In this paper, a robust adaptive sliding mode controller is designed for a mobile platform trajectory tracking.  The mobile platform is an example of a nonholonomic mechanical system. The presence of holonomic constraints reduces the number of degree of freedom that represents the system model, while the nonholonomic constraints reduce the differentiable degree of freedom. The mathematical model was derived here for the mobile platform, considering the existence of one holonomic and two nonholonomic constraints imposed on system dynamics. The partial feedback linearization method was used to get the input-output relation, where the output is the error functions between the position of a certain point on the platform

يتناول البحث الحالي احد الاساليب المعروفة والمستخدمة في تحليل الاسهم بصورة منفردة او ضمن (قطاعاتها الصناعية) الا وهو اسلوب تحليل القوة النسبية.

ولاثبات فرضية البحث تم اختيار سوق العراق للاوراق المالية لكي يكون مجتمعا للبحث، ومن ثم اختيار عينة عمدية مؤلفة من ثلاثة عشر سهما من اسهم الشركات المدرجة في هذه السوق لتكون ميدانا للبحث.

توصل البحث الى عدد من الاستنتاجات، الا ان اكثر

خلال الربع الأخير من القرن العشرين ، شهد الاقتصاد العالمي تحولا في مختلف المجالات التجارية والتكنولوجية والمالية التي غيرت هيكلها وأنتجت وضعا جديدا يتمثل بشكل رئيس في زيادة حركة رأس المال الأجنبي والتوسع السريع للإنتاج الدولي والتجارة بالإضافة إلى التطور التكنولوجي الهائل ونقل التكنولوجيا ، مما أدى إلى هوس الدول بالمنافسة على المستوى العالمي والسعي لدخول الأسواق الدولية وتحسين قدرتها التنافسية. وت

High vehicular mobility causes frequent changes in the density of vehicles, discontinuity in inter-vehicle communication, and constraints for routing protocols in vehicular ad hoc networks (VANETs). The routing must avoid forwarding packets through segments with low network density and high scale of network disconnections that may result in packet loss, delays, and increased communication overhead in route recovery. Therefore, both traffic and segment status must be considered. This paper presents real-time intersection-based segment aware routing (RTISAR), an intersection-based segment aware algorithm for geographic routing in VANETs. This routing algorithm provides an optimal route for forwarding the data packets toward their destination

The aim of this paper is to design a PID controller based on an on-line tuning bat optimization algorithm for the step-down DC/DC buck converter system which is used in the battery operation of the mobile applications. In this paper, the bat optimization algorithm has been utilized to obtain the optimal parameters of the PID controller as a simple and fast on-line tuning technique to get the best control action for the system. The simulation results using (Matlab Package) show the robustness and the effectiveness of the proposed control system in terms of obtaining a suitable voltage control action as a smooth and unsaturated state of the buck converter input voltage of ( ) volt that will stabilize the buck converter sys

         Language always conveys ideologies that represent an essential aspect of the world we live in. The beliefs and opinions of an individual or community can be organized, interacted with, and negotiated via the use of language. Recent researches have paid attention to bullying as a social issue. They have focused on the psychological aspect of bullying rather than the linguistic one. To bridge this gap, the current study is intended to investigate the ideology of bullying from a critical stylistic perspective. The researchers adopt Jeffries' (2010) critical stylistics model to analyze the data which is five extracts taken from Hunt’s Fish in a Tree (2015). The analysis demonstrates

In any language there is some amount of difference between written language (planned) and spoken language (spontaneous). Since planned speech could be considered a form of written language, it could be inferred that there are also differences between planned speech and spontaneous speech. Some of these differences are very clear in terms of syntax, lexis, phonology and discourse.  These differences are highlighted in order to make a clear distinction between spontaneous and planned speech.

             This paper is an attempt to show the differences between the two forms of a language (written & spoken English) as far as number of linguistic features are tackle