This paper presents a control system to make the robotic hand mimic human hand motion in real time and offline mode. The human hand tracking system is a wearable sensing arm (potentiometers) used to determine the position in space and to sense the grasping task of human hand. The maskable sensing arm was designed with same geometrical arrangement of robotic hand that needs to be controlled. The control software of a robot was implemented using Visual Basic and supported with graphical user interface (GUI). The control algorithm depends on joint to joint mapping method to match between the motions at each joint of portable sensing arm with corresponding joint of a robot in order to make the robot mimic the motion.

Chemotherapy is one of the most efficient methods for treating cancer patients. Chemotherapy aims to eliminate cancer cells as thoroughly as possible. Delivering medications to patients’ bodies through various methods, either oral or intravenous is part of the chemotherapy process. Different cell-kill hypotheses take into account the interactions of the expansion of the tumor volume, external drugs, and the rate of their eradication. For the control of drug usage and tumor volume, a model based smooth super-twisting control (MBSSTC) is proposed in this paper. Firstly, three nonlinear cell-kill mathematical models are considered in this work, including the log-kill, Norton-Simon, and hypotheses subject to parametric uncertainties and exo

This study seeks to identify the role that the leadership trend plays in the management of health institutions in Iraq and its impact on improving the quality of the health service provided by analyzing some opinions of affiliates working in the Iraqi health sector where a survey list was used as a main tool for collecting primary data, as it was subjected to this analysis ( 60) of the medical staff, of whom (40) are doctors and (20) are affiliated with the rank of assistant physician, and (60) members of the administrative cadre have undergone their various job ranks and administrative specializations (department manager, auditor, observer, accountant, statistician, secretary). Reliance on statistical software (spss) in data ana

     In this paper, the Adomian decomposition method (ADM) is successfully applied to find the approximate solutions for the system of fuzzy Fredholm integral equations (SFFIEs) and we also study the convergence of the technique. A consistent way to reduce the size of the computation is given to reach the exact solution. One of the best methods adopted to determine the behavior of the approximate solutions. Finally, the problems that have been addressed confirm the validity of the method  applied in this research using a comparison by combining numerical methods such as the Trapezoidal rule and Simpson rule with ADM.

Voice Activity Detection (VAD) is considered as an important pre-processing step in speech processing systems such as speech enhancement, speech recognition, gender and age identification. VAD helps in reducing the time required to process speech data and to improve final system accuracy by focusing the work on the voiced part of the speech. An automatic technique for VAD using Fuzzy-Neuro technique (FN-AVAD) is presented in this paper. The aim of this work is to alleviate the problem of choosing the best threshold value in traditional VAD methods and achieves automaticity by combining fuzzy clustering and machine learning techniques. Four features are extracted from each speech segment, which are short term energy, zero-crossing rate, auto

Zubair area is located at the extreme part of the south of Iraq and represents the southern part of the western desert, bounded by the north latitudes 30o05'-30o25' and east longitudes 47o30'- 47â—¦55'. Groundwater is a major natural resource in the study area because no perennial river exists. Groundwater from twenty wells in the study area were analyzed in order to determine some of chemical variables such as major cations (Ca+2, Mg+2 ,Na+ ,K+ ) and major anions (CL- ,SO4-2 ,HCO3- ,CO3-2 ,NO3-) along with several physical variables such as hydrogen ion concentration (pH) , total dissolved solids (TDS), and electrical conductivity (EC).  Hydro-chemical analysis showed that the groundwater of the study area is excessively minera

Groundwater is very important for different uses in the present study area which represents Jisr Diyala, located in southeastern Baghdad and covered with quaternary deposits which include the shallow aquifer in the area. Groundwater and surface water were investigated to determine their suitable uses. The main ion concentrations of the wet period seemed to be lower than those in the dry period. According to TDS values, the water is classified as brackish to salty with a high degree of hardness. Most of water samples were of NaCl type due to pollution with sewage water and rock-water interaction. The results show that the water of the study area is suitable for livestock and irrigation purposes only.

In this paper, we introduce the concept of almost Quasi-Frobcnius fuzzy ring as a " " of Quasi-Frobenius ring. We give some properties about this concept with qoutient fuzzy ring. Also, we study the fuzzy external direct sum of fuzzy rings.