Nowadays, Wheeled Mobile Robots (WMRs) have found many applications as industry, transportation, inspection, and other fields. Therefore, the trajectory tracking control of the nonholonomic wheeled mobile robots have an important problem. This work focus on the application of model-based on Fractional Order  PI^aD^b (FOPID) controller for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to FOPID controller to generate correction signals that transport to  torque for each driven wheel, and by means of dynamics model of mobile robot these torques used to compute the linear and angular speed to reach the desired pose. In this work a dynamics model of

The research deals with the important and modern two subject (career path and the type of training program), and tries to find identify the extent of the impact of the requirements of a career path in determining the type of training program in the Ministry of Oil.

In order to achieve the aim of the research was the formulation of the following hypothesis: the impact of the requirements of the career path a meaningful moral influence in determining the type of training program.

The survey was adopted in the search, and sample consisted of (75) people were a factor in the Oil Ministry of People's managers and officials and staff, and used the questionnaire as an es

Abstract
This study aimed to survey fungi associated with the product Indomie and Chips being the trades Iargely by a very important segment of society who are the children, beside consumed by adults, but less so, as the survey results to accompany some fungui samples sterile showed proportions presence included various fungi like. Aspergillus flavus, Aspergillus niger, Penicillium Spp., Fusarium graminearum, F.moniliforme, Alternaria alternate and Rhizopus Spp., and other fungi sterile are not diagnosed. The results showed large dominion fungi A. niger by presence sterile samples of both producers, followed by infection in Fusarium Spp., Penicillium Spp., and A. alternata by infection percentage 55, 20 and 17% respectively for the pr

The aim of this study to investigate the microbial load and type of preservative for the types of yogurt available in the Iraqi market to ensure the safety of food provided to the consumer and protect through examining the types of yogurt from harmful bacteria as well as to contain ratios acceptable to yeasts and molds is to find out by comparing models curd careless Iraqi standard quality(ISQ) and see how they conform to these specifications have been collecting 12 brands of yoghurt types it was been (Kala, Activia 1, Activia 2, Mazia, Shelan, Aib, Mersin, Morsi, Al-Safi, Zabady, Zakho, Arbil). Bacteriological tests were conducted on samples of yogurt (total bacterial count, coliform count, counting yeasts and molds). The results showed

     أجري البحث لمعرفة الملوثات الميكروبية الموجودة على قشرة وفي صفار وبياض بيض الدجاج المحلي ، السوري ، التركي ، الاوكراني ، حيث جمعت العينات بمعدل 10 بيضة من الاسواق الشعبية في محافظة  بغداد . أظهرت النتائج أن بكتريا السالمونيلا واضحة في صفار البيض التركي .  وفي قشرة وبياض وصفار البيض الاوكراني . كما أظهرت نتائج فحص البيض

 This article aims to identify the traditional industries and crafts that exist in the old city of Sana’a in Yemen. It also aims to explain the pioneering role that these industries play in attracting tourism,

Museum education is of great importance to an appropriate representation of museums’ collections and exhibits, including traditional fashion. Therefore, museum educators/curators need to be equipped with the most essential skills in their profession in order to adequately present the museum’s history and holdings. This could be achieved through specialized training programs. However, Arab countries are still behind in terms of museum education. Therefore, this article aims to shed light on this issue by assessing the knowledge and skills possessed by museum educators/curators and how training programs could affect them

Basket ball game is one of the collective game that practiced widely with continuous developing .Through it has four chase .it required from it’s the player to have number of physical capable. One of these is endurance of strength in order to perform defense and attack duties. The problem is declining the level of this capable that hands inverting to defence and attack performance. The aim of research is to know the effect of using various exercises in developing endurance of strength and effect in developing two skills. dragging of defense and movement of defender player. The two researchers proposed that there are differences that have statistic function between post-test and pre-test for two experimental and control groups. The experim

إننا نتحدث عن عناصر السرعة مهمة وهي السرعة الانتقالية للأطراف السفلى والسرعة الحركية للذراع المسلحة والسرعة الحركية للطعن وسرعة رد الفعل وسرعة الاستجابة في أداء واحد او ما يسمى بالسرعة التفاعلية؛ لذا هدفت الدراسة الى اعداد تدريبات خاصة تتميز بتمازج أنواع السرعة التي تحتاجها رياضة المبارزة في أداء واحد ومن ثم معرفة تأثير تلك التدريبات في تطوير بعض الجمل الحركية في سلاح الشيش وقد استعمل المنهج التجريبي

المستخلص يهدف البحث إلى تحديد دور ألإدارة الخضراء للموارد البشرية بأبعاده المتمثلة في (التوظيف ألأخضر, التدريب والتطوير ألأخضر, تقييم ألإداء ألأخضر , التعويضات والمكافئات الخضراء) في ألإداء الريادي للمنظمة بأبعاده المتمثلة في ( التخطيط المسبق, الكفاءة, الفاعلية, المؤشر الريادي, التجديد والتحديث ) .  لذا يحتل البحث أهمية بالغة لكونه يعالج مسألة مهمة وحديثة في ألإداء الريادي, ألا وهي ألإدارة الخضراء