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

The flavonoid rutin is the main content of the a queous extract of
the Iraqi plant Alhagi graecorum (family Leguminosae) which was
given to patients with different dental diseases and gave successful
results In this investigation , the amount of rutin is determined and was
found to be 4mg/100gm of the dried plant and it is equivalent to
4mg/500ml (0.8mg/100ml) of the mouthwash formula which was
prepared in this study This study reported for the first time the expiration date of rutin
in the prepared formula and was found to be 2.1 years. It also reported
for the first time that the ionic strength, buffer type and buffer concentration had no effect on the hydrolysis of rutin. Photochemical decomposition of

In this study, we used Bayesian method to estimate scale parameter for the normal distribution. By considering three different prior distributions such as the square root inverted gamma (SRIG) distribution and the non-informative prior distribution and the natural conjugate family of priors. The Bayesian estimation based on squared error loss function, and compared it with the classical estimation methods to estimate the scale parameter for the normal distribution, such as the maximum likelihood estimation and th

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The proton-neutron interacting boson model (IBM-2) has been used to make a schematic study of the Ruthenium ( ) isotopes of mass region around with and . For each isotope of the values of the IBM-2 Hamiltonian parameters, which yield an acceptable results for excitation energies in comparison with those of experimental data, have been determined. Fixed values of the effective charges ( ) and of the proton and neutron g factors ( and ) have been chosen for all isotopes under study. The calculated electric quadrupole moments of state, transitions, the magnetic dipole moments transitions and mixing ratios are in reasonable agreement with the experimental data.

The present study aimed to determine the genetic divergence of seven maize genotypes (Al-Maha, Sumer, Al-Fajr, Baghdad, 5018, 4 × 1 single hybrid, and 4 × 2 single hybrid) under two varied levels of nitrogen fertilization (92 and 276 kg N ha-1). The experiment occurred in 2022 in a randomized complete block design (RCBD) with a split-plot arrangement and three replications at the College of Agricultural Engineering Sciences, University of Baghdad, Iraq. The nitrogen fertilization levels served as main plots, with the maize genotypes allocated as the subplots. The results revealed that genetic variance was higher than the environmental variance for most traits, and the coefficient of phenotypic variation was close to the genetic va

A  biological   experirne.rit   was  CQhducted ·ll1  the   (Ibn-  Al­

Haitham).  University        of   Baghdad  for   growing   seasens   on   of

2004/2005 (by using gypsum soil taken from Al- Doar area I Salah Al­ Dean provinc)  to stucl·- the effect three levels of phosphorus (0, 400,

SOO)rng ! pot and four  levels of zinc (0, 10,.. J 5, 2.0) tngf I pot on some

features of two  varieties -Qf    wheat, (triticum aestivurn var. rateh)and

(Triticum aestiv1lm Var. Ipa 99)..

R't

The impact of exposure to different sizes of particulate matter (PM1, PM2.5, PM7, and PM10) was evaluated in  Babylon concrete plant workers who had been exposed to concrete dust for at least 10 years.  The effects of  these particles on the hematological parameters, malondialdehyde (MDA) levels, and  antioxidant enzymes (catalase and glutathione peroxidase ) were examined. The results exhibited that the levels of PM2.5 and PM10 were higher than the acceptable limits approved by the National Ambient Air Quality Standards (NAAQS). The blood parameters, namely white blood cells (WBC), red blood cell (RBC) and platelets counts, demonstrated non-significant differences between workers exposed to the PM as compared to the control gro