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

Position control of servo motor systems is a challenging task because of inevitable factors such as uncertainties, nonlinearities, parametric variations, and external perturbations. In this article, to alleviate the above issues, a practical adaptive fast terminal sliding mode control (PAFTSMC) is proposed for better tracking performance of the servo motor system by using a state observer and bidirectional adaptive law. First, a smooth-tangent-hyperbolic-function-based practical fast terminal sliding mode control (PFTSM) surface is designed to ensure not only fast finite time tracking error convergence but also chattering reduction. Second, the PAFTSMC is proposed for the servo motor, in which a two-way adaptive law is designed to further s

This study aimed to identidy the role of a professional social worker practice specialist in the field of social care for Corona patients, in light of some demographic variables such as (gender, marital status, economic status,), through a field study at the Iraqi Ministry of Social Affairs. A random sample of (50) social workers in the Iraqi Ministry of Social Affairs in various places affiliated with the ministry was chosen. a questionnaire developed by the researcher about the role of the social worker in the field of social care for Corona patients was administered to the study sample to collect the needed data. The results showed that there is a positive statistically significant correlation relationship at the level (0.01) between

Polarization is an important property of light, which refers to the direction of electric field oscillations. Polarization modulation plays an essential role for polarization encoding quantum key distribution (QKD). Polarization is used to encode photons in the QKD systems. In this work, visible-range polarizers with optimal dimensions based on resonance grating waveguides have been numerically designed and investigated using the COMSOL Multiphysics Software. Two structures have been designed, namely a singlelayer metasurface grating (SLMG) polarizer and an interlayer metasurface grating (ILMG) polarizer. Both structures have demonstrated high extinction ratios, ~1.8·103 and 8.68·104 , and the bandwidths equal to 45 and 55 nm for th

Interpretation is an intellectual and creative activity happens instantaneously between speakers in two different languages based on the acquisition of cognitive content and works on the transfer of this content in various ways to be selected by the interpreter, and must be a transfer of contents completely. And is the translator of activities and important areas of communication between people in many areas, including trade and politics. However, we believe that they suffer neglect evident in Iraq, which could reflect negatively on Iraq's relations with other countries and at all levels. Require interpretation in preparation continues linguistic and cultural knowledge and a very wide. It is very important to note that the interpretation

Resumen

El trabajo se investiga en el realismo y la tradición social que incluye la tragedia Bodas de sangre, del autor español Federico García Lorca. A lo largo de estas páginas se da la luz sobre los temas, acciones, oraciones y palabras que pertenecen a la realidad de la vida española en general y sobre todo en territorio andaluz, en el que ocurren los sucesos de la obra.  Así como las tradiciones sociales que el dramaturgo español contemporáneo abundando a lo largo de su texto, y que han sido tomadas de la herencia popular.

    Literariamente, esta obra se clasifica como Tragedia Moderna, por la razón de que incorpora los elementos necesarios de d

L'écrivaine française Marguerite Duras, née en Indochine en 1914, est considérée comme l'un des écrivains dont les œuvres se distinguent par la nouveauté. Cela lui accorde une grande renommée depuis le début de ses écrits. Il est vrai que Duras n’était pas une théoricienne, mais certains l'a mise avec les romanciers du Nouveau Roman comme Alain Robbe-Grillet, Nathalie Sarraute et Michel Butor. D’autres critiques l’étudient  en fonction de la modernité qui caractérise ses œuvres littéraires.

Cette recherche étudie la réception des œuvres littéraires de Marguerite Duras en Irak. L'étude comprend une introduction au roman en Irak : ses ressources, son développement, et l'effet du roman étrang

Resumen:

        La traducción de los refranes, que son unas sentencias breves, habitualmente, de autor desconocido y lo mismo que el proverbio, aunque en su parte universalizable refleja una experiencia humana, hace referencia en parte particularizante e idiosincrática a una experiencia sin paralelo en la lengua de destino, no es una tarea tan sencilla ni tan fácil como piensan muchas personas, sino al contrario por completo, es algo tan difícil y tan complicado. Por eso, la traducción de los refranes  no es una transferencia de un significado, un párrafo o una frase de un cierto idioma a otro, porque si aceptamos ese concepto, el proceso de traducción de refranes sería muy sencill

The theatrical text is a literary genre is written to be represented on a stage. Present difficulties in translation because include elements paralinguistic, historical, social, cultural, etc. The drama contains dialect, slang, and jargon elements. Here the translator must decide in favor of a re-creation of such elements with dialects, slang, and jargon in the receiving.

    The main objective of this study presents a descriptive about the translation for the theater and the main problems in translation theatrical texts. Try to reach some conclusions about the following questions: What requires theatrical translation? and What is the perfect formation of the translator of theater texts?.  The first part is an