Trajectory tracking and vibration suppression are essential objectives in a flexible joint manipulator control. The flexible joint manipulator is an under-actuated system, in which the number of control actions is less than the degree of freedom to be controlled. It is very challenging to control the underactuated nonlinear system with two degree of freedom. This paper presents a hierarchical sliding mode control (HSMC) for a rotary flexible joint manipulator (RFJM). Firstly, the rotary flexible joint manipulator is modeled by two subsystems. Secondly, the sliding surfaces for both subsystems are constructed. Finally, the control action is designed based on the Lyapunov function. Computer simulation results demonstrate the effectiveness of

In this study serum total sailie acid concentration were tested as a scrological marker of discases activity to cvalute the result of the test in the diagonosis oe enteric fever(TSA) was measured in the serum od (50) patines with typhi fever(50)pa-tients

This Study Aimed to Recognize the Self-Efficacy Level Among Musically Talented Students the sample of this study consisted of (85) Musically smart students male and female students in Irbid governorate, of the analytical descriptive method ، and the Self-Efficacy scale were used, and the results indicated the following:
-The Self-Efficacy level among Musically smart students was high.
-There are no statistically significant differences (α ≥ 0.05)due to the impact of gender in a the total degree .
-There are no statistically significant differences (α=0.05) due to the impact of stage in a the total degree.

This study was conducted to determine the relationship between test anxiety and cognitive representation among university students. To this end, 152 student (male, female) were chosen randomly from scientific and social departments to fill out the questionnaires of test anxiety and cognitive representation. The researcher utilized Independent Samples T-Test, Pearson product-moment correlation coefficient, Cronbach's alpha and T-Test in his study. The result revealed that there were negative and a weak correlation between test anxiety and cognitive representation among university students.

Background: Undergraduate dental students are more susceptible to situations of stress that affected quality of sleep, such profiles of stress may result in sleep bruxism and/or awake bruxism, parafunctions that can affect oral and general health. The aim of the study was to evaluate the association of sleep bruxism, awake bruxism and sleep quality among dental students. Materials and methods: A cross-sectional study was performed including 260 Iraqi dental students from university of Baghdad aged from 20to25years old. Students enrolled in the third and fifth class participated in the study. The Pittsburgh Sleep Questionnaire Index (PSQI) was used for data collection. The PSQI was distributed during lecture classes. Sleep bruxism and awake

The Present study aims to investigate the attitude toward extremism of the university student and to find differences with three variables, gender field of study ,grade), For the purposes of the study on(3) level scale of the attitude towards extremism , and subjected to validity and credibility ,the scale was designed for ( 590) students sample (237) males ,and (357) females Results shown that students has a mild attitude towards extremism compared with the average of the scale attitude towards Religious extremism occupied the number one level ,followed by social extremism and lastly political extremism in Results also shown different in gender (males ,females) with the males having the granter attitude towards extremism as for the othe

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This study seeks to answer urgent questions about the role of new media that have emerged recently, such as the Internet and social networking sites and information services through mobile and others to increase awareness among young people, especially university students. during a field study that took place on a sample of students in the Department of Media at the University of Petra Kingdom of Jordan during the second semester in 2013 in the study the researcher finds increased attention and follow-up by young people for many of the world events and regional and local communities through exposure to a number of new media; in the forefront of the Internet and increase the level of awareness and interests young people do many of the eve

يتناول هذا البحث مفهوم التعليم بين الأقران كمنهج تدريس في تخصص اللغة الإنجليزية كلغة أجنبية أو كلغة ثانية ويهدف البحث إلى توضيح العلاقة بين المعلم ومتعلمي اللغة في الفصل الدراسي من خلال إلقاء نظرة عامة على المزايا والعيوب والتحديات التي تعترض طريقة التعليم بين الأقران بشكل فعال. تتناول الدراسة البحثية موضوعات آرثرسون التي تتألف من مهارات التدريس ومهارات التعلم وإشراك الطلبة وتحفيزهم ومهارات الاتصال و

The research aims to evaluate the direct deduction department’s procedures for the process of collecting income tax using the direct deduction method for state departments and the public sector in light of direct deduction tax instructions No. (1) of 2007 and Income Tax Law No. (113) of 1982 (amended) through Giving a clear idea of ​​the reality of tax collection procedures because this type of tax is one of great importance because it contributes to the provision of financial revenues to the state to finance its expenses and direct the economy towards achieving its social, economic and political goals. The researcher makes comparisons between the procedures of the General Tax Authority in collecting the tax and what was approved b