The inverse kinematics of redundant manipulators has infinite solutions by using conventional methods, so that, this work presents applicability of intelligent tool (artificial neural network ANN) for finding one desired solution from these solutions. The inverse analysis and trajectory planning of a three link redundant planar robot have been studied in this work using a proposed dual neural networks model (DNNM), which shows a predictable time decreasing in the training session. The effect of the number of the training sets on the DNNM output and the number of NN layers have been studied. Several trajectories have been implemented using point to point trajectory planning algorithm with DNNM and the result shows good accuracy of the end

          تم تحضير ليكاند قاعدة مانخ الجديد من تفاعل تكثيف المورفلين وسيبروفلوكساسين عند درجة حرارة الغرفة وتم تحضير بعض المعقدات من هذا الليكاند. تم تشخيص الليكاند ومعقداته باستخدام تحليل العناصر، وبيانات طيفية FT-IR، و UV-Vis، و NMR، وقياسات الموصلية المولية، ودرجة الانصهار. اظهرت بيانات تحليل العناصر أن المركبات الفلزية

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Changes in mechanical properties of material as a result of service in different conditions can be provided by mechanical testing to assist the estimation of current internal situation of these materials, or the degree of deterioration may exist in furnaces serviced at high temperature and exceed their design life. Because of the rarity works on austenitic stainless steel material type AISI 321H, in this work, ultimate tensile strength, yield strength, elongation, hardness, and absorbed energy by impact are evaluated based on experimental data obtained from mechanical testing. Samples of tubes are extracted from furnace belong to hydrotreaterunit, also samples from un-used tube material are used to make comparisons between these properti

The aim of this study is to determine and evaluate the units and subunits of Mishrif Formation in Garraf oil field 85 km north of Nasiriyah city depending mainly on the geophysical well logging data and other amiable geological information. The sets of the geophysical well logs data acquired from GA-4, GA- AIP, GA- B8P, GA-3 and GA-5 wells of Garraf oil field are used to determine the petrophysical and lithological properties for each zone in Mishrif Formation to locate, define and evaluate hydrocarbon production from each zone in the reservoir which is also known as formation evaluation. The digitization was done by using Didger software and the interpretations were made using Interactive Petrophysics Program v 3.5 and Petrel software.

This research deals with study of the Petrology and mineralogy of the Rus and Jil Formations at Najif and Al-Muthanna Governorates, Southern Iraq. The Rus Formation consists mainly of evaporites and subordinate carbonates. The evaporites are characterized by nodular structure (compound wispy, wispy, structureless and mosaic structures) with some laminated structure at the studied sections. Compound wispy to wispy structure are the dominant structures. The Jil Formation consists almost entirely of carbonate. The carbonate rocks are dolomitic limestone and dolomite beds, massive, fossiliferous, cavernous sometime friable and bioturbated in its lower part. The Jil Formation contains evaporites as thin beds, sometimes nodular and contains se

This paper is concerned with the existence of a unique state vector solution of a couple nonlinear hyperbolic equations using the Galerkin method when the continuous classical control vector is given, the existence theorem of a continuous classical optimal control vector with equality and inequality vector state constraints is proved, the existence of a unique solution of the adjoint equations associated with the state equations is studied. The Frcéhet derivative of the Hamiltonian is obtained. Finally the theorems of the necessary conditions and the sufficient conditions of optimality of the constrained problem are proved.

The research aims to apply the novel forward osmosis (FO) process to recover pure water
from contaminated water. Phenol was used as organic substance in the feed solution, while sodium
chloride salt was used as draw solution. Membranes used in the FO process is the cellulose
triacetate (CTA) and polyamide (thin film composite (TFC)) membrane. Reverse osmosis process
was used to treatment the draw solution, the exterior from the forward osmosis process. In the FO
process the active layer of the membrane faces the feed solution and the porous support layer faces
the draw solution and this will show the effect of dilutive internal concentration polarization and
concentrative external concentration polarization.
In th

This paper describes the problem of online autonomous mobile robot path planning, which is consisted of finding optimal paths or trajectories for an autonomous mobile robot from a starting point to a destination across a flat map of a terrain, represented by a 2-D workspace. An enhanced algorithm for solving the problem of path planning using Bacterial Foraging Optimization algorithm is presented. This nature-inspired metaheuristic algorithm, which imitates the foraging behavior of E-coli bacteria, was used to find the optimal path from a starting point to a target point. The proposed algorithm was demonstrated by simulations in both static and dynamic different environments. A comparative study was evaluated between the developed algori

     Yamama Formation is an important sequence in southern Iraq. Petrographic analysis was used to determine and analyze the microfacies and pore types. The diagenetic processes and the impacts on the petrophysical properties of the rocks were also identified. The petrographic identification was based on data of 250 thin sections of cutting and core samples from four wells that were supplied by the Iraqi Oil Exploration Company (O.E.C). The present study focuses on the depositional environment and the microfacies analysis of Yamama Formation. The results revealed several types of microfacies, including  peloidal wackestone-packstone, algal wackestone-packstone, bioclastic wackestone-packstone, fo

