The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The contr
The aim of this study was to Identifying The Effect of using Linear programming and Branching programming by computer in Learning and Retention of movement concatenation(Linkwork) in parallel bars in Artistic Gymnastics. The searchers have used the experimental method. The search subject of this article has been taken (30) male - students in the second class from the College of Physical Education/University of Baghdad divided into three groups; the first group applied linear programming by computer, and the second group has been applicated branching programming by computer, while precision group used traditional method in the college. The researchers concluded the results by using the statistical bag for social sciences (spss) such as both
... Show MoreHigh frequency (HF) communications have an important role in long distances wireless communications. This frequency band is more important than VHF and UHF, as HF frequencies can cut longer distance with a single hopping. It has a low operation cost because it offers over-the-horizon communications without repeaters, therefore it can be used as a backup for satellite communications in emergency conditions. One of the main problems in HF communications is the prediction of the propagation direction and the frequency of optimum transmission (FOT) that must be used at a certain time. This paper introduces a new technique based on Oblique Ionosonde Station (OIS) to overcome this problem with a low cost and an easier way. This technique uses the
... Show MoreBack ground : Fever is a common medical problem in children. parents have been shown unrealistic fears of harmful effects of fever in their children. Resulting in inappropriate management of fever in their children. Objective: the objective of this study was to survey parents about their knowledge andattitude concerning fever in their children. Methods : The study involved random selection of parents who brought their febrile children to emergency department or out-patient clinics of five teaching and non teaching hospitals in Baghdad from first of October to end of December 2002. Parents of 400 febrile children were interviewed using a standard questionnaire to obtain sociodemographic information and current knowledge of fever. Results: Ap
... Show Moreالملخص: لتحقيق أهداف البحث قامت الباحثتان ببناء مقياس للتفكك الاسري اعتمادا على نظرية (باندورا) وتكون بصورته النهائية من (24) فقرة ، وطبق المقياس على عينة البحث البالغة (150) تلميذ وتلميذة تم اختيارهم بالطريقة العشوائية البسيطة من مجتمع البحث ،وبعد جمع البيانات تم معالجتها باستعمال الوسائل الإحصائية منها الاختبار التائي، وتحليل التباين الرباعي والاختبار الفائي، وتوصل البحث الى النتائج الأتية :ان أفراد عينة ال
... Show MoreThe Planning and Resource Development Department of the Iraqi Ministry of Health is very interested in improving medical care, health education, and village training programs. Accordingly, and through the available capabilities of the ministry, itdesires to allocate seven health centers to four villages in Baghdad, Iraq therefore the ministry needs to determine the number of health centers allocated to each of these villages which achieves the greatest degree of the overall effectiveness of the seven health centers in a fuzzy environment. The objective of this study is to use a fuzzy dynamic programming(DP) method to determine the optimal allocation of these centers, which allows the greatest overall effectiveness of these health centers
... Show MoreThe stress(Y) – strength(X) model reliability Bayesian estimation which defines life of a component with strength X and stress Y (the component fails if and only if at any time the applied stress is greater than its strength) has been studied, then the reliability; R=P(Y<X), can be considered as a measure of the component performance. In this paper, a Bayesian analysis has been considered for R when the two variables X and Y are independent Weibull random variables with common parameter α in order to study the effect of each of the two different scale parameters β and λ; respectively, using three different [weighted, quadratic and entropy] loss functions under two different prior functions [Gamma and extension of Jeffery
... Show MoreBackground: Interleukine-2 is a multifunctional cytokine, considered a central regulator of host resistance against a variety of pathogens and has been recently demonstrated to exert an active role in the pathogenesis of periodontal diseases. The purpose of this study was to evaluate the effect of scaling and root planning on level of IL-2 in serum and saliva of patients with chronic generalized periodontitis, in relation to clinical parameters. Materials and Methods: A total of 50 subjects were enrolled, of which 25 had chronic generalized periodontitis and 25 periodontally healthy subjects as control. The clinical parameters included: gingival index, pocket probing depth, clinical attachment level and bleeding on probing. The level of
... Show MoreIn this article, the solvability of some proposal types of the multi-fractional integro-partial differential system has been discussed in details by using the concept of abstract Cauchy problem and certain semigroup operators and some necessary and sufficient conditions.
