The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then  proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is impleme

In the geotechnical and terramechanical engineering applications, precise understandings are yet to be established on the off-road structures interacting with complex soil profiles. Several theoretical and experimental approaches have been used to measure the ultimate bearing capacity of the layered soil, but with a significant level of differences depending on the failure mechanisms assumed. Furthermore, local displacement fields in layered soils are not yet studied well. Here, the bearing capacity of a dense sand layer overlying loose sand beneath a rigid beam is studied under the plain-strain condition. The study employs using digital particle image velocimetry (DPIV) and finite element method (FEM) simulations. In the FEM, an experiment

Background: Anaemia is a major public health concern and is one of the most prevalent health issue in women within reproductive age group.

Objective: to assess maternal knowledge related to anaemia during pregnancy.

Type of the study: A cross –sectional study.

Method: The study including 200 mothers who attended selected primary health care centres, Baghdad during November and December 2015, they completed a previously prepared questionnaire coveringsocio-demographic characteristics and knowledge regarding anaemia in 4 main domains. The responses were analysed by using frequency, percentage and percent score for each statement a

<span lang="EN-US">The fundamental of a downlink massive multiple-input multiple-output (MIMO) energy- issue efficiency strategy is known as minimum mean squared error (MMSE) implementation degrades the performance of a downlink massive MIMO energy-efficiency scheme, so some improvements are adding for this precoding scheme to improve its workthat is called our proposal solution as a proposed improved MMSE precoder (PIMP). The energy efficiency (EE) study has also taken into mind drastically lowering radiated power while maintaining high throughput and minimizing interference issues. We further find the tradeoff between spectral efficiency (SE) and EE although they coincide at the beginning but later their interests become con

Resistance to aminoglycosids is a great problem to therapeutics. Aminoglycoside acetyltransferase producing Pseudomonas aeruginosa have been reported to be important cause of nosocomial infections. The purpose of this study was to determine the occurrence of aminoglycoside acetyltransferase. A total of 200 clinical and environmental samples were collected over period of five months. The P. aeruginosa isolates were confirm their identification, antibiotic susceptibility profile according to vitek2 compact system. The isolates were subjected to polymerase chain reaction (PCR) assays with specific primers for aac (6')-I, aac (6')-Ib, aac (3')-I . Only 32 (16.%) P. aeruginosa isolates were recovered from the samples. in present investigation

Background: uterine involution is the process by which the postpartum uterus returning to its prepregnant state by the process of autolysis. The aim of the study is to fallow the uterine involution sonographicly during the first two weeks of puerperium and clinical correlation of several puerperal conditions was sought.
Patients and methods: One hundred full term women were delivered in one of Baghdad hospital during a six month period were followed by serial sonogram during the first two weeks of the puerperal period to show the normal process of uterine regression in relation to several condition .The rate of uterine involution were shown as percentage drop in uterine volume at day (7) and day (14)&nbsp

As they are the smallest functional parts of the muscle, motor units (MUs) are considered as the basic building blocks of the neuromuscular system. Monitoring MU recruitment, de-recruitment, and firing rate (by either invasive or surface techniques) leads to the understanding of motor control strategies and of their pathological alterations. EMG signal decomposition is the process of identification and classification of individual motor unit action potentials (MUAPs) in the interference pattern detected with either intramuscular or surface electrodes. Signal processing techniques were used in EMG signal decomposition to understand fundamental and physiological issues. Many techniques have been developed to decompose intramuscularly detec

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