In this work the effect of choosing tri-circular tube section had been addressed to minimize the end effector’s error, a comparison had been made between the tri-tube section and the traditional square cross section for a robot arm, the study shows that for the same weight of square section and tri-tube section the error may be reduced by about 33%.

A program had been built up by the use of MathCAD software to calculate the minimum weight of a square section robot arm that could with stand a given pay load and gives a minimum deflection. The second part of the program makes an optimization process for the dimension of the cross section and gives the dimensions of the tri-circular tube cross section that have the same weight of

It is often needed to have circuits that can display the decimal representation of a binary number and specifically in this paper on a 7-segment display. In this paper a circuit that can display the decimal equivalent of an n-bit binary number is designed and it’s behavior is described using Verilog Hardware Descriptive Language (HDL).
This HDL program is then used to configure an FPGA to implement the designed circuit.

The crude enzyme Nattokinase produced by Bacillus subtilis was used in ripening cheddar cheese by adding three concentration of enzyme 80, 160 and 320mg/Kg beside the control treatment without enzyme, the product was checked for three months to determine humidity, protein, fat, non-protein nitrogen, soluble nitrogen and pH, sensory evaluation was conducted, it was noticed that the variety in protein percentages and the soluble nitrogen percentage during second month of ripening for T2, T3 and T4 treatments were (11.2, 15.54 and 18.48) respectively, in comparison with control which was 7.6%, while in the third month it was (17.37, 20.67 and 22.26) respectively, in comparison with control which was only 10%, on the other hand, non-protein

الدعوة العباسية هي جزء من الحركات الثائرة ضد أي نظام لم يستطع القيام بإدارة الأمور السياسية بطريقة تعمل على امتصاص الغضب الشعبي جراء السياسة الخاطئة لأي نظام استلم السلطة وكانت الدعوة العباسية تعمل على الوقوف والتأييد ضد أي تحرك ثوري يؤدي إلى كسر أو إنهاء الدولة الأموية وقد كان البيت العباسي قد عمد إلى التحرك السري في خراسان والأقاليم القريبة منها كون أن السلطة الأموية أخطأت في إيجاد الحلول الداخلية في داخل

Praise be to Allah and peace and blessings be on the Messengers and all his divine remission Mahdists companions Almentajabin. That this research dealt with elite valid and good done everything in its power to to live this nation on

Balance is considered one of the most important components of physical activity in individual and team sports because it allows proper motor response and performance accuracy. The problem of the research lies in the lack of model for motor balance tests in the field of sports that require different positions and movements for classifying, selecting, diagnosing, and comparing athletes. The importance of the research lies in designing a test for motor balance as a reference for specialists in the field of sports and sport sciences. The subjects were first year College of physical education and sport sciences students / Baghdad University 2016 – 2017. The data was collected and treated using proper statistical operations. The researchers con

تصميم حرف طباعي وفق النسبة الذهبي