Enzyme activity were studied in the sera of children with leukemia than healthy children, where 31 cases were studied, including 21 cases of patients with acute lymphatic leukemia
The liability limit liability limit and reinsurance re factors insurance are important in influencing the achievement of company's competitive goals and achieve success and excellence in the market and because the limit of liability and reinsurance aimed to increase output with the stability of inputs leading to increased insurance business and increase profits. The study was based on two variables presidents interact with each other to form the intellectual and philosophical framework has two ( the limit of liability and reinsurance ) . The study was launched from a problem expressed by a number of targeted questions answered from the elucidation of theoretical philosophy and intellectual goals of these variables and highlight the impor
... Show MoreAnthropogenic climate change has essentially affected the characteristics of the thermal seasons, hence the overall ecosystems, and human health. The characteristics of the thermal seasons in Iraq, and how they change are still unclear. This research has been conducted to: (1) evaluate the spatial characteristics of summer season in Iraq over the period (1960-2021). (2) Estimating changes in the length and timing (onset and end) of summer in Iraq using the Mann-Kendall test (MK) and Sen's slope estimator. The findings indicated that there are significant spatial differences in the average length of the summer season in Iraq. The difference reaching more than 30 days between northern and southern Iraq, It is longer in the south. Results o
... Show MoreOperated Alandziahih "drift theory" as a science talk in most of the cash and technical studies in the early twentieth century, making him and the sciences, arts and culture both fields of experiences, in an attempt to explore the institutions that theory, a number of laws which took control in the internal structures of those acts, resulting in for those institutions to be actively contribute their ideas to guide the pace on the right track. And thus lay the foundations of this theory, which was a big affair in the early twentieth century and still vigorous pace to this day, particularly their applications in various fields of the arts.Although each type of Arts, both in the composition or the theater or means of communication, took joi
... Show Moreيهدف هذا البحث إلى دراسة أنواع الاساءة الواقعة على الاطفال في مجتمع دولة الامارات وتحديدا في امارتي دبي والشارقة حيث سلطت الضوء على عينة قصدية تتكون من 22 طفل وطفلة استدعت الاساءة الواقعة عليهم ايواءهم في دور الايواء التابعة لمؤسسة رعاية الاطفال والنساء في دبي ودار الرعاية الاجتماعية التابعة لدائرة الخدمات الاجتماعية في الشارقة. وقد استخدم الباحثان المنهج النوعي وتحديدا منهج دارسة الحالة عن طريق الدارسة ا
... Show Moreتناول البحث دراسة الخصائص البشرية التي تؤثر على كفاءة الخدمات المجتمعية في مدن قضاء المدائن لسنه 2022 من اجل الكشف عن واقع التوزيع المكاني للخدمات المجتمعية (التعليمية ،صحية ،ترفيهية) جاءت هذه الدراسة نتيجة زيادة متطلبات السكان في منطقة الدراسة لهذه الخدمات من اجل معرفة مكامن القوة والضعف ومدى ملائمة توزيع وتوفر هذه الخدمات في منطقة الدراسة حيث تناول البحث دراسة اهم العوامل البشرية التي تؤثر على كفاءة هذه
... Show MoreAstronomy image is regarded main source of information to discover outer space, therefore to know the basic contain for galaxy (Milky way), it was classified using Variable Precision Rough Sets technique to determine the different region within galaxy according different color in the image. From classified image we can determined the percentage for each class and then what is the percentage mean. In this technique a good classified image result and faster time required to done the classification process.
Automated clinical decision support system (CDSS) acts as new paradigm in medical services today. CDSSs are utilized to increment specialists (doctors) in their perplexing decision-making. Along these lines, a reasonable decision support system is built up dependent on doctors' knowledge and data mining derivation framework so as to help with the interest the board in the medical care gracefully to control the Corona Virus Disease (COVID-19) virus pandemic and, generally, to determine the class of infection and to provide a suitable protocol treatment depending on the symptoms of patient. Firstly, it needs to determine the three early symptoms of COVID-19 pandemic criteria (fever, tiredness, dry cough and breat
... Show MoreAllah legislated marriage and made it dwelling, fellowship and mercy between
the two couples, Prophet Moh'd (peace of Allah and blessing be upon him) ordered a
husband to look after his wife, treat her with full charity and make love with here
every kindly. On the other hand, he ordered a wife to obey her husband and respect
him deeply, nevertheless, some obstacles may sometimes be appeared within the life
of their marriage, this may be caused by either a husband or a wife. This problem is
called lifely disobedience (AL-Noshooz).
In the other words, this means that a wife begins to hate her husband, refuse his orders
and not obey him.
