Abstract 

This paper presents mechanical and electrical design, and implementation  process of industrial robot, 3-DoF type SCARA (selective compliment assembly robot arm),with two rotations and one translation used for welding applications.The design process also included the controller design which was based on PLC(programmable logic controller) as well as selection of mechanical and electrical components.The challenge was to use the available components in Iraq with reasonable costs. The robot mentioned is fully automated using programmable logic controller PLC(Zelio type SR3-B261BD),with 16inputs and 10 outputs. The PLC was implemented in FBD logic to obtain three different automatic motions with hi

Printed Arabic document image retrieval is a very important and needed system for many companies, governments and various users. In this paper, a printed Arabic document images retrieval system based on spotting the header words of official Arabic documents is proposed. The proposed system uses an efficient segmentation, preprocessing methods and an accurate proposed feature extraction method in order to prepare the document for classification process. Besides that, Support Vector Machine (SVM) is used for classification. The experiments show the system achieved best results of accuracy that is 96.8% by using polynomial kernel of SVM classifier.

The biometric-based keys generation represents the utilization of the extracted features from the human anatomical (physiological) traits like a fingerprint, retina, etc. or behavioral traits like a signature. The retina biometric has inherent robustness, therefore, it is capable of generating random keys with a higher security level compared to the other biometric traits. In this paper, an effective system to generate secure, robust and unique random keys based on retina features has been proposed for cryptographic applications. The retina features are extracted by using the algorithm of glowworm swarm optimization (GSO) that provides promising results through the experiments using the standard retina databases. Additionally, in order t

Drug solubility and dissolution remain a significant challenge in pharmaceutical formulations. This study aimed to formulate and evaluate repanglinide (RPG) nanosuspension-based buccal fast-dissolving films (BDFs) for dissolution enhancement. RPG nanosuspension was prepared by the antisolvent-precipitation method using multiple hydrophilic polymers, including soluplus®, polyvinyl alcohol, polyvinyl pyrrolidine, poloxamers, and hydroxyl propyl methyl cellulose. The nanosuspension was then directly loaded into BDFs using the solvent casting technique. Twelve formulas were prepared with a particle size range of 81.6-1389 nm and PDI 0.002-1 for the different polymers. Nanosuspensions prepared with soluplus showed a favored mean particle size o

The Internet of Things (IoT) is an information network that connects gadgets and sensors to allow new autonomous tasks. The Industrial Internet of Things (IIoT) refers to the integration of IoT with industrial applications. Some vital infrastructures, such as water delivery networks, use IIoT. The scattered topology of IIoT and resource limits of edge computing provide new difficulties to traditional data storage, transport, and security protection with the rapid expansion of the IIoT. In this paper, a recovery mechanism to recover the edge network failure is proposed by considering repair cost and computational demands. The NP-hard problem was divided into interdependent major and minor problems that could be solved in polynomial t

It has become necessary to change from a traditional system to an automated system in production processes, because it has high advantages. The most important of them is improving and increasing production. But there is still a need to improve and develop the work of these systems.

The objective of this work is to study time reduction by combining multiple sequences of operations into one process. To carry out this work, the pneumatic system is designed to decrease\ increase the time of the sequence that performs a pick and place process through optimizing the sequences based on the obstacle dimensions. Three axes are represented using pneumatic cylinders that move according to the sequence used. The system is implemented and con

Tracking moving objects is one of a very important applications within the computer vision. The goal of object tracking is segmenting a region of interest from a video scene and keeping track of its motion and positioning. Track moving objects used in many applications such as video surveillance, robot vision, and traffic monitoring, and animation. In this paper a four-wheeled robotic system have been designed and implemented by using Arduino-Uno microcontroller. Also a useful algorithms have been developed to detect and track objects in real time. The main proposed algorithm based on the kernel based color algorithm and some geometric properties to tracking color object. Robotic system is a compromise of two principal parts which are th

The present work aimed to study the efficiency of thermal osmosis process for recovery of water from organic wastewater solution and study the factors affecting the performance of the osmosis cell. The driving force in the thermo osmosis cell is provided by a difference in temperature across the membrane sides between the draw and feed solution. In this research used a cellulose triacetate (CTA), as flat sheet membranes for treatment of organic wastewater under orientation membrane of active layer facing feed solution (FS) and draw solution (DS) is placed against the support layer.  The organic materials were phenol, toluene, xylene and BTX (benzene, toluene, and xylene) used as feed solution. The osmotic agent in draw solution was