The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinemati

This paper deals with the estimation of the stress strength reliability for a component which has a strength that is independent on opposite lower and upper bound stresses, when the stresses and strength follow Inverse Kumaraswamy Distribution. D estimation approaches were applied, namely the maximum likelihood, moment, and shrinkage methods. Monte Carlo simulation experiments were performed to compare the estimation methods based on the mean squared error criteria.

     Bodies of water are usually being polluted by wastes from domestic and industrial sources thereby making them unfit for use. Hence, this study aimed at assessing the water quality from Asa River, Ilorin, Nigeria in terms of bacteriological and physicochemical parameters. The bacteriological parameters assessed were heterotrophic bacterial count, total coliform, faecal coliform, identification of the isolates, antibiotic resistance patterns, and plasmid profile of the isolates.  Whereas, the assessed physicochemical parameters were pH, total chloride, suspended solid, and total hardness. The heterotrophic bacterial count, total coliform, and faecal coliform counts ranged from 7.6 x 10³ to 3.2 x 10⁶ cfu/ml,

The discharged water from tannery plants is main source for pollution of soil and groundwater, especially in Nahrawan area. Water samples is collected from 10 sites of wells, discharged water and from using water in different levels of tannery and 7 soil samples from different sites inside factories area and outside it. The results shown that pH for samples of wells and discharged water were within allowable limits between 6.5- 8.5, except the value of pH recorded in the discharged water sample (after the addition of calcium hydroxide) was 12.8, as well as reached the highest value of total dissolved salts (TDS) 7800 ppm in same samples. It also reached its highest value of electrical conductivity (EC) 8200 μS/cm. The results showed tha

The most prevalent chronic complication of diabetes mellitus is diabetic neuropathy. The pathogenesis of diabetic neuropathy is exacerbated by hyperglycemia-induced oxidative stress, which causes nerves to deteriorate in a programmed manner. Many clinical trials depend on supplement in an attempt to improve neuropathy symptoms such as (pain & tingling) and patient quality of life, one of them is Coenzyme Q10 which is reported to have an anti-inflammatory and antioxidant effects, and was totally nontoxic and non-reported side effects. This study aimed to evaluate using a Coenzyme Q10 supplement as an adjuvant therapy to gabapentin to improve the clinical symptoms of diabetic neuropathy in relation to its anti-inflammatory and antioxid

In current article an easy and selective method is proposed for spectrophotometric estimation of metoclopramide (MCP) in pharmaceutical preparations using cloud point extraction (CPE) procedure. The method involved reaction between MCP with 1-Naphthol in alkali conditions using Triton X-114 to form a stable dark purple dye. The Beer’s law limit in the range 0.34-9 μg mL^-1 of MCP with r =0.9959 (n=3) after optimization. The relative standard deviation (RSD) and percentage recoveries were 0.89 %, and (96.99–104.11%) respectively. As well, using surfactant cloud point extraction as a method to extract MCP was reinforced the extinction coefficient(ε) to 1.7333×105L/mol.cm in surfactant-rich phase. The small volume of organi

Abstract. In this research, the uranium concentration in (16) water samples collected from some agricultural areas surrounded with AlTuwitha nuclear site in Baghdad-Iraq was measured by using a CR-39 detector. The concentration of uranium in this study was from (0.6 ± 0.33mg/l) to (2.51 ± 0.49 mg/l), and the weighted average for the concentrations (1.262 ± 0.402 mg/l). The results showed it is a concentration of uranium level in water samples studied is higher than the allowed limit recommended by WHO and ICRP.