In brief, they hate each other which leads to some marks appear in their
m
Cognitive radio technology is used to improve spectrum efficiency by having the cognitive radios act as secondary users to access primary frequency bands when they are not currently being used. In general conditions, cognitive secondary users are mobile nodes powered by battery and consuming power is one of the most important problem that facing cognitive networks; therefore, the power consumption is considered as a main constraint. In this paper, we study the performance of cognitive radio networks considering the sensing parameters as well as power constraint. The power constraint is integrated into the objective function named power efficiency which is a combination of the main system parameters of the cognitive network. We prove the exi
... Show MoreThis work is based on the synthesis of Cobalt(II) and Cadmium(II) mixed-ligands compounds obtained from the reaction of N'-(4-methylsulfanyl-benzoyl)-hydrazine carbodithioic acid methyl ester as a ligand and using ethylendiamine (en), 2,2'-bipyridine (bipy) or 1,10-phenanthroline (phen) as a co-ligand. The synthesis of ligand (HL) was based on multi-steps synthetic procedure. The reaction of 4-methylsulfanyl-benzoyl chloride with hydrazine gave 4-methylsulfanyl-benzoic acid hydrazide. This compound was reacted with carbon disulfide and potassium hydroxide in methanol to yield N'-(4-methylsulfanylbenzoyl)-hydrazine potassium thiocarbamate, which upon reaction with methyl iodide resulted in the formation of the ligand. A range of physico-chem
... Show MoreIncreasing demands on producing environmentally friendly products are becoming a driving force for designing highly active catalysts. Thus, surfaces that efficiently catalyse the nitrogen reduction reactions are greatly sought in moderating air-pollutant emissions. This contribution aims to computationally investigate the hydrodenitrogenation (HDN) networks of pyridine over the γ-Mo2N(111) surface using a density functional theory (DFT) approach. Various adsorption configurations have been considered for the molecularly adsorbed pyridine. Findings indicate that pyridine can be adsorbed via side-on and end-on modes in six geometries in which one adsorption site is revealed to have the lowest adsorption energy (–45.3 kcal/mol). Over a nitr
... Show MoreStudy of group action of stone columns using FEM
t-Self-Compacting Concrete (SCC) reduces environmental noise and has more workability. This research presents an investigation of the behavior of SCC under mechanical loading (impact loading). Two types of cement have been used to produce SCC mixtures, Ordinary Portland Cement (OPC) and Portland Limestone Cement (PLC), which reduces the emission of carbon dioxide during the manufacturing process. The mixes were reinforced with Carbon Fiber Reinforced Polymer (CFRP) which is usually used to improve the seismic performance of masonry walls, to replace lost steel reinforcements, or to increase column strength and ductility. Workability tests were carried out for fresh SCC. Prepared concrete slabs of 500×500×50mm were tested for lo
... Show Moreتعد الأمثال الشعبية مرآة عاكسة لثقافة الشعوب، وتقوم باختصار الكثير من الأحداث في كلمات قليلة، وتُساعد في تقريب المعنى من النفس وتثبته في العقل، كما لها دورٌ هام في الحفاظ على هوية المجتمع كونها تمثّل التراث الإنساني الطويل، وهي كذلك مستودعاً للعادات والتقاليد الاجتماعية، وتحمل خلاصة التجارب الاجتماعية. كما تختزل العديد من الخبرات الإنسانية، وتقدمها للآخرين بجمل جاهزة لكي يأخذوا منها العبرة، لهذا فإنّ أ
... Show Moreمدينة بعقوبة واحدة من مدن محافظة ديالى التي تتميز بتركز الأنشطة الحضرية وتتوزع بأشكال وأنماط متنوعة، وقد رافق هذا التطور في الأنشطة الحضرية وتركزها داخل المدينة بروز ظاهرة اقتصاديات الظل (الأكشاك، الجنابر، البسطيات) التي أصبحت متواجدة ومنشرة في أغلب مواقع المدينة وبدرجة كبيرة فتنوعت أصنافها وتعددت وزادت أحجامها وأحتلت أماكن غير مخصصة لها وسيطرت على أرصفة الشوارع وجزء من نهر الشارع والأماكن الفارغة وأنتش
... Show Moreبأجماع كل المترجمين والباحثين هنالك صعوبات كثيرة تواجه المترجم وفي مقدمتها ترجمة الإحالات الثقافية فلا يكفي أتقان المترجم لغة المصدر ولغة الهدف والتعرف على خبايا اللغتين بل يجب عدم التوقف عند ذلك فحسب بل من المهم التعرف على ثقافة الشعبين (ثقافة المصدر والهدف) بغية الحصول على ترجمة مقبولة. تهدف هذه الدراسة إلى بيان الإستراتيجيات المستخدمة في نقل اسماء الأعلام عند الترجمة. رواية الشتاء٨٤ لسماعيل فصيح والذي
... Show Moreهدفت الدراسة للكشف عن دور برامج التأهيـل النفـسي في إعادة الدمج المجتمعي لأصحاب الهمم، وتناول الأثر المتنامي الذي تحدثه في إعادة دمج (أصحاب الهمم)، وتأثير ذلك على الحالة النفسية لأصحاب الهمم، وتعاظم مستويات ودمجهم في المجتمع.
وتم إجراء دراسة تطبيقية في مؤسسة زايد العليا لأصحاب الهمم بأبو ظبي واستطلاع آراء المستفيدين حول برامج إعادة التأهيل النفسي بالمؤسسة، باستخدام منهج المسح الاجتماعي عبر مقابلات شخ
... Show MoreTo determine the relationship between celiac disease and reproductive complication, twenty five women with clinically definite unexplained infertility aged (22-35) have been investigated and compared to fifteen apparently healthy women. All the studied groups were subjected to measurement of anti-tissue transglutaminase antibodies IgA and IgG by ELISA technique and anti-endomysial antibodies IgA and IgG by IFAT technique .There was a highly significant elevation (P< 0.01) in the concentration of anti- tTG IgA Abs compared to control group, Also, there was significant elevation (P< 0.05) in the concentration of anti- tTG IgG Abs compared to control group .The results illustrated that the prevalence of anti-EMA IgA and IgG Abs were (
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