In this article, a continuous terminal sliding mode control algorithm is proposed for servo motor systems. A novel full-order terminal sliding mode surface is proposed based on the bilimit homogeneous property, such that the sliding motion is finite-time stable independent of the system’s initial condition. A new continuous terminal sliding mode control algorithm is proposed to guarantee that the system states reach the sliding surface in finitetime. Not only the robustness is guaranteed by the proposed controller but also the continuity makes the control algorithm more suitable for the servo mechanical systems. Finally, a numerical example is presented to depict the advantages of the proposed control algorithm. An application in the rota

Cancer is in general not a result of an abnormality of a single gene but a consequence of changes in many genes, it is therefore of great importance to understand the roles of different oncogenic and tumor suppressor pathways in tumorigenesis. In recent years, there have been many computational models developed to study the genetic alterations of different pathways in the evolutionary process of cancer. However, most of the methods are knowledge-based enrichment analyses and inflexible to analyze user-defined pathways or gene sets. In this paper, we develop a nonparametric and data-driven approach to testing for the dynamic changes of pathways over the cancer progression. Our method is based on an expansion and refinement of the pathway bei

The world witness quality jumps under radical change in the management and work styles, through adopting organizational learning as a process of continuous improvements in response to environmental stimulus, in the knowledge age and turbulent competitive environment the organizational success concept is shift from the view narrow for financial performance and marketshare to long term view which focus on building strategic capabilities that provide a sustainable competitive advantage.

Considering the strategic role assumed for the companies of the Ministry of Construction and Housing to play it, these companies have been chosen to be the field in which questions of th

The surplus glycerol produced from biodiesel production process as a by-product with high quantity can be considered as a good source to prepare glycerol carbonate (GC) whereas with each 1000 kg from biodiesel obtains 100 kg from glycerol. Glycerol converted to glycerol carbonate over bio-char as a catalyst prepared by slow pyrolysis process under various temperatures from 400 ᴼC to 800 ᴼC. The char prepared at 700 ᴼC considered as a best one between the others which was manufactured to activate the transesterification reaction. GC have large scale of uses such as liquid membrane in gas separation, surfactants ,detergents , blowing agent , in plastics industry, in  Pharmaceutical industry and electrolytes in lithium batteries.

إن أهم مايميز النص الأدبي شعراً كان أم نثراً نسيجه اللغوي الجمالي الذي يعبر عن التجارب الحياتية والمشاعر الوجدانية وترجمة ما يجول في الخاطر من أفكار واحاسيس الى صور انفعالية تؤثر في المتلقي. . يحاول هذا البحث الخوض في شعرية الخطاب الروائي في رواية ( النوم في حقل الكرز ) للكاتب العراقي ( أزهر جرجيز ) وهي واحدة من أهم الروايات الحائزة للجائز العالمية ( البوكر ) ودراسة الصورة الشعرية بانماطها المتنوعة التشبيهية وال

The Constitutional Revolution is an important event in the modern history of Iran. It led to major changes in the political system and the education system. In addition  to it, laws were enacted that contributed to increasing the number of students who were unable to learn because of their deteriorating economic situation. The revolution also contributed to opening the way for girls to enter the country.  Schools after that was forbidden due to the opposition of the clergy, as the enemy of female education is contrary to Sharia, and different classes appeared in society calling for the fight against ignorance, the development of learning, the education of girls, and the establishment of modern schools for their education

ساهم توافد العمالة الأجنبية في تفاقم مشكلة البطالة في العراق الذي يستقبل المئات منهم سنوياً، في ظل تخرج آلاف الطلاب من الجامعات العراقية وانطلاقهم إلى سوق العمل بالتزامن مع عدم تنشيط دور القطاع الخاص بسبب التجاذبات السياسية والأوضاع الاقتصادية والأمنية التي أثرت بشكل كبير في تفعيله وجذب المستثمرين، وعلى رغم ذلك استمر توافد العمالة الأجنبية التي وجدت في العراق عبارة عن فرص ثمينة لا سيما في قطاع الخدمات، مما

ظهر التحول نحو العولمة في ضوء التغيرات العالمية السريعة والمتلاحقة والعميقة في آثارها وتوجهاتها المستقبلية وخاصة تلك التي شهدها الربع الاخير من القرن العشرين الماضي .إذ تحول الاقتصاد العالمي بالفعل إلى قرية صغيرة متنافسة الاطراف بفعل الثورة التكنولوجية والمعلوماتية . ولم تتوقف الامور عن هذا الحد إذ ان التطور العالمي الحديث وما سيشهده العالم من سيطرة العولمة الجديدة التي تدعو لحرية التجارة وسهولة تبادل الب