Robot manipulator is a multi-input multi-output system with high complex nonlinear dynamics, requiring an advanced controller in order to track a specific trajectory. In this work, forward and inverse kinematics are presented based on Denavit Hartenberg notation to convert the end effector planned path from cartesian space to joint space and vice versa where a cubic spline interpolation is used for trajectory segments to ensure the continuity in velocity and acceleration.  Also, the derived mathematical dynamic model is based on Eular Lagrange energy method to contain the effect of friction and disturbance torques beside the inertia and Coriolis effect. Two types of controller are applied ; the nonlinear computed torque control (CTC

This research raised the strategic selection factors and dimensions of the quality of higher education and what the nature of their relationship and has been collecting a sample search from the technological University of president scientific departments and administrative and scientific associates and chiefs of branches This research aims at studying factors affecting the strategic selection effects these factors in the quality of higher education and the combination of these factors has been identified as a group of selected dimensions of quality of higher education and study link relationships and affecting factors and strategic selection of (risk, previous strategies, resources, time, considerations and internal trends) and d

Abstract

Since period the developing economies  including, Iraq economy faced undesirable double economic which is spread unemployment beside continual rising  in price levels this phenomenon called stagflation , there is researches  deal with this phenomenon and the elements participate in it, but it seems to the researcher there is important element from These elements which did not give sufficient concern and this lead to unhealthy situation  which can be represent to the rush creating establishments to University education in Iraq during period ( 2004- 2014) with excessive the3 truly need of the outputs which the Iraq market need which result increase the numbers unemployed on one

تعد النصوص المسمارية من اهم الوثائق التي رفدتنا بمعلومات غزيرة عن واقع الحياة اليومية في العصر البابلي القديم المتميز بتطور النشاط الاقتصادي فيه وازدهاره. وتضمن هذا البحث دراسة وتحليل لخمسة نصوص مسمارية اقتصادية غير منشورة وهي من نصوص المتحف العراقي (المصادرة) المجهولة الموقع والمصدر وهي ذات مضامين اقتصادية , ولم نستطع اثبات عائدية النصوص وذلك لانها لاتحمل صيغ تاريخية تشير الى عائدتيها باستثناء النص الا

 This study investigated three aims for the extent of effectiveness of the two systems in educational development of educators. To achieve this, statistical analysis was performed between the two groups that consisted of (26) participants of the electronic teaching method and (38) participants who underwent teaching by the conventional electronic lecture. The results indicated the effectiveness of the “electronic teaching method” and the “electronic lecture method” for learning of the participants in educational development. Also, it indicated the level of equivalence from the aspect of effectiveness of the two methods and at a confidence level of (0.05). This study reached several conclusions, recommendations, and suggestio

سياسة التعليم لتعزيز الهوية الوطنية في العراق

The study aimed to build a suggested conception for employing gamification in teaching the general education curricula. Using the analytical method of the previous analytical studies in Teaching, which agreed with the determinants of the analysis of 20 studies from 2014 to 2019, they come on order: points, badges, leaderboards, and then levels. The four most commonly used theories are the theory of self-determination, flow theory, the theory of planned behavior and social theory. In addition, the researcher identified the most commonly used models in gamification, respectively: the ARCS model and the user-based design model. Based on the results of the analysis and using the descriptive approach, the researcher presented a practical perc

يعد الاهتمام بأصحاب الهمم مطلب ديني لجميع الأديان ومطلب اجتماعي لانهم جزء أساسي من المجتمع ينبغي ان يحصلوا على فرصتهم وحقوقهم كباقي افراد المجتمع، فضلا عن كونه مطلب تربوي، إذ يعاني التلاميذ أصحاب الهمم من مشكلات عديدة وذلك لا سباب ترجع لخصائصهم وصفاتهم الخاصة التي ولدوا بها أو اكتسبوها بعد الولادة لسبب من الأسباب، لذا نجدهم يعانون من صعوبات في اكتساب المهارات والخبرات الحياتية بصورة عامة والتعليمية بصورة

Abstract

The aim of the research is to clarify the requirements of the qualification of the external auditor in Iraq and the extent of their impact on the quality of the professional performance of the audit process. The research was based on analyzing the results of the questionnaire prepared for the impact of qualifications on the quality of professional performance. The researcher has reached a number of conclusions, the most important of which is that a highly qualified and unethical auditor has a greater negative impact on the quality of professional performance than those with low qualifications. The most important recommendations of the research were the need to pay

Appearance of the Kurdish press in the Kurdish literature was affected by as set of both external and internal factors. The former was realized in the spreading of press and publications especially at the neighboring countries in the second half of the 19^th century. The latter factors, external ones ,were concerned the political situations undergone by the Kurdish people who severely suffered injustice practiced by the Othman authority .All these reasons had driven the educated to migrate to search for more safe places to practice their cultural actions with absolute freedom. Consequently, the first newspaper was issued on 22/4/1898 in Cairo which pointed the birth of the Kurdish press inside and outside Kurdistan region which