The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position.
In this paper, we introduce a new type of functions in bitopological spaces, namely, (1,2)*-proper functions. Also, we study the basic properties and characterizations of these functions . One of the most important of equivalent definitions to the (1,2)*-proper functions is given by using (1,2)*-cluster points of filters . Moreover we define and study (1,2)*-perfect functions and (1,2)*-compact functions in bitopological spaces and we study the relation between (1,2)*-proper functions and each of (1,2)*-closed functions , (1,2)*-perfect functions and (1,2)*-compact functions and we give an example when the converse may not be true .
Soft closure spaces are a new structure that was introduced very recently. These new spaces are based on the notion of soft closure operators. This work aims to provide applications of soft closure operators. We introduce the concept of soft continuous mappings and soft closed (resp. open) mappings, support them with examples, and investigate some of their properties.
تهدف هذه الدراسة للتعرف على السياسات اإلاسرائيلية المتبعة على الارض والمتمثلة في االاستيطان
الاستعماري والطرق التفافية، ومصادرة الاراضي وجدار الضم والتوسع العنصري، بالاضافة إلى التصنيف
الاداري للمناطق في الضفة الغربية حسب ما جاء في اتفاقية أوسلو، والتي من شأنها التأثير على تلك
المناطق، وال سيما قطاع اإلسكان الذي يعد من أهم القطاعات التي تتر كب وبالتحديد في منطقة الدراسة،
وسوف تحاول هذه الدراسة تس
Let R be a commutative ring with identity and E be a unitary left R – module .We introduce and study the concept Weak Pseudo – 2 – Absorbing submodules as generalization of weakle – 2 – Absorbing submodules , where a proper submodule A of an R – module E is called Weak Pseudo – 2 – Absorbing if 0 ≠rsx A for r, s R , x E , implies that rx A + soc ( E ) or sx A + soc (E) or rs [ A + soc ( E ) E ]. Many basic properties, char
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Typological analysis about the negation marker in different languages is one of the fields of research that has attracted much attention. In Persian language, this constituent has been analysed from different aspects. This study aimed to analyse different aspects of negation marker in the adjectives, the noun phrases and the verb phrases based on typological analysis. Many studies have been revealed that the negation in adjectives has shown lexically and morphologically. In the noun phrases, /hich/ has used as a negative marker necessarily marking the verb phrase as negative too. In the verb phrases, negation occurs morphologically by the addition of the prefix /n
... Show MoreThe main idea of this research is to consider fibrewise pairwise versions of the more important separation axioms of ordinary bitopology named fibrewise pairwise - spaces, fibrewise pairwise - spaces, fibrewise pairwise - spaces, fibrewise pairwise -Hausdorff spaces, fibrewise pairwise functionally -Hausdorff spaces, fibrewise pairwise -regular spaces, fibrewise pairwise completely -regular spaces, fibrewise pairwise -normal spaces and fibrewise pairwise functionally -normal spaces. In addition we offer some results concerning it.
The primary purpose of this subject is to define new games in ideal spaces via set. The relationships between games that provided and the winning and losing strategy for any player were elucidated.
The primary objective of this paper is to introduce a new concept of fibrewise topological spaces on D is named fibrewise multi- topological spaces on D. Also, we entroduce the concepts of multi-proper, fibrewise multi-compact, fibrewise locally multi-compact spaces, Moreover, we study relationships between fibrewise multi-compact (resp., locally multi-compac) space and some fibrewise multi-separation axioms.
The aim of this research is to study some types of fibrewise fuzzy topological spaces. The six major goals are explored in this thesis. The very first goal, introduce and study the notions types of fibrewise topological spaces, namely fibrewise fuzzy j-topological spaces, Also, we introduce the concepts of fibrewise j-closed fuzzy topological spaces, fibrewise j-open fuzzy topological spaces, fibrewise locally sliceable fuzzy j-topological spaces and fibrewise locally sectionable fuzzy j-topological spaces. Furthermore, we state and prove several Theorems concerning these concepts, where j={δ,θ,α,p,s,b,β} The second goal is to introduce weak and strong forms of fibrewise fuzzy ω-topological spaces, namely the fibrewise fuz
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