Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC

stract The experiment aimed to study the effect of different concentrations (10 and 20)% of Nerium oleander L. leaves extract and proline (20 and 30) ppm on growth and yield of Cicer aeitium L. The field experiment was conducted during the growth season of 2012-2013. The results showed that the best concentration of N. oleander extract leaves was 10% that showed significant increasing in plant height, branches and leaves number and dry weight during first and second periods measurement as well as the chlorophyll containing in leaves , crop growth ratio (CGR), number of pods, weight of 100 seeds, percentage of seed carbohydrates. The results revealed that two concentrations of proline (20 and 30) ppm showed a significant increase in the c

  The purpose of this paper is to study a new types of compactness in bitopological spaces. We shall introduce the concepts of  L- compactness.

In this paper, the concept of semi-?-open set will be used to define a new kind of strongly connectedness on a topological subspace namely "semi-?-connectedness". Moreover, we prove that semi-?-connectedness property is a topological property and give an example to show that semi-?-connectedness property is not a hereditary property. Also, we prove thate semi-?-irresolute image of a semi-?-connected space is a semi-?-connected space.

The Accommodation industry in Iraq suffers from many problems, especially after 2003, when the Accommodation industry was exposed to many crises due to the security and political situation in Iraq, which negatively affected the administrative operations inside the industry and created many problems, the most important of which are deterioration, high costs and poor performance, so some hotel administrations sought To find alternative solutions that help in the advancement of hotels, one of the proposals is to go to technology, as technology is currently one of the most important solutions to solve large complex problems, as the world has turned to automation to solve complex problems such as increasing production, reducing costs, and rai

studied, and its important properties and relationship with both closed and open Nano sets were investigated. The new Nano sets were linked to the concept of Nano ideal, the development of nano ideal mildly closed set and it has been studied its properties. In addition to the applied aspect of the research, a sample was taken from patients infected with viral hepatitis, and by examining the infected people and using closed and open (nano mildly. and nano ideal mildly) sets, the important symptoms that constitute the core of this dangerous examining the infected people and using closed and open (nano mildly. and nano ideal mildly) sets, the important symptoms that constitute the core of this dangerous disease.

       Total flavonoid contents, reductive ability and radical scavenging activity were studied in the methanol extracts of Arum maculatum L. and Physalis peruviana L. The results revealed that A. maculatum extract had total flavonoids of 535.3±109.9 µg/ml, which was significantly higher than the recorded flavonoids in P. peruviana extract (352.0±12.7 µg/ml). Assessment of reductive ability revealed that both extract were effective in such activity and concentration-dependent. The highest absorbance was found at the concentration 0.64 mg/ml of A. maculatum methanol extract (0.929±0.006), which was significantly higher (P ≤ 0.05) than the corresponding concentration of P. peruviana extract (0.850

The  purpose  of  the  paper  is  to  tind  the  degree  of  the approximation of a functions  f be bounded , measurable and defined

in  interval   [a,h]by  Bernstein  polynomial  in  LP    space  1 $ p < oo by

using Ditzian-Totik modulus  of smootlmess  and  k 1n  average modvlus of smoothness.