A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torqu
... Show MoreThe leaves and stems of the local Purslane plant ( Portulaca oleracea oleracea L. ) were used to preapare the extract of two types ( wet and dried extractions) the extracts were prepared by weighting of 60grams of the wet and the dried plant individually, then boiled in 500ml of distal water. Finally the volume was completed to1 liter, then we used these extracts to prepare of 8 types of the culture media contained basic, selective and enrichment media for growing a group of pathogenic bacteria. 8 types of bacteria were used for this purpose: Escherichia coli, Pseudomonas flouresence, Staphylococcus aureus , Staphylococcus epidermidis, Bacillus subtilis , Klebsiella pneumoniae , Proteus mirabilis and Proteus vulgaris. The stastica
... Show MoreThe study aimed to identify the awareness degree of teacher students in the department of Arabic language and their supervisors at Al-aqsa University for their future roles in the age of knowledge. To achieve this objective, descriptive- analytical approach was used. The instruments of this study were two questionnaires: first one consist of (20) item for teacher students, and the second consist of (27) item for educational supervisors which covered three roles: professional, technological, and humanitarian. The sample was (120) student selected randomly, and (39) supervisors of Arabic language. The result revealed that the mean of degree awareness of teacher students and their supervisors of future role are (3.857), (3.472) respectively
... Show MoreIn this study, the spreading of the pandemic coronavirus disease (COVID-19) is formulated mathematically. The objective of this study is to stop or slow the spread of COVID-19. In fact, to stop the spread of COVID-19, the vaccine of the disease is needed. However, in the absence of the vaccine, people must have to obey curfew and social distancing and follow the media alert coverage rule. In order to maintain these alternative factors, we must obey the modeling rule. Therefore, the impact of curfew, media alert coverage, and social distance between the individuals on the outbreak of disease is considered. Five ordinary differential equations of the first-order are used to represent the model. The solution properties of the system ar
... Show MoreThe goal of this discussion is to study the twigged of pure-small (pr-small) sub- moduleof a module W as recirculation of a small sub-module, and we give some basic idiosyncrasy and instances of this kind of sub-module. Also, we give the acquaint of pure radical of a module W (pr-radical) with peculiarities.
The present study aimed to investigate the morphological description and histological structure of kidney in adult albino mice (Mus musculus), The anatomical study revealed that the kidney in albino mice is represented by bean-like shape, smooth with red to brown color, It is situated within the anterior half of abdominal cavity under the diaphragm on both sides of vertebral column. The kidney is covered by capsule of loose connective tissue with mean thickness of (9.6±0.5) micrometer. Histological examination revealed that albino mice kidney tissue differentiated into cortex and medulla, the cortex contains glomeruli with mean diameter of (50.5±1.9) micrometer densely distributed at the peripheral area of the cortex ,
... Show MoreThe childhood stage is considered the most important stage of all the stages through
the human being’s life. In this stage the human being will be more affected by the various
factors that surround him/her. The first five years of his/her life leave a great impact not only
on the human being personality, but also on his/her whole life. Therefore, it is worthwhile tobe concerned with and focus at the raising up and the teaching of the child during the
childhood stage.
The mission of raising up children in this era - the era of globalization and information
bursting or news flooding – has become a very difficult or even an impossible mission.
Furthermore, not only in the Arabic world, but also all over the world, t
Two molecular imprinted polymer (MIP) membranes for Levofloxacin (LEV) were prepared based on PVC matrix. The imprinted polymers were prepared by polymerization of styrene (STY) as monomer, N,N methylene di acrylamide as a cross linker ,benzoyl peroxide (BPO) as an initiator and levofloxacin as a template. Di methyl adepate (DMA) and acetophenone (AOPH) were used as plasticizers , the molecular imprinted membranes and the non molecular imprinted membranes were prepared. The slopes and detection limits of the liquid electrodes ranged from -21.96 – -19.38 mV/decade and 2×10-4M- 4×10-4M, and Its response time was around 1 minute, respectively. The liquid electrodes were packed with 0.1 M standar
... Show More The purpose of this research is to investigate the effects of rotation on heat transfer using
inclination magnetohydrodynamics for a couple-stress fluid in a non-uniform canal. When the
Reynolds number is low and the wavelength is long, math formulas are used to describe the stream
function, as well as the gradient of pressure, temperature, pressure rise and axial velocity per
wavelength, which have been calculated analytically. The many parameters in the current model
are assigned a definite set of values. It has been noticed that both the pressure rise and the pressure
gradient decrease with the rise of the rotation and couple stress, while they increase with an
increase in viscosity and Hartmann nu
Let M be an R-module, where R be a commutative; ring with identity. In this paper, we defined a new kind of submodules, namely T-small quasi-Dedekind module(T-small Q-D-M) and essential T-small quasi-Dedekind module(ET-small Q-D-M). Let T be a proper submodule of an R-module M, M is called an (T-small Q-D-M) if, for all f ∊ End(M), f ≠ 0, implies