—This paper studies the control motion of a single link flexible joint robot by using a hierarchical non-singular terminal sliding mode controller (HNTSMC). In comparison to the conventional sliding mode controller (CSMC), the proposed algorithm (NTSMC) not only can conserve characteristics of the convention CSMC, such as easy implementation, guaranteed stability and good robustness against system uncertainties and external disturbances, but also can ensure a faster convergence rate of the systems states to zero in a finite time and singularity free. The flexible joint robot (FJR) is a two degree of freedom (2DOF) nonlinear and underactuated system. The system here is modeled as a fourth order system by using Lagrangian method. Based on t

Biomass has been extensively investigated, because of its presence as clean energy source. Tars and particulates formation problems are still the major challenges in development especially in the implementation of gasification technologies into nowadays energy supply systems. Laser Induced Fluorescence spectroscopy (LIF) method is incorporated for determining aromatic and Polycyclic Aromatic Hydrocarbons (PAH) produced at high temperature gasification technology. The effect of tars deposition when the gases are cooled has been highly reduced by introducing a new concept of measurement cell. The samples of PAH components have been prepared with the standard constrictions of measured PAHs by using gas chromatograph (GC). OPO laser with tun

مستخلص البحث كان الهدف من البحث هو إعداد تمرينات خاصة لتطوير مهارة التصويب بالقفز بكرة السلة للشباب، إذ لوحظ ضعفاً ملموساً ولاسيما عند فئة الشباب في إحراز النقاط في مهارة التصويب بالقفز المحسوب بنقطتين وذلك لصعوبة أداءه إذ ان المدافعين أصبحوا متمكنين من قدراتهم فضلاً عن عامل الوقت عند الأداء يكاد يكون قليل جداً عند اتخاذ القرار. وقد اعتمد الباحثان في إعداد التمرينات مبدأ التدرج من السهل إلى الصعب والتنوع في

  The study sheds lights on the simple verbal formulas with its particular time suffixes as found in the Turgut Özakman’s play These Crazy Turks.

     The introduction of the study sheds light on the life of the author and playwright, as well as traces the different types of the verbal formulas in Turkish language.

     Oh Those Young is one of the most significant products of the Turkish literature of the young and Children where the literary messages of the playwright are addressed in a simple comic sarcastic style. Hence, the play, that has been studied and acted by many students and academics, drives its importance from this particular course of action.

The financial market plays an important role in influencing the economic sectors, including the private industrial sector, through the provision of capital and transfer from savers to investors for the purpose of establishing or expanding projects. Therefore, the financial market is one of the important tools in stimulating the economy in general and the industrial sector in particular, Through the inclusion of industrial companies in the financial market and the introduction of industrial shares to the public, and then provide the necessary funding to stimulate the private industrial sector, Iraq is one of the oil-dependent countries on the oil sector mainly, which lacks industrial production, which is from Are the sectors that

              The purpose of this project is to build a scientific base and computational programs in an accelerator design work. The transfer of group of laws in alinear accelerator cavity to computer codes written in Fortran power station language is inorder to get a numerical calculation of an electromagnetic field generated in the cavities of the linear accelerator. The program in put contains mainly the following, the geometrical cavity constant, and the triangular finite element method high – order polynomial. The out put contains vertical and horizontal components of the electrical field together with the electrical and the magnetic field intensity. 

With simple and undirected connected graph Φ, the Schultz and modified Schultz polynomials are defined as  and , respectively, where the summation is taken over all unordered pairs of distinct vertices in V(Φ), where V(Φ) is the vertex set of Φ, degu  is the degree of vertex u and d(v,u) is the ordinary distance between v and u, u≠v. In this study, the Shultz distance, modified Schultz distance, the polynomial, index, and average for both have been generalized, and this generalization has been applied  to some special graphs.

    The study aims to measure and evaluate the return and the risk formulas of Islamic finance of Jordan during the period (2000 – 2009) according of increasing  importance of these banks in recent and coming years to face challenges to maximize returns and minimize risks through financing with  Islamic formula to investigate of existence statistical significant  relationship between returns and risking Islamic bank , has been use of financial other statistical  measurement. Measuring return and risk of Islamic banks have not been widely considered ,except in few descriptive studies . The controversy among academic and professionals about hot to measure and evaluate a comprehe