تختبر الدراسة الحالية صحة الفرضية الصفرية التي أشارت الى ان (( ليس هناك فرق دال بين المجموعة التجريبية والمجموعة الضابطة في خفض التعصب الديني )) ، وقد طبقت هذه الدراسة على عينة من طلبة جامعة بغداد بعمر(19-23 ) سنة لقياس التعصب الديني لديهم وكشف الفرق بين الذكور والاناث في ذلك ، وتعرف مدى فاعلية برنامج التفريغ الانفعالي في خفض التعصب الديني لدى الطلبة الذين سجلوا درجات مرتفعة على المقياس من خلال تطبيقه على عي

اتسعت إمبراطورية شمشي أدد الاول إذ جعل علاقاته السياسية متفاوته مع المماليك المجاورة للامبراطورية الاشورية التي انحصرت بين سلامية واخرى عدائية وثالثة متفاوته بين المهادنة والمجاملة  .

في البداية ان اجواء العلاقة بين شمشي ادد ومملكته ماري في عهد ملكها يخدن ليم كانت عدائية مع العلم ان يخدن ليم كانت له علاقة طيبة مع احدى دول حوض الباليخ والذي حذر ملك ماري من شمشي ادد وطلب منه إقامة تحالف ضده فضلا عن العل

    ويعدُّ الإِمام الترمذي أحد أولئك الأئمة الأعلام الذي عرف بجهوده في جمع الحديث وروايته ، وفي دراسة علل الحديث، وقد تميز من غيره من المحدثين بذكر حكم الحديث في جامعه المعروف بسنن الترمذي ، ومن هذه الأحكام حكمه على بعض الأحاديث أو بعض الرواة بالنكارة ، وقد زاد عدد هذه الأحاديث على ست وثلاثين حديثاً نقل في بعضها أقوال أئمة الحديث الآخرين ، كما أن بعض الأحاديث التي لم يحكم عليه بالنكارة قد حكم عليها غير

يعد حوض وادي ابو كريشة من للأودية النهرية ذات التطورات الحديثة ولمعرفة قياس الخصائص المورفومترية و التي تشمل الخصائص (المساحية و الشكلية و التضاريسية) و الخصائص الهيدرولوجية في حوض وادي أبو كريشة شمال شرق قضاء علي الغربي في محافظة ميسان ، و تمت الاستعانة ببرنامج و المرئية الفضائية للمتحسس (Landsat 8-7 ) ، بتاريخ (2021-2023) و نموذج الارتفاع الرقمي لسنة ( 2021) و بارتفاع (8) م و باستخدام برنامجARCGIS-(HEC-GIS)-WMS-HEC-HEC-HAS4) . ولقد بلغت م

نال موضوع تأمين بريطانيا لأمنها في الشرق الأوسط بعد الحرب العالمية الثانية أهمية بالغة في الأوساط السياسية البريطانية ، وكان عليها بعد أن خرجت من تلك الحرب منهكة ــ على الرغم من انتصارهاــ أن تبحث عن بديل يساعدها على تأمين مصالحها السياسية والاقتصادية وإعادة ترتيب دفاعاتها هناك، ووجدت ضالتها في تركيا ، التي كانت تواقة الى أن تؤدي دور حارس المصالح البريطانية الأمين في الشرق الأوسط ، وتحقق ما يمكن لضمان مصال

In this paper, we proposed a new class of Weighted Rayleigh Distribution based on two parameters, one is scale parameter and the other is shape parameter which introduced in Rayleigh distribution. The main properties of this class are derived and investigated in . The moment method and maximum likelihood method are used to obtain estimators of parameters, survival function and hazard function. Real data sets are collected to investigate two methods which depend it in this study. A comparison was made between two methods of estimation.

    يكتسب المكتبات عناية خاصة من المؤسسات التعليمية المتنوعة، لما تشكله من محور أساس في اثراء الجوانب العلمية بمختلف الموارد المعرفية. ويبرز دور المكتبات في سرعة توصيل المعلومة المناسبة والسريعة للمتلقي. وعليه فإنَّ فهرسة وتصنيف الكتب والموارد المكتبية يعدُّ مسألة غاية في الأهمية لما تؤديه من دور في تحسين أداء المكتبات. إنَّ عملية تصنيف الكتب ووضعها ضمن الفئة الصحيحة يعدُّ من العمليات الحرجة ولا سي

The mixed spin-3/2 and spin-5/2 Ising ferrimagnetic system with different
anisotropies has been investigated using the mean field approximation (MFA) .The
phase diagram of the system has also been discussed in the anisotropy dependence
of transition temperature. It is found that a reentrant ferrimagnetic phenomenon in
the ordered system depends strongly on the anisotropy of the mixture.

Literature is the record by which human feelings, political incidents, geographical sites, and historical events are preserved. Thus, readers may resort to a book written by a historian as well as a historical novel in order to gain more knowledge about history. Despite the fact that many novels incorporate a sense of history, historical novels are read for their themes, settings, and historical events. Such novels represent societies in the past and make use of history to juxtapose factual and fictional characters in a historical situation.

