Kinematics is the mechanics branch which dealswith the movement of the bodies without taking the force into account. In robots, the forward kinematics and inverse kinematics are important in determining the position and orientation of the end-effector to perform multi-tasks. This paper presented the inverse kinematics analysis for a 5 DOF robotic arm using the robotics toolbox of MATLAB and the Denavit-Hartenberg (D-H) parameters were used to represent the links and joints of the robotic arm. A geometric approach was used in the inverse kinematics solution to determine the joints angles of the robotic arm and the path of the robotic arm was divided into successive lines to accomplish the required tasks of the robotic arm.Therefore, this

           In this paper, the homotopy perturbation method (HPM) is presented for treating a linear system of second-kind mixed Volterra-Fredholm integral equations. The method is based on constructing the series whose summation is the solution of the considered system. Convergence of constructed series is discussed and its proof is given; also, the error estimation is obtained. Algorithm is suggested and applied on several examples and the results are computed by using MATLAB (R2015a). To show the accuracy of the results and the effectiveness of the method, the approximate solutions of some examples are compared with the exact solution by computing the absolute errors.

In this paper,the homtopy perturbation method (HPM) was applied to obtain the approximate solutions of the fractional order integro-differential equations . The fractional order derivatives and fractional order integral are described in the Caputo and Riemann-Liouville sense respectively. We can easily obtain the solution from convergent the infinite series of HPM . A theorem for convergence and error estimates of the HPM for solving fractional order integro-differential equations was given. Moreover, numerical results show that our theoretical analysis are accurate and the HPM can be considered as a powerful method for solving fractional order integro-diffrential equations.

In this paper we use Bernstein polynomials for deriving the modified Simpson's 3/8 , and the composite modified Simpson's 3/8 to solve one dimensional linear Volterra integral equations of the second kind , and we find that the solution computed by this procedure is very close to exact solution.

Accurate and simple techniques for measurement of fluid rheological properties are important for field operations in the oil industry. Marsh Funnels are popular qualitycontrol tools used in the field for drilling fluids and they offer a simple, practical alternative to viscosity measurement. In the normal measurements, a single point (drainage time) is used to determine an average viscosity; little additional information is extracted regarding the non-Newtonian behavior of the fluid. Here, a new model is developed and used to determine the rheological properties of drilling muds and other non-Newtonian fluids using data of fluid density and drainage time collected from a Marsh Funnel as a function of viscosity. The funnel results for viscos

Accurate and simple techniques for measurement of fluid rheological properties are important for field operations in the oil industry. Marsh Funnels are popular quality-control tools used in the field for drilling fluids and they offer a simple, practical alternative to viscosity measurement. In the normal measurements, a single point (drainage time) is used to determine an average viscosity; little additional information is extracted regarding the non-Newtonian behavior of the fluid.
Here, a new model is developed and used to determine the rheological properties of drilling muds and other non-Newtonian fluids using data of fluid density and drainage time collected from a Marsh Funnel as a function of viscosity. The funnel results for

الاستثمار الاجنبي المباشر في العراق ودوره في تحقيق التنمية الاقتصادية

Recently, Qatar, a well-known oil production country, has been convinced as a successful case in attracting foreign direct investment (FDI) as a smaller economy. This paper aims to investigate how FDI inflows affect Qatar’s business cycles. Time series data was selected from 1990 to 2010 as available. The VAR Impulse Responses and the Granger Causality test were mainly employed by using Eviews. The derived result shows that the FDI inflows and the economic growth in Qatar interact with each other in a relatively long term.