This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the appl

      Samples of the root nodules were collected to isolate different species of the genus Rhizobium from several leguminous plants; Trigonella  foenum-graecum, Medicago sativa, Lens culinaris, Vigna mungo, Vicia faba,  Phaseolus vulgaris, and Cicer arietinum, and based on their morphological, cultural, and biochemical characteristics, in addition to the identification of each isolate at the species level by amplified polymerase chain reaction (PCR) and using the sequencing of the nitrogenous bases of the 16S rRNA gene, it was identified as Sinrhizobium meliloti, Sinrhizobium meliloti, Bradyrhizobium elkanii, Rhizobium leguminosarium biovar viciae, Rhizobium leguminosarium biovar phaseoli and Mesorh

    This study identified the genus Coelastrella Chodat, 1922 which was isolated from a sediment sample taken from the Tigris river in Baghdad Governorate, Iraq. The alga was isolated and cultured in modified Chu 10 media and the morphological features of the isolated algae were observed in light microscopy (LM); it showed some characteristic features of this genus, such as its ellipsoidal or lemon- shaped cells, a visible pyrenoid and the chloroplast parietal. To ensure correct identification of the isolated alga, a molecular analysis using 18S rRNA gene and DNA sequencing revealed a match with C. terrestris (Reisigl) Hedewald & N. Hanagata 2002. This species is a new record in Iraq

      Methicillin resistant Staphylococcus aureus (MRSA) is the most common pathogenic bacteria in the hospitals and communities, the ability to form biofilm is considered the main cause of Staphylococcus pathogenicity since it provides resistance to both antibiotics and host immune response, so this study was aimed to evaluate the biofilms formation and its association with antibiotic resistance in clinical isolates of MRSA, in order to achieve this aim, 237 samples were collected from different patients with wounds infections after surgeries and samples from operations galleries from varies hospitals in Baghdad ,68 isolates out of 237 were subjected to Staphylococcus aureus according to conventional meth

In this work, metal oxide nanostructures, mainly copper oxide (CuO), nickel oxide (NiO), titanium dioxide (TiO2), and multilayer structure, were synthesized by the DC reactive magnetron sputtering technique. The effect of deposition time on the spectroscopic characteristics, as well as on the nanoparticle size, was determined. A long deposition time allows more metal atoms sputtered from the target to bond to oxygen atoms and form CuO, NiO, or TiO2 molecules deposited as thin films on glass substrates. The structural characteristics of the final samples showed high structural purity as no other compounds than CuO, NiO, and TiO2 were found in the final samples. Also, the prepared multilayer structures did not show new compounds other than th