The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force contr
... Show Moreدور المواد النانوية في إعادة تصنيف تكاليف المنتج الصناعي الحديث
Our research was launched in the study of the sustainable conflict of globalization and the rebalancing of the great powers that have made life on the earth unstable and insecure over the past and present eras, the purpose of which is to pay attention to the waste and instability that human societies are exposed to in different proportions between abstract right and continuous deviation.
The purpose of the study is to show the loss, waste and backwardness in managing and governing societies towards private interests, away from the standards of good institutional governance.
The study’s design was based on two demands, the first on the nature and eternity of
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The study intends to explore the obstacles that encounter a program of rehabilitating released prisoners as perceived by prisoners themselves in tubas' province. To this end, the researcher used a questionnaire as an instrument which was applied on (150) prisoner had chosen randomly to collect the study data. The findings revealed no significant differences among obstacles the encounter program regarding to the following variables: age, detention period, and number of detention, additionally, the findings found that there is a variance of obstacles mean according to the prisoners themselves, rehabilitation program, and the facility of that program.
المستخلص يتضمن البحث شرح موجز لمفهوم نظم المعلومات الجغرافية وعلاقتها مع علم الاثار والتاكيد على اهميتها في هذا المجال وكيفية الاستفادة من هذه النظم في مجال التنقيب عن الاثار مع الاستعانة بالعمل الحقلي المنجز في موقع تنقيبات جامعة الموصل عند تل قوينجق لتوضيح كيفية الاستفادة من مجموعة من مصادر وبرامج نظم المعلومات الجغرافية لسد بعض متطلبات عملية التنقيب عند تل قوينجق في مدينة نينوى الاثرية لعام 2011.
The research aims to identify the level of selective visual attention among students of the faculties of education at the University of Mosul. To achieve the goal of the research, the researchers chose a stratified random sample of students from the faculties of education at the University of Mosul for the academic year (2020-2021). The sample size was (652) students from the scientific and humanitarian specializations, the second and fourth stages. The researchers developed a test of multiple-choice to measure the selective visual attention, which consisted of (42) items. The results revealed that the students of the faculties of education for human sciences have an appropriate level of selective visual attention. There are statisticall
... Show Moreالمستخلص: إن اغتيال المدن الاثرية كان ولايزال مستمرا بطريقة او باخرى بشكل يؤدي الى ضياع ملاح المدينة القديمة بتغطيتها بالابنية والعمائر الحديثة نتيجة النمو الحضري الغير منتظم دون مراعة الحالة الاثرية للمدينة فتندثر اغلب معالمها وتغطى يشكل لايعود بالامكان الاستمتاع بجمال الماضي، هذا كان الدافع الرئيسي لتقديم هذه الدراسة الاثرية العلمية المعتمدة على احدث البرامجيات العلمية في عمل الخرائط التوضيحية(AR
... Show MoreThe research dealt with the case stock repurchase policy of Emaar Real Estate Company one of listed companies in Dubai Stock exchange. The research has launched from the cognitive dimensions of repurchasing policy which took great concern in the literatures of financial management, and also this policy became as substitute for distributing the monitory profit in the last three decades in the international financial markets, but it did not get any importance in the Arab Markets such as that of the Arab Gulf in addition to the Iraqi Stock Exchange.
The research summarized a set of conclusions, the most important one was the consistence of analysis result with the test of the major two hypotheses (The first
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GIS is characterized by great potentialeties to deal with huge geographical data and conclude what is necessary for it. It was very useful to get use of the potentialities of this system of GIS in the field of archaeology and to harvest very accurate results in a relatively short time, compared to the old archaeological methods.
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The research deals with the statement of the importance of unanimous in Islamic Sharia in terms of being the third source of Islamic legislation after the Holy Qur’an and the Sunnah of the Prophet, and the extent of interest of the scholars of interpretation in it, and those who took great interest in mentioning what was agreed upon in every site that necessitated mentioning its issues within, or mentioning an event that has encountered an unanimous, and in various sciences, to extract and extrapolate Sharia rules when these rules are lost in the texts, because it is based on them and derived from them. Among these distinguished scholars is Muhammad bin Jarir al-Tabari. Besides, the research discusses in
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