Rehabilitation robots are widely recognized as vital for restoring motor function in patients with lower-limb impairments. A Modified Fractional-Order Proportional-Integral-Derivative (MFOPID) controller is proposed to improve trajectory tracking of a 2-DoF Lower Limb Rehabilitation Exoskeleton Robot (LLRER). The classical FOPID is augmented with a modified control formulation by which steady-state error is reduced and the transient response is sharpened. Controller gains and fractional orders were tuned offline using a hybrid metaheuristic Improved Elk Herd Optimization hybridized with Grey Wolf and Multi-Verse Optimization algorithms (IElk-GM) so that exploration and exploitation are balanced. Superiority over the classical FOPID

Green biosynthesized selenium nanoparticles from Ralstonia insidiosa show potent activity against multidrug-resistant Acinetobacter baumannii , pathogenic Candida spp. and human prostate cancer cells.

The new 4-[(7-chloro-2,1,3-benzoxadiazole)azo]-4,5-diphenyl imidazole (L) have been synthesized and characterized by micro elemental and thermal analyses as well as 1H.NMR, FT-IR, and UV-Vis spectroscopic techniques. (L) acts as a ligand coordinating with some metal ionsV(IV), Fe(III), Co(II), Ni(II), Cu(II), and Zn(II). Structures of the new compounds were characterized by elemental and thermal analyses as well as FT-IR and UV-Vis Spectra. The magnetic properties and electrical conductivities of metal complexes were also determined. Study of the nature of the complexes formed in ethanol following the mole ratio method.. The work also include a theoretical treatment of the formed complexes in the gas phase, this was done using the (hyperch

Historical cultural environments are a repository of values and symbols that pass down across generations through spatial experiences. Despite their intellectual and cultural potential, their role in fostering belonging and identity has declined; they are often viewed as silent landmarks, isolated from lived experiences. This highlights the need for an integrated model that makes spatial experience a stimulating process for reinvigorating the meaning inherent in historical contexts and reconnecting the new generation with their cultural roots. This research aims to explore how cultural meaning in historical contexts can be reactivated through spatial experience. To achieve this, the study proposes a triadic model – physical encoun

This research is mainly about the Arabic poetical work of the poet “Fadhuli AL-Baghdadi ». It aims to show the poetic purposes used like (advice, flirting and praise). This research sheds some lights on how the poetical work was hardly found because it has only one copy, which is originally a transcript

This study analyses AL-Baghdadi's poems, as well as Sheding some lights on earlier life and his other compositions, AL-Baghdadi is considered a tri-lingual poet who wrote in Turkish, Arabic and persian. His Surname as "AL- Baghdadin was as mentioned by some historians, due to his being born in Baghdad or to All a resident in Baghdad at that some poets, who wrote in Arabic have been mentioned here also, like The judge Burhan Al-

عند الكتابة عن إمارة الحج في الدولة العربية الإسلامية لابد من التوقف عند المدة الزمنية للخليفة الرشيد لأهميتها في معرفة تطور الأحداث التاريخية وأبعادها، فمن خلال تتبع من تولى تلك الإمارة يمكن لنا استنتاج أمور عدة عن المنهج السياسي الذي كان يعتمده الخليفة الرشيد  في إدارة الدولة.