Abstract

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipul

Electronic banking plays a prominent role in providing the best banking services and upgrading the banking sector for the better, so this study aimed to shed light on the most prominent obstacles that prevent the application of electronic banking in banks operating in the city of Nasiriyah, and in order to achieve this goal the researcher used the descriptive analytical approach And through a questionnaire form that was distributed to a group of employees, numbering (60) employees in the upper, middle and operational departments in a number of branches of private banks operating in the city of Nasiriyah, namely (the Iraqi Trade Bank, the Gulf Commercial Bank, the Bank of Baghdad, the Union Bank of Iraq), which represented The stu

Joints are among the most widespread geologic structures as they are found in most each exposure of rock. They differ greatly in appearance, dimensions, and arrangement, besides they occur in quite different tectonic environments. This study is important because joints provide evidence on what kind of stress produced them (history of deformation) and also because they change the characteristics of the rocks in which they occur. The Measured data of joints from the studied area which are located in the high folded zone – Northeast of Iraq, were classified according to their relationship with the tectonic axes by projecting them stereographically using Schmidt net in GEOrient ver.9.5.0 software. The joint systems revealed the orientation of

This paper tackles tragedy and grief in the Hebrew poetry of the Middle Ages, as being topics which was transferred to it from Arabic poetry at that time. This came as a result of Hebrew poets quoting images from, and adopting the form and content of the Arabic poem. So, this topic was a prominent feature in the Hebrew poetry of the middle ages. The Hebrew poets focused upon this topic along three trends: poems of lamentation, whether being what are called national lamentation where poets expressed their feelings and grieves because of their remoteness and longing to their homeland, which is Palestine or the sacred land, as they claim; here, Zionist trends were apparent in many poems lamenting Zion and other cities. The other type of poe

Integrated project delivery is collaboratively applying the skills and knowledge of all participants to optimize the project's results, increase owner value, decrease waste, and maximize efficiency during the design, fabrication, and construction processes. This study aims to determine IPD criteria positively impacting value engineering. To do this, the study has considered 9 main criteria according to PMP classification that already covers all project phases and 183 sub-criteria obtained from theoretical study and expert interviews (fieldwork). In this study, the SPSS (V26) program was used to analyze the main criteria and sub-criteria priorities from top to bottom according to their values of the Relative Importance In

A geochemical and environmental study was carried out for the sediments of the Southern Neo-Tethys Ocean, represented by the Yamama Formation (Berriasian-Valaganian) in southern Iraq. The formation has a particular reservoir importance. The typical WQ-220 and WQ-280 wells were selected from the West Qurna field. Data of Gamma-ray logs were used for 30 depths of the typical well. Ten core samples were analyzed by X-Ray Fluoresces and total organic matter from both wells. The results showed that shaliness was relatively low, with an average of 16.5%, leading to a decrease in the presence of clay minerals and trace elements because the environment of the Yamama Formation is relatively far away from the coast. Qualitative evaluation of clay

     The aim of this study was to evaluate the effects of noise exposure in certain residential districts in Fallujah city. Twenty-nine stations were selected and divided into two groups; the first group was located 50 to 100 metres from the main streets (quiet areas), whilst the second was located directly on the main streets. Noise levels were measured at a rate of three readings per station for different time periods for approximately sixty days in the year 2020. Mean values were taken in both the morning and evening using a portable sound level meter (Auto range, RS-232). The highest noise level was measured at Alforkan station for the morning reading (83.8 dB) within the second group, while the lowest noise level

It is an ideal area of research to examine related indicators to anticipate relative tectonic activities, where there is a broad range of geological formations with elements of different sedimentary rocks. This study includes assessing and evaluating the relative tectonic activities within the Sargalu area by using a morphometric approach, which involved the use of different indices that can explain and help understanding the geometry, development level, lithology, and structural disturbance on a sub-basinal level. The research was accomplished by using ArcGIS 10.5 hydrology tools to design the drainage system of each studied stream. The Advanced Spaceborne Thermal Emission Radiometer (ASTER) satellite imagery data and the Digital Elevat

     This comprehensive study investigates has been made to assess the water quality of Al-Gharraf River, which considered the main branch of Tigris River south of Iraq using the overall Index of Pollution (OIP), depending on 9 physical, chemical, and biological important parameters of water quality were analyzed:  hydrogen ion concentration (pH), turbidity (NTU), total dissolved solid (TDS), dissolved oxygen (DO), biological oxygen demand (BOD5) , total hardness (TH), sulfate (SO4), nitrate (NO3),and fecal coliform (FC), which measured monthly at twenty one stations on the river during 2016-2017. Water quality deterioration  has occurred in the last ten stations, consequently, the health status of the river