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Robust Computed Torque Control for Uncertain Robotic Manipulatorss
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This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem.  The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.

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Publication Date
Tue Feb 05 2019
Journal Name
Journal Of The College Of Education For Women
Dilemmas in teaching human rights and democracy between the current reality and the difficulties in seeking to spread a culture of human rights
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In the age of information and communication revolution, education as one of life aspects has influenced with that revolution by integrating technology in education, which have become as an important learning tools of the whole educational process . Technology, when used appropriately, can help make science classroom a site of active learning and critical thinking, furthering student inquiry and connections with different materials. It is necessary to develop human rights education programs and materials for discretionary and extracurricular activities as it provide them with the skills and tools so that they are empowered to take action to realize their rights. Human rights education is a critical means of instilling the knowledge، skil

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Publication Date
Sat Feb 09 2019
Journal Name
Journal Of The College Of Education For Women
Dilemmas in teaching human rights and democracy between the current realityand the difficulties in seeking to spread a culture of human rights
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In the age of information and communication revolution, education as one of life
aspects has influenced with that revolution by integrating technology in education, which
have become as an important learning tools of the whole educational process . Technology,
when used appropriately, can help make science classroom a site of active learning and
critical thinking, furthering student inquiry and connections with different materials. It is
necessary to develop human rights education programs and materials for discretionary and
extracurricular activities as it provide them with the skills and tools so that they are
empowered to take action to realize their rights. Human rights education is a critical means of
instill

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Publication Date
Sun Jul 30 2023
Journal Name
Iraqi Journal Of Science
An Overview of Robust Video Watermarking Techniques
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     Copyright hacking and piracy have increased as the Internet has grown in popularity and access to multimedia material has increased. Security, property protection, and authentication have all been achieved via watermarking techniques. This paper presents a summary of some recent efforts on video watermarking techniques, with an emphasis on studies from 2018 to 2022, as well as the various approaches, achievements, and attacks utilized as testing measures against these watermarking systems. According to the findings of this study, frequency-domain watermarking techniques are more popular and reliable than spatial domain watermarking approaches. Hybrid DCT and DWT are the two most used techniques and achieve good results in the fi

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Publication Date
Wed Jun 27 2018
Journal Name
Iraqi Journal Of Science
Robust and Efficient Dynamic Stream Cipher Cryptosystem
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In this paper a new technique based on dynamic stream cipher algorithm is introduced. The mathematical model of dynamic stream cipher algorithm is based on the idea of changing the structure of the combined Linear Feedback Shift Registers (LFSR's) with each change in basic and message keys to get more complicated encryption algorithm, and this is done by use a bank of LFSR's stored in protected file and we select a collection of LFSR's randomly that are used in algorithm to generate the encryption (decryption) key.

We implement Basic Efficient Criteria on the suggested Key Generator (KG) to test the output key results. The results of applying BEC prove the robustness and efficiency of the proposed stream cipher cryptosystem.

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Publication Date
Sun Jul 02 2006
Journal Name
Journal Of Educational And Psychological Researches
التحكم الذاتي عند طلبة الجامعة وعلاقته بمستوى الطموح
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مشكلة البحث وأهمية:-

أن بناء الشخصية القادرة على التفاعل والتأثير في معطيات الحضارة ، والتقدم في مسالكها المتطورة ، بات هدفا لكل مجتمع يريد الوصول إلى مصاف الدول المتقدمة
(رسول ، 1984، ص7) وبالأخص في مجتمعنا الذي يمتلك مقومات المجتمعات المتحضرة ، فظهر الاهتمام بالدوافع التي تدفع الأفراد نحو مزيد من العطاء والإنجاز وتساعد في بناء شخصية قوية قادرة على تحقيق ما تصبو أليه من أهداف وطموحات ، ومتمتعة

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Publication Date
Sat Dec 28 2019
Journal Name
Journal Of Mechanics Of Continua And Mathematical Sciences
NEW ROBUST ESTIMATOR OF CHANGE POINT IN SEGMENTED REGRESSION MODEL FOR BED-LOAD OF RIVERS
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Publication Date
Thu Feb 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
Comparison Some Robust Estimators for Estimate parameters logistic regression model to Binary Response – using simulation)).
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 The logistic regression model of the most important regression models a non-linear which aim getting estimators have a high of efficiency, taking character more advanced in the process of statistical analysis for being a models appropriate form of Binary Data.                                                          

Among the problems that appear as a result of the use of some statistical methods I

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Publication Date
Tue Oct 13 2020
Journal Name
2020 Ieee International Conference On Mechatronics And Automation (icma)
A Robust Multi-Channel EEG Signals Preprocessing Method for Enhanced Upper Extremity Motor Imagery Decoding
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Publication Date
Mon Oct 15 2018
Journal Name
Arab Science Heritage Journal
قضايا قضايا المرأة في ظل لائحة حقوق الانسان
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Women are a social entity and can not be ignored starting from the process of creation Almighty and through the fact that it represents half of society and a fundamental factor and the corner can not be dispensed with in the composition of the family it is no longer acceptable to leave women to perform their role social and cultural or competitive and political role and in all aspects of political activity, It was not only women but the entire society lived loss, anxiety and oppression, a natural state created by deviation from the teachings and values of civil and followers of the corrupt positions in perception and conscience and behavior and links and relations and transactions until corruption became prevalent in all Social, economic

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Publication Date
Sun Jan 02 2005
Journal Name
Political Sciences Journal
لمحة عن حالة حقوق الانسان في كوردستان العراق
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لمحة عن حالة حقوق الانسان في كوردستان العراق

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