample was tested for California Mastitis (CMT). The results indicated that 85% of the samples gave positive (+ve) results for CMT. Sixty six mycotic isolates were detected, including 31 isolates of Peni

Background: Ventricular septal defect (VSD) is the most commonly recognized congenital heart defect. Isolated VSDs represent about 20-30% of all congenital cardiac malformations and have a prevalence of 1- 2 % per 1,000 live births.
Objective: This study is planned to review the outcome of surgical closure of VSD at Ibn Al-Nafees Teaching Hospital (Department Cardiac Surgery) Baghdad/Iraq.
Patients and methods: This study includes 50 cases of VSD both isolated and VSD associated with other congenital malformations admitted and underwent surgical repair of age range between 3 to 28 years and weight range between 9 to 80 kg. Different type of VSD, were found and repaired whether isolated or with other associated congenital anomalies

The main purpose of this paper is to investigate some results. When h is  -( ,δ) – Derivation on prime Γ-near-ring G and K is a nonzero semi-group ideal of G, then G is commutative .

The research aims to find out the impact of cognitive strategies in the mathematical competence of the students of the fourth scientific in the preparatory mahmoudiyah in the Directorate General of The Education of Karkh 2. A post-test of the mathematical competence prepared by (Jassim, 2018) was applied to the sample of (65) students, distributed into two groups of (33) students as experimental group and (32) students as a control group. The results found there are significant differences between the experimental group and the control group in testing the mathematical competence of students for the experimental group.