Spraying pesticides is one of the most common procedures that is conducted to control pests. However, excessive use of these chemicals inversely affects the surrounding environments including the soil, plants, animals, and the operator itself. Therefore, researchers have been encouraged to...

The flexible joint robot (FJR) typically experiences parametric variations, nonlinearities, underactuation, noise propagation, and external disturbances which seriously degrade the FJR tracking. This article proposes an adaptive integral sliding mode controller (AISMC) based on a singular perturbation method and two state observers for the FJR to achieve high performance. First, the underactuated FJR is modeled into two simple second-order fast and slow subsystems by using Olfati transformation and singular perturbation method, which handles underactuation while reducing noise amplification. Then, the AISMC is proposed to effectively accomplish the desired tracking performance, in which the integral sliding surface is designed to reduce cha

Twenty clinical and fecal samples (ten clinical samples from patients attending to
Imam Ali Hospital and ten chicken faeces samples collected from local poultry farm
in Baghdad city) collected during December 2015, for isolated Klebsiella
pneumoniae. All K. pneumoniae isolates were extended-spectrum β- lactamase
producers and biofilm formation. The activities of two selected K. pneumoniae
isolates for their biofilm formation and susceptibility to antibiotics after treatment
with several plants extracts were investigated. The results of water and 60% ethanol
extracts for Matricaria chamomile flowers, Alhagi maurorum leafs, Syzygium
aromaticum buds (clove) and Arctium minus leafs were showed reduction of biofilm

This study focusing on river water quality as a source of raw water, efficiencies of water treatment plants, the goodness of transporting water pipes in the water networks and drinking water quality as consumed within certain city residential sectors, in addition to seasonal variation. The following water quality parameters were studied: Electrical Conductivity, Turbidity, Dissolved oxygen, Biochemical oxygen demand, the concentration of nutrients like nitrogen and phosphate, the residual chlorine in addition to total bacterial count and total colon bacteria of raw water, and treated water of four selected water treatment plants in Mosul city. These plants are : the right united scheme, the new left scheme ,the old left scheme and the Gh

The nuclear matter density distributions, elastic electron scattering charge form
factors and root-mean square (rms) proton, charge, neutron and matter radii are
studied for neutron-rich 6,8He and 19C nuclei and proton-rich 8B and 17Ne nuclei. The
local scale transformation (LST) are used to improve the performance radial wave
function of harmonic-oscillator wave function in order to generate the long tail
behavior appeared in matter density distribution at high . A good agreement results
are obtained for aforementioned quantities in the used model.

               In this paper, the complexes of Shiff base of Methyl -6-[2-(diphenylmethylene)amino)-2-(4-hydroxyphenyl)acetamido]-2,2-dimethyl-5-oxo-1-thia-4-azabicyclo[3.2.0]heptane-3-carboxylate (L) with Cobalt(II), Nickel(II), Cupper(II) and Zinc(II) have been prepared. The compounds have been characterized by different means such as FT-IR, UV-Vis, magnetic moment, elemental microanalyses (C.H.N), atomic absorption, and molar conductance. It is obvious when looking at the spectral study that the overall complexes obtained as monomeric structure as well as the metals center moieties are two-coordinated with octahedral geometry excepting Co complexes that existed as a tetrahedral geometry. Hyper Chem-8.0.7

Organogel as a system was to estimate its capacity to delay and slow the drug release in the duodenum. The gelators, 12HSA (12-hydroxystearic acid), span 60. span 40 were used; the castor oil (CO) and anise oil (AO) also represented the liquid phase. To achieve the goal of this work was by using diclofenac sodium (DS). Organogels specifications were by estimating thermal attitude using tabletop rheology and differential scanning calorimetry (DSC). The organogel strength study was by applying oscillatory rheology tests the amplitude sweep and the frequency sweep. Realizing the morphology of the organogel was done utilizing an optical microscope. CO and AO binding capacity was also manifested. The transition temperatures for all organogels

Ultrasonic pulse echo measurements on porous alumina as ceramic

material with porosities ranging from (20-40)% showed effect of volume

fraction of porosity on both thermal and elastic properties. A quadratic relationships, by using a least squares method, is deduced for the dependence of the shear velocity, longitudinal velocity, shear modulus, Young's modulus,  bulk  modulus, Poisson 's ratio, Debye temperature, specific heat, and thermal conductivity on the total  porosity. By these relationships,  the  thermal  and  elastic  properties  results  of  pore-free alumina  were  calculated.  The  elastic  properties  results  of