This article presents a new cascaded extended state observer (CESO)-based sliding-mode control (SMC) for an underactuated flexible joint robot (FJR). The control of the FJR has many challenges, including coupling, underactuation, nonlinearity, uncertainties and external disturbances, and the noise amplification especially in the high-order systems. The proposed control integrates the CESO and SMC, in which the CESO estimates the states and disturbances, and the SMC provides the system robustness to the uncertainty and disturbance estimation errors. First, a dynamic model of the FJR is derived and converted from an underactuated form to a canonical form via the Olfati transformation and a flatness approach, which reduces the complexity of th

The effect of thickness variation on some physical properties of hematite α-Fe2O3 thin films was investigated. An Fe2O3 bulk in the form of pellet was prepared by cold pressing of Fe2O3 powder with subsequent sintering at 800 . Thin films with various thicknesses were obtained on glass substrates by pulsed laser deposition technique. The films properties were characterized by XRD, and FT-IR. The deposited iron oxide thin films showed a single hematite phase with polycrystalline rhombohedral crystal structure .The thickness of films were estimated by using spectrometer to be (185-232) nm. Using Debye Scherrerś formula, the average grain size for the samples was found to be (18-32) nm. Atomic force microscopy indicated that the films had

Steganography is the art of concealing security data in media, such as pictures, audio, video, text, and protocols. The objective of this paper is hiding a secret message in a colour image to prevent an attacker from accessing the message. This is important because more people use the Internet all the time and network connections are spread around the world. The hidden secret message uses two general algorithms that are embedded and extracted. This paper proposes a new algorithm to conceal a secret message in a colour image in LSB. This algorithm includes three phases: 1) dividing the colour image into a number of blocks, 2) concealing the secret message, and 3) transmitting the stego-image from the sender in a multiplexer network and re

كان الفساد وما زال أحد المواضيع الرئيسة التي شغلت اهتمام الباحثين والدارسين في المجالات المعرفية المختلفة بضمنها المجال الإداري نظراً للتأثير السلبي والمباشر لإدارات المؤسسات الحكومية العامة على نجاح برامج وخطط التنمية في تحقيق أهدافها المجتمعية, إذ أن عملية تنفيذ هذه البرامج تقع على عاتق إدارات هذه المؤسسات في إطار التزام العاملين فيها بتحقيق الأهداف والسياسات التنموية العامة للدولة ، وحرصهم على تلبية ا

وللتحقق  من هدف البحث  صيغت الفرضية الصفرية الاتية:

• لا توجد فروق ذات دلالة احصائية عند مستوى (0.05 ) بين متوسط درجات طالبات المجموعة التجريبية التي درست وفقا لاستراتيجية (تنال القمر ) ومتوسط درجات طالبات المجموعة الضابطة التي درست على وفق الطريقة الاعتيادية في مقياس مهارات ما وراء المعرفة .

ولأجل التحقق من صحة هذه الفرضية اجرت الباحثة  تجربة استغرقت الفصل الدراسي

The current research aims to know on influence strategy (thinking – pairing – sharing) in learning subject of Islamic civilization of Arab and keep it for students 4th class / literary in order to aim of research , the researcher takes measures of experimental method which included selection of experimental designing with partial adjustment in two groups (experimental and controlling) . Experimental group studies according to strategy (thinking – pairing – sharing) , while controlling group studies according to normal way , the researcher choose Zari secondary school for boys in Baghdad intently to run experiment within it. Sample of studying consist of from (64) students , by (32) student in experimental group and (32) students

In light of Chaos, the members of societies' general feeling of the system's importance often increases because they believe that they will lose all forms of security and safety if it does not exist. That is why they attribute such a high value to it, and the fear of the system's absence makes it inevitable for it to have continuity, for we live in a world full of surprises, rapid changes, confusion, and confusing

Recent research have aimed to know the effect of rational inquiry strategy on acquisition basic science processes for second intermediate students in physics. To verify the aim of this research , the researchers added the following zero hypotheses : No statistically significant differences at the level of significance (0.05) between the students mean scores of the two groups on basic science Processes test. The research was carried out on the second intermediate grade male students in Alam Al Yakeen school in Baghdad; belong to Education Directorate Al- Karkh/2, for the Academic Year (2014-2015) A.D. Prepared research requirements included ] selected the scientific subject chapters (6,7,8,9) from physics textbook, the formulation of beha

الملخص: لتحقيق أهداف البحث قامت الباحثة اعداد مقياس التلكؤ الاكاديمي اعتمادا على نظرية (باندورا) وتكون المقياس بصورته النهائية من (21) فقرة ، وطبق المقياس على عينة البحث البالغة (100) طالب وطالبة تم اختيارهم بالطريقة العشوائية البسيطة من مجتمع البحث ،وبعد جمع البيانات تم معالجتها باستعمال الوسائل الإحصائية المناسبة، توصل البحث الى النتائج الأتية : الى ان الطلبة ليس لديهم تلكؤ اكاديمي و اعلى من المتوسط، لا توج

A reduced-order extended state observer (RESO) based a continuous sliding mode control (SMC) is proposed in this paper for the tracking problem of high order Brunovsky systems with the existence of external perturbations and system uncertainties. For this purpose, a composite control is constituted by two consecutive steps. First, the reduced-order ESO (RESO) technique is designed to estimate unknown system states and total disturbance without estimating an available state. Second, the continuous SMC law is designed based on the estimations supplied by the RESO estimator in order to govern the nominal system part. More importantly, the robustness performance is well achieved by compensating not only the lumped disturbance, but also its esti