This paper presents a new design of a nonlinear multi-input multi-output PID neural controller of the active brake steering force and the active front steering angle for a 2-DOF vehicle model based on modified Elman recurrent neural. The goal of this work is to achieve the stability and to improve the vehicle dynamic’s performance through achieving the desired yaw rate and reducing the lateral velocity of the vehicle in a minimum time period for preventing the vehicle from slipping out the road curvature by using two active control actions: the front steering angle and the brake steering force. Bacterial forging optimization algorithm is used to adjust the parameters weights of the proposed controller. Simulation resul

This paper proposes an on-line adaptive digital Proportional Integral Derivative (PID) control algorithm based on Field Programmable Gate Array (FPGA) for Proton Exchange Membrane Fuel Cell (PEMFC) Model. This research aims to design and implement Neural Network like a digital PID using FPGA in order to generate the best value of the hydrogen partial pressure action (PH₂) to control the stack terminal output voltage of the (PEMFC) model during a variable load current applied. The on-line Particle Swarm Optimization (PSO) algorithm is used for finding and tuning the optimal value of the digital PID-NN controller (kp, ki, and kd) parameters that improve the dynamic behavior of the closed-loop digital control fue

This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated refere

This study aimed to identify the levels of management training in academic leaders in Jordanian universities in the north of the region and their point of view, and that by answering the following questions: 1. What levels of management training estimated by academic leaders in Jordanian universities in the territory of the North?
arithmetical averages of estimates leaders academics in the territory north of the levels of management training is due to the variables of sex, job title, and the university, the type of university, academic rank, experience, and the number of courses administrative related training , and the state that got them on the last qualification? 3. What are the obstacles faced by academic leaders in the train

Talking about Turkey joining the European Union does not mean a few conditions implemented by Turkey Vtostagib Europe torequest or do not respond, it is a further and much deeper than that, The issue is of historic proportions, cultural, and political develop a European identity itself to the test, and determine the future of the continent and the entire region for generations to come, and has repercussions economic, social and cultural scene to lend further complexity, some of what is important and beneficial to both parties, some of which deepens the fears of both. Here we can point out the fear of invasion of Islam to Europe, which is a real fear belong to the type of phobia disease produced by the categories of right-wing Christian a

The principle of total quality not the result of the modern era, but has its roots entrenched in the foot, the king announced the Babylonian (Hammurabi) before five thousand years: The person who builds a house fall to the occupants, Fiktlhm; the sentence penalty, from here, established Babylonian civilization oldest concerns quality and perfection in the work, although the roots of quality stretch in the ancient Pharaonic civilization represented by the pyramids and temples, and in the Chinese civilization in the Great Wall of China. The concept of quality is present in all the teachings of Islam Bamadaminh all, which represents the value of an Islamic urged the Qur'an to the total quality in all the work which is supposed to be perform

The city of Baghdad have several large Meanders river the most important and distinctive meander is Jadiriyah meander. the nature and direction of creep river Tigris River in Baghdad Was to determine over the last century by matching maps of ancient and modern, note the increased inflections intensity and slowly in the first half of the last century because of the impact of repeated high discharge and get the process of erosion in the concave side and the process of sedimentation in the convex side . After the middle of the last century high discharges decrease due to the construction of dams and reservoirs and hence the lower activity of the river and stopped the river and meandering process confined within the borders of the river

The Prophit had blamed the monopolies, and dispraise the monopoly, dismised it and warned the monopolies that they will face very severe pain. The Prophit had built the right foundation for the trade . He had made the chance of monopoly very few . Inspite of finding some monopolies in his time,he didn’t make price tag. The Rightly guided caliphs didn’t pricing the food-stuff. Umar b. Al-Khatab used many ways to encourage the enterance of the foods- stuff to the markets by the tradesmen of wholesale. The people were sailing directly from them . the tradesmen of wholesale were in competition, so they reduced the prices . but he forbid the monopoly and stopped against it by the scientific ways. Inspite of the suvering of the people in t

This experiment was conducted at Poultry Research Station of the Animal Resources Research Department-Office Agricultural Research-Ministry of Agriculture in Iraq, during a period of 16 weeks (four periods and each period of four weeks) from 21 th April to 10 th August 2019. In this experiment 240 Japanese quail's female 9 weeks old, were used in this experiment. Females were randomly assigned to five treatments with three replicates per treatment (16 females/replicate). The experimental treatments were T1, T2, T3, T4 and T5 with an addition of Spirulina in an average of (0, 1, 2, 3, 4%) respectively in the diets of quail to study their effect on productive performance. The results of the experiment showed significant increase (P≤0.05) re