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.

In this paper, the error distribution function is estimated for the single index model by the empirical distribution function and the kernel distribution function. Refined minimum average variance estimation (RMAVE) method is used for estimating single index model. We use simulation experiments to compare the two estimation methods for error distribution function with different sample sizes, the results show that the kernel distribution function is better than the empirical distribution function.

Background: Malassezia spp. are lipophilic unipolar yeasts recognized as commensals of skin that may be pathogenic under certain conditions. Yeasts of the genus Malassezia are known to be members of the skin micro flora of human and other warm-blooded vertebrates. Psoriasis is a common cutaneous disease of unknown etiology, may be triggered by infections, including those due to fungi.
Materials and methods: Twenty three patients with psoriasis were included in this study, who attended Al-Kadhumyia teaching hospital / Dermatology department, from the 30th of October 2010 to the 1st of April 2011. Fifteen (15) were males and eight (8)  were females, with the mean ag

A frequently used approach for denoising is the shrinkage of coefficients of the noisy signal representation in a transform domain. This paper proposes an algorithm based on hybrid transform (stationary wavelet transform proceeding by slantlet transform); The slantlet transform is applied to the approximation subband of the stationary wavelet transform. BlockShrink thresholding technique is applied to the hybrid transform coefficients. This technique can decide the optimal block size and thresholding for every wavelet subband by risk estimate (SURE). The proposed algorithm was executed by using MATLAB R2010aminimizing Stein’s unbiased with natural images contaminated by white Gaussian noise. Numerical results show that our algorithm co

Tuberculosis is caused by Mycobacterium tuberculosis; it is considered as one of the most common, infectious diseases and major causes of morbidity and mortality worldwide. A prospective study was conducted to obtain more clarification about the impact of causative agent and its treatment to enhance autoantibodies production such as ANCA and BPI which used as diagnostic markers for several diseases, and to provide further insight into the classical risk factors (age and sex).Seventy patients with tuberculosis involved in this study, 35 of them were untreated and 35 with treatment administration these patients were attending to directorate of general health national reference laboratory in Baghdad during the period between November/ 2012

This paper deals with a new Henstock-Kurzweil integral in Banach Space with Bilinear triple n-tuple and integrator function Ψ which depends on multiple points in partition. Finally, exhibit standard results of Generalized Henstock - Kurzweil integral in the theory of integration.

Our goal in this work is to describe the structure of a class of bimodal self maps on the compact real interval I with zero topological entropy and transitive.

Recent accumulated evidences suggest that prolactin is an important immunomodulator and may have a role in the pathogenesis of systemic lupus erythematosus (SLE). The aim of this study was to assess the frequency of hyperprolactinemia in women with SLE and to evaluate its correlation with disease flares. Serum prolactin levels were measured in 62 women with SLE and 50 age- and sex-matched healthy controls. In patients and control groups prolactin levels were determined by immunoradiometric assay (IRMA). The prolactin level was found to be higher than normal rang in (40.3%) of SLE patients in active stage versus only (8.06%) of the same SLE patients but in the inactive stage and in (4%) of control group, the elevation was ranging between mi

Back ground: Celiac disease (CD) is an immune–mediated enteropathy induced by gluten with broad spectrum of presentation, many patients with atypical symptoms or clinically silent remain undiagnosed, and are at risk of long-term complications.
Objective: The aim of the present study is to determine the of prevalence celiac disease in children with short stature.
Patient and Methods: In this prospective study, 307 children 181(58.9%)males and 126(41.1%) females ,with ages ranging from 3 to 17.5years ( mean 12.2 ±3.4) with short statures (height below 3rd percentile adjusted for age and sex) attending the consultation room of endocrinology/ Welfare Teaching Hospital/medical city- Baghdad , were enrolled in this study from the firs