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.
The Battle of Kadesh is replete with many military arrangements that reflect the tremendous development of war preparations in the thirteenth century BC; where the expressive pictures the Egyptians left on some of the walls of their temples show the tremendous ability to organize and divide the forces and the great development that affected the war machine. Furthermore, the text accompanied these pictures reveal some news about that battle, which is considered one of the most important wars in the ancient world. Thus, the importance of the study lies in the fact that it examines one of the most important battles of the ancient Near East, the results of which had great repercussions on the region. This is because it is the most abundant B
... Show MoreTest anxiety for intermediate level The current study aims to measure the test anxiety of research’s sample and to identify the statistical differences of test anxiety, considering two variables gender and students classes level (first and third intermediate class). To do this, a stratified random sampling of (300) student from first and third intermediate classes had selected from both the karkh and Rusafa sides of Baghdad province for the academic year 2015-2016. The author tested the whole sample by using the test anxiety scale that had tested for its validity and reliability. The results revealed that the research’s sample as a whole was suffering from test anxiety, there were a statistical differences between male and female tha
... Show MoreTriticale is being evaluated as a substitute for corn in animal feed and as a forage crop for Florida. Storage of triticale seed is difficult in Florida's hot and humid climate, and more information about the relationships between equilibrium moisture content (EMC) and equilibrium relative humidity (ERH) at constant temperature (sorption isotherms) of triticale is needed to develop improved storage methods. Therefore, the primary research objective was to measure the EMC for triticale seed at different ERH values at three different constant temperatures (5°C, 23°C, and 35°C) using six desiccation jars containing different saturated salt concentrations. The secondary objective was to determine the best fit equation describing these relati
... Show MoreThe present study intends to trace The friendship in puple and the differences in this according to the variables of age and sex .
The study sample includes (200) puple in intermediate, and secondary schools in Baghdad in AL- Karkh .The sample is the age of whom is ranging from (13) to (15) years .
Maghly scale for measuring the development of friendship is adopted in this study after adjusting it to the Iraqi environment . The Scale consists of (40) items .
The face and construct validity of the Scale is checked as well as its reliability which is checked by test- retest
The study reveals the following :
1 – There is positive effect of the interaction between the of middle scale friendship .
2 – There is No differe
Autism is considered as one of the most developmental problems in the world that interfere with children growth and affect their social ,emotional and cognitive development child with autism used to be normal in his growth but in his development parents started to notice that their child characterize by loneliness and withdrawal himself from the surrounding world with some mannerism behaviors these characteristics used to be manifested children during the 1st three year of their life . It appears, one in every 500 birth (The American International Institution for child health 1997. and it would be less in females than makes at 1/4 percent .
Aim is to b
... Show MoreThe Maxwell equations have been formulated for a composite slab waveguide at x-band wave propagation. The eigenvalues of the system equations are obtained by using MATLAB program. These eigenvalues are used to obtain the wave propagation constant and a number of modes inside the slabs. A good correspondence was seen between the number of modes and the cut off thickness. The parameter that affects the performance of waveguide is the slab thickness. The propagation constant is usually adopted to characterize this type of waveguide and show how the cutoff frequency of the mode in the slab is increased dramatically by decreasing the frequency.
Our study focused on lower modes, the results for the transmission coefficient are then used to
Media and communication's research are varied in accordance to research approaches' variety which seeks to reach convergent social, psychological, political, economic, and technical point of views. Its main aim is to assimilate all the new variables in the communicative method, especially, social media sites research; concerning their methodology, tools and theories. It is due to their diverse - developed applications and their increased rates of public use becoming irreplaceable in our daily life. It is well reflected by their consequent impact on the the public beside their role in changing its views.
This clarifies the notable increase of scientific research that concern them manifesting the dialectical relations and interfere
... Show MoreIn this paper we present an operational computer vision system for real-time motion detection and recording that can be used in surveillance system. The system captures a video of a scene and identifies the frames that contains motion and record them in such a way that only the frames that is important to us is recorded and a report is made in the form of a movie is made and can be displayed. All parts that are captured by the camera are recorded to compare both movies. This serves as both a proof-of- concept and a verification of other existing algorithms for motion detection. Motion frames are detected using frame differencing. The results of the experiments with the system indicate the ability to minimize some of the problems false detec
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