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 existing investigation explains the consequence of irradiation of red laser on the optic properties of (CoO2) films. The film was equipped by the utilization of semi-computerized spray pyrolysis technique (SCSPT), it is the first time that this technique is used in the preparation and irradiation using a laser in this technique. From the XRD analysis, the crystalline existence with trigonal crystal system was when the received films were processed by continuous red laser (700 nm) with power (>1000mW)for different laser irradiation time using different number of times a laser scan (0, 6, 9, 12, 15 and 18 times) with total irradiation time(0,30,45,60,75,90 mi
Iraqi EFL teachers face problems in teaching “English for Iraq Series” for primary public school pupils. In this paper, the researchers are going to identify the main problems faced by our teachers and try to find solutions to these problems. To achieve the aim of the study, list of questions asked and from teachers’ responses, the researchers have got an idea about the main problems which are related to textbook material, parents, learners, environment and technology. Therefore, the researchers adapted a questionnaire to achieve the purpose of the study with some changes and modifications. This questionnaire with five point scale (strongly agree, agree, undecided, disagree, strongly disagree). To achieve face validity, the
... Show MoreThis review sums up the developments in the biological activity of tetrazole active derivatives in recent days. Some of the deliberated derivatives of tetrazole are at present actively scientifically studied; some of them have biological activity that enables them to be studied further in the future as a drug for various biological activities. This review seeks to offer a comprehensive analysis of the efficacy and clinical advantage of biological activity for tetrazole derivatives.
Dans la langue française, une forme d'auxiliarité, composée de deux éléments cohérents l'auxiliant et l'auxilié, fournit, en effet, à la phrase une diversité significative et structurale. L'auxiliarité, renvoie à l'unification de deux éléments grammaticaux afin de localiser l'énoncé sur l'axe du temps, d'aspect ou de mode. É. Benveniste définit l'auxiliarité en : « Il s'agit d'une forme linguistique unitaire qui se réalise, à travers des paradigmes entiers, en deux éléments, dont chacun assume une partie des fonctions grammaticales, et qui sont à la fois liés et autonomes, distincts et complémentaires »[1]. Ces deux éléments d'auxiliarité possèden
... Show MoreLet R be a commutative ring with identity 1 ¹ 0, and let M be a unitary left module over R. A submodule N of an R-module M is called essential, if whenever N ⋂ L = (0), then L = (0) for every submodule L of M. In this case, we write N ≤e M. An R-module M is called extending, if every submodule of M is an essential in a direct summand of M. A submodule N of an R-module M is called semi-essential (denoted by N ≤sem M), if N ∩ P ≠ (0) for each nonzero prime submodule P of M. The main purpose of this work is to determine and study two new concepts (up to our knowledge) which are St-closed submodules and semi-extending modules. St-closed submodules is contained properly in the class of closed submodules, where a submodule N of
... Show MoreIn this work the concept of semi-generalized regular topological space was introduced and studied via semi generalized open sets. Many properties and results was investigated and studied, also it was shown that the quotient space of semi-generalized regular topological space is not, in general semi-generalizedspace.
The current research aims to find out the extent to which students of the Faculty of Education for Pure Sciences\/Ibn al-Haitham have owned laboratory academic skills, the researcher adopted a descriptive research approach to conform to the goal of the research, the research sample the consisted of 140 students from the Department of Chemistry Phase II, The research tool, which consisted of a measure of laboratory academic skills, which consisted of seven skills and consisted of 28 paragraphs (four paragraphs per field), was prepared and the pent-up scale was chosen because the selected sample were university students, and the results showed the ownership of students' skills of laboratory academic skills other than skill The use of the libr
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