In this paper, the human robotic leg which can be represented mathematically by single input-single output (SISO) nonlinear differential model with one degree of freedom, is analyzed and then a simple hybrid neural fuzzy controller is designed to improve the performance of this human robotic leg model. This controller consists from SISO fuzzy proportional derivative (FPD) controller with nine rules summing with single node neural integral derivative (NID) controller with nonlinear function. The Matlab simulation results for nonlinear robotic leg model with the suggested controller showed that the efficiency of this controller when compared with the results of the leg model that is controlled by PI+2D, PD+NID, and FPD-ID controllers.
ان الهدف من البحث الحالي هو تقويم كتاب الفيزياء للصف الرابع العلمي وفق معايير تصميم وانتاج الانفوجرافيك ومن اجل تحقيق هذا الهدف تم اختيار المنهج الوصفي(تحليل المحتوى) وحدد مجتمع البحث بكتاب الفيزياء للمرحلة الاعدادية الرابع العلمي, المقررة للعام الدراسي 2020-2019 ـ اما عينة البحث فكانت جميع الرسوم والاشكال والمخططات المتضمنة في هذا الكتاب. تم اعداد اداة التحليل المتمثلة بقائمة معايير تصميم وانتاج الانفوجرافيك
... Show Moreان الهدف من هذا البحث هو تحليل كتاب الفيزياء للصف الخامس العلمي للمرحلة الاعدادية في ضوء معايير تصميم وانتاج الانفوجرافيك. ويتم التحقق من هدف البحث من خلال الاجابة عن الاسئلة الاتية: ما هي المعايير التي يمكن في ضوئها تقويم كتاب الفيزياءلصف الخامس العلمي؟ ما النسبة الواجب توافرها لمعايير تصميم وانتاج الانفوجرافيك في كتاب الفيزياء لصف الخامس العلمي؟ ما مدى توفر معايير تصميم وانتاج الانفوجرافيك في كتاب الفيزي
... Show MoreIncreasing interest in planning at the level of government units as a means to manage the physical and human resources, direct and invest in areas that would include an increase in the economies of the general government units that are part of the general economics of the state.The research problem lies in the introduction of the factors influencing the ongoing expenses that adversely affect the financial planning process at the level of the Ministry of Health Planning, which affects the quality of services provided to citizens, so I sought the researchers to study the reality of financial planning in some of the Ministry of Health and health departments through the analysis of current budgets and diagnose deviations in the implementatio
... Show MoreIn this paper, new concepts which are called: left derivations and generalized left derivations in nearrings have been defined. Furthermore, the commutativity of the 3-prime near-ring which involves some
algebraic identities on generalized left derivation has been studied.
מבוא
אין איזה סוג מן הספק ש החוקרים התמזג ו בתאריכי החברות הישנות מצדדים שונים ,
פוליטיים, חברתיים או מחשבתיים. שהספרות נחשב ת אחת תעודותיה של הידיעה
החשובות ביותר שתאפשר להישען עליה ולשאוב את הידיעות ליצירות הגנוז ות בחברה
מהחברות שיהיה קשה לפעמים רבים לדעת אות ן מתוך מקורותיה של הידיעה לפי
הכתיבות הפוליטיות,החברתיות,פולסופיות וכ.... (1)
הסופר הוא צורתה של החברה , הנושאים שלו הם הבעות והרגשות עצמיות ו
The significance of interpretation for linguists varied , and its methods varied between appreciations, deletion, understanding the meaning
Prophecy in general, and Muhammadism in particular, can not seem to go away from life, or lag behind it, because it was originally for reform. It can not succeed in achieving this reform. It has grown away from it, and its conditions have not caused it to vary and diversify. These conditions, from its origin to its tranquility, its stillness and its movements, are based on a wise divine workmanship and a strict divine planning that suits the performance of this personality
ان العقد – في تكوينه – عبارة عن اتفاق ارادتين من اجل احداث اثر قانوني معين ، بيد ان العقد نفسه – في آثاره – يخضع لمجموع الالتزامات التي تشكلت طبقاً لما انصرفت اليه ارادة طرفيه ، فضلاً عمّا تيسّر من احكام اخرى فرضها المشرع او العرف او العدالة او مبادئ حسن النية .
This study was carried out to investigate the preparation of thermosetting polymeric blend consisting of three adhesive types, namely: epoxy, polyvinyl formal (PVF) and unsaturated polyester. Both of epoxy and PVF were used as a matrix-binder at fixed weight. Whilst unsaturated polyester was used at different weights and added to the matrix so as to produce prepared epoxy-PVF-unsaturated polyester blend. Several experiments were performed at different operating conditions, mixing speed and time at room temperature to identify the most favorable operating conditions. The optimum mixing speed and mixing time for the prepared blend were 500rpm and 5 minutes respectively.
Solid wastes-synthetic sack fib
... Show MoreInsurance companies seeking to develop programs to promote and market their services and to increase its customer through the use of modern technical marketing and reduce its dependence on agents and take advantage of work of the banks by alliances with them and including reinforcing get the parties to competitive advantages in the financial market , the insurance services intangible service stops marketed over the insurance awareness and requires exceptional promotional efforts. &nbs
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