In this research the results of applying Artificial Neural Networks with modified activation function to perform the online and offline identification of four Degrees of Freedom (4-DOF) Selective Compliance Assembly Robot Arm (SCARA) manipulator robot will be described. The proposed model of identification strategy consists of a feed-forward neural network with a modified activation function that operates in parallel with the SCARA robot model. Feed-Forward Neural Networks (FFNN) which have been trained online and offline have been used, without requiring any previous knowledge about the system to be identified. The activation function that is used in the hidden layer in FFNN is a modified version of the wavelet function. This approach ha

This research is an attempt to study aspects of syntactic deviation in AbdulWahhab Al-Bayyati with reference to English. It reviews this phenomenon from an extra-linguistic viewpoint. It adopts a functional approach depending on the stipulates of systemic Functional Grammar as developed by M.A.K. Halliday and others adopting this approach. Within related perspective, fairly’s taxonomy (1975) has been chosen to analyze the types of syntactic deviation because it has been found suitable and relevant to describe this phenomenon. The research hypothesizes that syntactic deviation is pervasive in Arabic poetry, in general and in Abdul-Wahhab Al-Bayyati Poetry in specific, and can be analyzed in the light of systemic Functional Grammar

     The hiding of information has become of great importance in recent times. With dissemination through the internet, and communication through satellites, information needs to be secure. Therefore, a new algorithm is proposed that enables secret messages to be embedded inside satellite images, wherein images of any size or format can be hidden, using a system’s image compression techniques. This operation is executed in three main steps: first phase – the original image is converted into a raster image; second phase– steganography, in which a binary secret message is hidden inside a raster image, using a 4×4 array as the secret key; and third phase– compre

Background: The evaluation of the chronological age is a practical method in crime investigation field that assists in identifying individuals to treat them as underage or adult. This study aimed to assess the stages of third molars mineralization in relation to chronological age of Iraqi individuals, determine the gender differences and arches (maxillary/mandibular) differences.

Materials and Methods: A total of 300 orthopantomograms of orthodontic patients were collected according to specific criteria and evaluated visually. The developmental stages of maxillary and mandibular third molars were determined according to Demirjian method. T

The ability to inhibit corrosion of low carbon steel in a salt solution (3.5%NaCl) has been checked with three real expired drugs (Cloxacillin, Amoxicillin, Ceflaxin) with variable concentrations (0, 250, 500, 750) mg/L were examined in the weight loss. The inhibition efficiency of the Cloxacillin 750 mg/L showed the highest value (82.8125 %) and the best inhibitor of the rest of the antibiotics. The different concentrations of Cloxacillin drug (0, 250, 500, 750) mg/L and temperature (25, 35, 45, 55) ^oC were studied as variables with potentiodynamic polarization, Scanning Electron Microscopy (SEM) for surface morphology and electrochemical impedance spectroscopy (EIS) depending on current values and the resistance of charge to

     Engineering project assessment at Al-Muthana Airport in Baghdad, Iraq, has been studied using a 3D electrical resistivity imaging survey. The site investigation is crucial for assessing the future of the region's infrastructures since it reveals the location of buried facilities or weak zones below the surface and measures localized groundwater levels. Wenner-Schlumberger array was used to conduct four parallel 2D electrical resistivity spreads (MU1 to MU4). Each spread line was 100 m in length with 1 m electrode spacing and an average spacing of 9 meters between any two adjacent lines. The depth of the investigation was around 23.8 m. Survey lines were drawn going from northwest to southeast. These spreads were combined to prov

This paper introduces a non-conventional approach with multi-dimensional random sampling to solve a cocaine abuse model with statistical probability. The mean Latin hypercube finite difference (MLHFD) method is proposed for the first time via hybrid integration of the classical numerical finite difference (FD) formula with Latin hypercube sampling (LHS) technique to create a random distribution for the model parameters which are dependent on time [Formula: see text]. The LHS technique gives advantage to MLHFD method to produce fast variation of the parameters’ values via number of multidimensional simulations (100, 1000 and 5000). The generated Latin hypercube sample which is random or non-deterministic in nature is further integ

Flexible job-shop scheduling problem (FJSP) is one of the instances in flexible manufacturing systems. It is considered as a very complex to control. Hence generating a control system for this problem domain is difficult. FJSP inherits the job-shop scheduling problem characteristics. It has an additional decision level to the sequencing one which allows the operations to be processed on any machine among a set of available machines at a facility. In this article, we present Artificial Fish Swarm Algorithm with Harmony Search for solving the flexible job shop scheduling problem. It is based on the new harmony improvised from results obtained by artificial fish swarm algorithm. This improvised solution is sent to comparison to an overall best

Texture is an important characteristic for the analysis of many types of images because it provides a rich source of information about the image. Also it provides a key to understand basic mechanisms that underlie human visual perception. In this paper four statistical feature of texture (Contrast, Correlation, Homogeneity and Energy) was calculated from gray level Co-occurrence matrix (GLCM) of equal blocks (30×30) from both tumor tissue and normal tissue of three samples of CT-scan image of patients with lung cancer. It was found that the contrast feature is the best to differentiate between textures, while the correlation is not suitable for comparison, the energy and homogeneity features for tumor tissue always greater than its valu