الغرض من البحث هو تسليط الضوء عناصر على نظرية "الخارق للطبيعة" لعالم علم النفس التحليلي سيغموند فرويد في احد اشهر روايات الكاتبة الأميركية نيلا لارسون. على الرغم من تطرق الرواية الى مواضيع تتعلق بالعرق تركز الرواية على العلاقة الغامضة بين ايرين وكلير والتي ترتكز على جوانب نظرية فرويد "الخارق للطبيعة" والمتمثلة بجوانب الرغبة الجنسية المخفية ومشاعر الحسد والغيرة والقدرة الكلية الخارقة للأفكار وثنائية وازدو

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     لقد عانت الأسرة العلوية الطاهرة مطلع العقد السابع الهجري من تداعيات خطيرة جاءت نتيجة لالتزامها بمبادئ الدين الإسلامي، إذ رأت تلك الاسرة بقيادة سبط النبي المصطفى (صلى الله عليه واله وصحبه وسلم) الإمام الحسين بن علي بن أبي طالب (عليه السلام) أن الاسلام كدين ومبادئ وقيم لها أهميتها الكبيرة في تفاصيل حياة المسلمين بدأ ينهار أمام التوظيف السلبي له من قادة تبوؤا مراكز عليا لم يعطوها حقها، لذلك عزم ال

The study hypothesizes the ability of a relative unit to participate in the consciousness of a native speaker of a certain meaning. The new cultural paradigm of universal visualization and virtualization predicts the dynamic meaning of modern media text, a meaning that reflects new technological realities. Not only new words, but also new grammatical units become this dynamic meaning markers. The argumentation of the hypothesis is based on the example of the expanding context of prepositional-case forms of nouns telephone, TV and computer.

تعدُّ علاقات العراق مع دول الاتحاد الأوروبي من أعرق وأرصن علاقات العراق الخارجية، وعلى الرغم من تضرر تلك العلاقات خلال بعض الحقب الزمنية، وترديها أحياناً لاعتبارات عديدة، فإنها سرعان ما تعود لوضعها الطبيعي، لأهمية العراق الاستراتيجية بالنسبة للدول الأوروبية من جهة، ولاهتمام العراق بعلاقاته الأوروبية من جهة أخرى. وكان للاتحاد الأوروبي دور مهم في العراق في حقبة ما بعد 2003، من خلال العلاقات السياسية المهمة

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This work is aimed to design a system which is able to diagnose two types of tumors in a human brain (benign and malignant), using curvelet transform and probabilistic neural network. Our proposed method follows an approach in which the stages are preprocessing using Gaussian filter, segmentation using fuzzy c-means and feature extraction using curvelet transform. These features are trained and tested the probabilistic neural network. Curvelet transform is to extract the feature of MRI images. The proposed screening technique has successfully detected the brain cancer from MRI images of an almost 100% recognition rate accuracy.

The aim of this work was to inhibition of the enzyme β–glucosidase for the
production of the enzyme Exo-1, 4-β-glucosidase that have the power for analysis of
cellulose to glucose. The using of the inhibition substance D- glucano - δ - Lacton
success to inhibition of β–glucosidase at the concentration 0.45 mg/mL. at 1 minute.
The optimum circumstances temperature, pH, and time of fermentation were (45
min., 4.8, 8 day).

This study including recognition ofdifferent minerals in Tigris River sediments
within grain size (ø>.:) andclay minerals in (5.0ø) grain size, The main minerals
that identified are Quartz, Calcite and Feldspare, The clay minerals are illite,
chlorite, kaolinite, palygorskite and montmorilonite, The heavy minerals are biotite,
epidot, hornblend, zircon, rutile and muscovite. The source of these sediments are
igneousand metamorphic rocks which are found in Northern Iraq within Tigris
catchments area, or derived from Fat7ha and Injana formations outcropedin part of
the area, or may be formed by digenesis processes.
The most common trace elements that have been identified which have local effec

Toxoplasmosis is usually asymptomatic, but can have severe consequences if it occurs in immunodeficient subject or fetuses. The diagnosis of toxoplasmosis during pregnancy is often based on maternal serological testing for IgM and IgG anti- Toxoplasma antibodies. Persistence of IgM for long periods, posses’ problems in distinguishing acute from chronic infection. The evaluation of specific IgG avidity enables more accurate dating, since avidity rises progressively during the course of infection.
Seventy six women in the first 16 weeks of pregnancy were screened for VIDAS IgM, IgG antibodies and VIDAS toxo-IgG avidity. Low avidity antibodies were demonstrated in 2 (33.3%) of 6 sera positive with IgM assay and 4 (12.12%) of sera pos

The DEM (Digital elevation model) means that the topography of the earth's surface (such as; Terrain relief and ocean floors), can be described mathematically by elevations as functions of three positions either in geographical coordinates, (Lat. Long. System) or in rectangular coordinates systems (X, Y, Z). Therefore, a DEM is an array number that represents spatial distributions of terrain characteristics. In this paper, the contour lines with different interval of high-resolution digital elevation model (1m) for AL-khamisah, The Qar Government was obtained. The altitudes ranging is between 1 m – 8.5 m, so characterized by varying heights within a small spatial region because it represents in multiple spots with flat surfaces.