This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller.

      In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.

In this paper, the developed sprite allocation method is designed to be coherent with the introduced block-matching method in order to minimize the allocation process time for digital video. The accomplished allocation process of sprite region consists of three main steps. The first step is the detection of sprite area; where the sequence of frames belong to Group of Video sequence are analysed to detect the sprite regions which survive for long time, and to determine the sprite type (i.e., whether it is static or dynamic). Then as a second step, the flagged survived areas are passed through the gaps/islands removal stage to enhance the detected sprite areas using post-processing operations. The third step is partitioning the sprite area in

The research seeks to identify the proposed scenarios to predict and ward off monetary credit risks that the bank is exposed to in the future, using the banking stress tests model, and showing their impact on capital adequacy and profitability ratio,To achieve this purpose, Sumer Commercial Bank was taken as a case study, and mathematical equations were used to extract the results. Low percentage of profits and returns, strictness in the process of granting credit and financing operations in order to reduce credit risks.

• Commercial papers are one of the most important tools of the contemporary monetary market, and many of those who deal with them are ignorant of the Shariah rulings related to them, hence the urgent need to know the most prominent Sharia rulings related to commercial papers, including the discount. It is an agreement between the bank and its customer requesting the discount (the holder of the commercial paper) under which the bank is required By accelerating the value of the paper to the customer, in exchange for the latter’s obligation to transfer the ownership of the fixed right in the paper to the bank by endorsing it to him as a transfer of ownership.
• The noble Islamic Sharia does not prohibit dealing in commercial papers

Media plays an important role in shaping the mental image of their audiences for individuals, groups and organizations, States and peoples. It is the window through which overlooks the masses on events and issues, and in the light of their exposure to these means are their opinions and impressions.

Despite the importance of direct experiences in shaping opinions, drawing pictures and impressions, it is inevitable to rely on these means as individuals can not engage in direct experiences with thousands of events, issues and topics that concern their community and other societies.

There is no doubt that media is of great importance at the present time, because of its significant impact in the management of the course of pol

أثر تنوع الرؤى الاخراجية للاتجاهات والحركات المسرحية المعاصرة في أتساعالاشتراطات الجمالية لبنية الخطاب المسرحي + الامر الذي ادى الى انزياح مكوناتالعرض وعناصره ؛ ومنها المنظومة السردية للنص التي شكلت في بدايات المسرحجغرافية العرض المسرحي والمرتكز النظري والفكري الذي يمد العرض المسرحي أغلبتدفقه الجمالي وعنصر أستعلائي لعناصر العرض الاخرى ؛ وضمن التطورات اللاحقةأنسحب المخرج المسرحي من سطوة البنية النص

Antacids are commonly used drugs which are considered inert and free of pharmacological effect by many patients and physicians. They are weak bases that neutralize the gastric acid and relief pain. These weak bases dissociate to neutralize gastric acid and form neutral salts. The ultimate goal of antacid therapy is to reduce the concentration and a total load of acid in gastric juice to a pH 4 - 5. This in vitro study was promised to study the acid neutralizing capacity (ANC) of six commonly available antacids tablets in the Iraqi market by using back titration method. The highest ANC values were for Rennie (17.131± 0.083 and 16.926± 0.052 mEq) in two different hydrochloric acid (HCl) concentrations 1N and 0.5 N, respectively. The static

The super good artist, and its leading role experience detailed instrumental in the birth of the modern Iraqi drawing because of the represented technical personal super good in leading production Iraqi drawing since the early forties. If taken Excellence professional to experience the artist compared to the experiences of other pioneers and strengthened, the stylistic diversity through metaphors Different presented by the super good so that covered the period from romantic to Impressionism through schools drawing expressionism and cubism space, and therefore the heritage and the richness of diversity stylistic high to experience the good represents documentation required by contemporary Iraqi formation history, so the researcher found t

This research deals with the use of a number of statistical methods, such as the kernel method, watershed, histogram, and cubic spline, to improve the contrast of digital images. The results obtained according to the RSME and NCC standards have proven that the spline method is the most accurate in the results compared to other statistical methods.