The Sliding Mode Control (SMC) has been among powerful control techniques increasingly. Much attention is paid to both theoretical and practical aspects of disciplines due to their distinctive characteristics such as insensitivity to bounded matched uncertainties, reduction of the order of sliding equations of motion, decoupling mechanical systems design. In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction. The key idea is abstracted as follows: switching gains are depressed to the low allowable values, resulting in decreased chattering motion and control's efforts of the two-link robo

Copula modeling is widely used in modern statistics. The boundary bias problem is one of the problems faced when estimating by nonparametric methods, as kernel estimators are the most common in nonparametric estimation. In this paper, the copula density function was estimated using the probit transformation nonparametric method in order to get rid of the boundary bias problem that the kernel estimators suffer from. Using simulation for three nonparametric methods to estimate the copula density function and we proposed a new method that is better than the rest of the methods by five types of copulas with different sample sizes and different levels of correlation between the copula variables and the different parameters for the function. The

The main goal of this paper is to study applications of the fractional calculus techniques for a certain subclass of multivalent analytic functions on Hilbert Space. Also, we obtain the coefficient estimates, extreme points, convex combination and hadamard product.

Urban morphological approach (concepts and practices) plays a significant role in forming our cities not only in terms of theoretical perspective but also in how to practice and experience the urban form structures over time. Urban morphology has been focused on studying the processes of formation and transformation of urban form based on its historical development. The main purpose of this study is to explore and describe the existing literature of this approach and thus aiming to summarize the most important studies that put into understanding the city form. In this regard, there were three schools of urban morphological studies, namely: the British, the Italian, and the French School. A reflective comparison between t

     In this paper, the structure of  and  have  been introduced and studied. We also obtain that a is  of a  if and only if there exists an  on such that . In addition, we obtain  that  of if and only if there is an   on  such that  , where  are subspaces of  with eigenvalues 1 and  −1, respectively. We also find  t that the existence of  on  implies that there exists a compatible  under appropriate condition.

     Bacillus subtilis, an isolate of bacillus genus, was obtained from the laboratories of Ministry of Science and Technology. The best efficient Bacillus subtilis isolate in cellulose and semi-cellulose hydrolysis was treated with Dielectric-barrier Discharge (DBD). Atmospheric cold plasma technique (non-thermal) was used by exposing them at different times (2, 3, 4 and 5 mins) separately as a first stage, and then 60 seconds after any treatment separately as a second stage. After 48 hours, the difference between the plasma source and the sample was fixed at 0.5 cm. The results showed a variation in the growth of the isolate according to the exposure time by the appearance of culture turbidity and the estimation o

Abstract This research sheds lights on one of the important rhetorical linguistics methods, which is the idioms phrase and its use in the Israeli political article. By the studying of its most prominent types and different grammatical structures, and its deliberative function. The application of this study was the articles of the Israeli journalist Ben-Dror Yemini. Which were published on the website of Israeli newspaper " Maariv" in (2011-2012). This research is divided into two devotions: theoretically and practically. The theoretical side included an introduction to identify the article generally, and the political article. Practically with a review of the most important definitions concerned with the idioms phrase and showing i

This paper proves the existence of face antimagic labeling for double duplication of barycentric subdivision of cycle and some other graphs