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.

Rights of child in the community crisis Iraqi child model The study aimed to identify the types of violation against children in the Iraqi crisis as well as to develop community coping mechanisms to these violations and promote the rights of the child health psychological , social and legal . the first chapter discusses the research problem and its importance and purpose of the research problem and its importance and purpose of the research and the most important terms in the A- Rights of the child ,B- crisis , chapter 2 rights of the child ensure the historical roots , of children’s rights in the holy quran and the sunnah, and legal rights through the twentieth century and the beginnings of century xx, the se through the twentieth cen

The research includes a bout IL- IQulle , and their role in scientific of the Islamic – Arabic civilization , for Dr. Khlood M.Namma the proff in the collage of education for woman , Baghdad university , History department

      ان تحقيق التطوير المطلوب في التعليم الجامعي يستلزم القيام ببحوث علمية تساعد في الوصول الى معادلات سليمة لأحداثه، وتجنب سلبيات التغيير غير المدروس وغير المخطط علميا ، والبحث الحالي هو محاولة في هذا الأتجاه، ويهتم بوضع خطوط عريضة تتضمن مجموعة الآراء والأفكار والتوجهات ذات الاهمية لتطوير دور التعليم العالي في تنمية العلم والتكنولوجيا، والتنمية البشرية ، أيضا في توجيه

הקדמה

             הריאליזם הספרותי במשמעו הכללי מצייג אשר כל מה מציינת בה הספרות מציורים מדוייקים לסביבה ולכן אדם. ויש להתחשב בפרטים המשותפים לחיים היומיומית.

             האסכולה הריאליזטית מצטיינת בזיאנרים אין זוכים בם איזו אסכולה ספרותית אחרת. האסכולה הזאת הופיעה בספרות העברית החדשה כתוצאה להשפעתה של הספרות העברית בס

Islam paid great attention to the youth, and took care of them because they
are the strength and movement, which is the preferrence stage in human life,
and they are the ones who

Türklerin İslam dini ve kültürünü benimsedikten sonra,Anadolu'da Arap ve özellikle Fars Edebiyatlarını örnek alarak oluşturdukları yazılı edebiyattır. Bu dönemin şairleri(ozanları) şiirlerini divan adı verilen kitaplarda topladıkları için söz konusu edebiyata da Divan Edebiyatı denilmiştir.Özellikle,medreseden yetişen aydın sanatçı ve yazarların saray ve çevresinde oluşturdukları bir edebiyat geleneği olduğu için, Havas(Yüksek Zümre) edebiyatı,Saray edebiyatı, Klasik Türk edebiyatı gibi adlarla da anılmaktadır.Divan edebiyatı sözünün 1900'den sonra ortaya çıktığı sanılmakta ve ilk defa kimin kullandığı bilinmemektedir.

        The research paper deals with the role of the place making in eco-tourism through a review of international experiences in the eco-tourism industry and its contribution to advancing the reality of tourism there, and attracting the largest number of tourists.  The study is divided into five axes: the first is a study of related concepts, and the second is a study of global experiences, which included three countries: (South Bank (Gabriel's Wharf) - London, Rotterdam in the Netherlands, and dealt with each of Happy Streets and Kendrick Mills, and then the Perak River tourist corridor - Malaysia).  As for the third axis, it is concerned with analyzing these experiences to reach th

Abstract

All the economic  units whether productive or service units , strive to achieve specific objectives , their presence and continuity depend on them and the quality of the performance and service present to the society . This units to be able to achieve their objectives , must own basic assets to perform the activities , and apply laws , systems , and instructions , in addition to legal , managerial , and financial authorities . So this units to endeavor maintain this assets , in addition to sound application of laws ,systems . and procedures to enhance their performance . For this purpose arise the role of internal control and internal check in maintenance of assets and sound application of&n

تحليل الأخطاء الصوتية في بعض كتب اللغة الروسية الدراسية