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

Rabi’a played an important part in the conquer of the east. This tribe had
asked to conquer the fareway provinces, in spite of these difficulties, Rabi’a
did that and settled in.
This tribe was among the opposition of the Umayyad caliphate in the east,
because this tribe thinks that the caliphate was with the Mudhariyat and
Qaisiat tribes who were their enemies.
In spite of that, they were very limited cases in which Rabi’a was the
adherence of the caliphate against her enemies like Al-Harith b. Surieg , and
were against Qutaiba b. Muslim al- Bahily.
Rabi’a assisted Amr b. Muslim movement against the Umayyad governor
Qutaibe, because the later wanted to sent her faraway from Mawara al- Nahar.
Rabi

الأطفال هم قادة المستقبل، بل هم المستقبل ذاته، وهم الأمل المنتظر لبناء وطن كريم. لذلك، من الضروري أن ينشأ الطفل في بيئة آمنة تتيح له اللعب والنمو والتعلم، إلى جانب حصوله على نصيب وافٍ من الاهتمام والرعاية. ومع ذلك، فإن ما لا يقل عن ربع أطفال العالم لا يتمتعون بالعديد من الحقوق الأساسية. وبالنسبة لأطفال العراق، الذين أنهكتهم الحروب والأزمات، فإن معاناتهم تبدو أكثر قسوة وفقًا للعديد من الدراسات والتقارير. شهد ا

The Bajilian had their important part in the first civilian war between
Muslims. Whether they were against the Umayyad caliphate or with it, who
were small in number, but they had their important part in that actions.
The Bajilian who were against the umayyad caliphate had an important
role in the fall of Umayyad monarchy.
The tribe connections between the bajilians were stronger than their
political differences, which had influnces in that time. The bajilians who were
in muawiya palace were a good diffencer for the bajilian who were in the side
of the caliph ali. They managed to be their medicater in the muawiya palace. 

There were big efforts giving by others in order to decrease the bajilian
eff

The research titled (narrations of Imam Muhammad bin Ali al-Baqir (upon him be peace) about washing, in the four books of Sunan - study and analysis -) deals with what was reported from the noble and purified hadiths about him, peace be upon him, through the four hadith works represented by Sunan Abu Dawud (d. 275 AH). And Al-Jami’ Al-Kabir (Sunan Al-Tirmidhi) (d. 279 AH), Sunan Al-Nasa’i (Al-Mujtaba) (d. 303 AH), and Sunan Ibn Majah (d. 273 AH), who is the venerable imam and jurist from the House of Prophethood, as he transmitted many traces from the Prophet, may God bless him and grant him peace. Upon him and his family, peace be upon him. The study focused on his narrations, including the rulings on washing

عرص كتاب البرلمان في العراق (دراسة للواقع .. وتأملات في المستقبل)

        Ottoman Empire created in the state of Algeria staff who manage its affairs on behalf of the Ottomans, who identified their functions and was mostly soldiers Alancksharien, but these soon engaged in Algerian society and coexist with him, and became them their own interests and participated people there in their business and their trades until it became their property and provinces and the interests they manage to order provide for a living.