This paper presents a comparative study of two learning algorithms for the nonlinear PID neural trajectory tracking controller for mobile robot in order to follow a pre-defined path. As simple and fast tuning technique, genetic and particle swarm optimization algorithms are used to tune the nonlinear PID neural controller's parameters to find the best velocities control actions of the right wheel and left wheel for the real mobile robot. Polywog wavelet activation function is used in the structure of the nonlinear PID neural controller. Simulation results (Matlab) and experimental work (LabVIEW) show that the proposed nonlinear PID controller with PSO
learning algorithm is more effective and robust than genetic learning algorithm; thi

This study was conducted to determine the ability of water treatment system (Vortisand) to reduce some chemical and physical properties for tigris river raw water, It consisted of turbidity, electrical conductivity, pH, total hardness, calcium Hardness as well as temperature in order to determine the unit`s efficiency for reducing their concentration as compared to those in the water produced by some classical potable water projects (Dora and Wathba) in Baghdad. Samples were collected during the cold months (December 2016 and January 2017) and during the hot months (May and June 2017). The results showed that this system has the ability to reduce some properties such as turbidity, the values were 215NTU in raw water and decreased to NTU

This paper constructs a new linear operator associated with a seven parameters Mittag-Leffler function using the convolution technique. In addition, it investigates some significant second-order differential subordination properties with considerable sandwich results concerning that operator.

Abstract

     This paper tackles the theme of alienation as being a concurrent state of human being from birth to death; so extensive is the description of this state by writers. Alienation has been a product of their hard experiences and miserable lives. One such writer is Jean-Marie Gustave le Clézio who was so perfect in describing alienation in his works. Upon so many occasions, he imagined one or more of his characters as living in a chaotic world and so lived safely in alienation. The novel "Le Procès-Verbal" is one of the most important of his works. This paper deals with e the narrative structure of novel while shedding light on the hero's alienation: its essence and causes.

La literatura española nos  ofrece una serie muy extensa de poetas y escritoires ,precisamente en el prencipio del pasado, que tienen una influencia muy grande en cambiar el senedor de la idíologia común de entonces.Todos aquellos laboran para formar un hecho español puro que tiene sus carácteristicas nacionales peculiars utilizando el espíritu de los antecesores clasicistas mezclando con lo local modernizado.

El moviemiento literario español de posguerra ha visto un cambio muy transcendental al nivel de plantear los temas y la  técnica de formar el genero literario ,de forma que la poesίa ha ocupado un espacio muy significativo en ello ,dado que los poetas buscaban metedos creativos para atraer el público , siguiendo senedores que pudieran afectar de forma u otra en las mentes y sentimientos.

        En esta dirección ,Gabriel Celaya se resalta como voz que ha  traspasado el ánimo de dos promociones genericas que son la de 27 y la de 36, por lo cual podίa conllevar unas asencias muy basicas de la poesίa española que envuelven la precisión clásica y prodencia contemporanea, con

La vida literaria española ha visto unos cambios muy importantes después de la guerra civil (1936-1939), ya porque la sociedad se vio afectada mayoritariamente, de modo que la literatura de posguerra se ha concentrado en remontar el ánimo social español.

Blas de Otero (1916-1979) ⁽¹⁾ ha representado una señal muy singular e importante del movimiento poético de los años cuarenta y cincuenta. La poesía de Otero apuntaba el camino social realista de lo sufría su sociedad, en cuanto la dirección general de la literatura española se dirigía hacia lo aceptable en el entorno social.

El localismo en la poesía de Blas de Otero forma un grito social peculiar, de modo que se nota el acercamie

         Dans le romantisme et ses textes, il est important de mentionner qu'il n'existe  qu'un seul thème romantique qui est l'amour, mais assez pour avoir fait du XIXème siècle, une révolution du texte romantique. L'amour  consiste à la réduction de l'univers, à un seul être, puis la dilatation de ce seul être, voilà l'amour. cet amour passionnel n'est qu'un arrangement froid et réfléchi excluant d'emblée l'exaltation des sentiments. Néanmoins, cet amour passionnel peut être brutal. quant à la mort, dans le drame romantique, l'amour et la mort sont liés. Beaucoup d'histoires d'amour finissent le plus souvent par

A field experiment was conducted during the autumn of 2021 at the Agricultural Research Department station / Abu Ghraib to evaluate the soil moisture, water potential distribution, and growth factors of maize crops under alternating and constant partial drip irrigation methods. In the experiment, two irrigation systems were used, surface drip irrigation (DI) and subsurface irrigation (SD); under each irrigation system, five irrigation methods were: conventional irrigation (CI), and 75 and 50% of the amount of water of CI of each of the alternating partial irrigation APRI75 and APRI50 and the constant partial irrigation FPRI75 and FPRI50 respectively. The results showed that the water depth for conventional irrigation (C1) was 658.3

In this work, we are obviously interested in a general solution for the calculation of the image of a single bar in partially coherent illumination. The solution is based on the theory of Hopkins for the formation of images in optical instruments in which it was shown that for all practical cases, the illumination of the object may be considered as due to a self – luminous source placed at the exit pupil of the condenser , and the diffraction integral describing the intensity distribution in the image of a single bar – as an object with half – width (U0 = 8 ) and circular aperture geometry is viewed , which by suitable choice of the coherence parameters (S=0.25,1.0.4.0) can be fitted to the observed distribution in various types of mi