The process of controlling a Flexible Joint Robot Manipulator (FJRM) requires additional sensors for measuring the state variables of flexible joints. Therefore, taking the elasticity into account adds a lot of complexity as all the additional sensors must be taken into account during the control process. This paper proposes a nonlinear observer that controls FJRM, without requiring equipment sensors for measuring the states. The nonlinear state equations are derived in detail for the FJRM where nonlinearity, of order three, is considered. The Takagi–Sugeno Fuzzy Model (T-SFM) technique is applied to linearize the FJRM system. The Luenberger observer is designed to estimate the unmeasured states using error correction. The develop

Abstract: Israel formulated its security theory, which it established on the "pretext of war", meaning converting any Arab action that Israel deems a threat to its security, into a pretext to ignite the fuse of war, considering this a violation of an existing situation, and then it initiates preventive and pre-emptive attacks, then immediately turns into transfer the war to the enemy's land, to achieve a quick solution by (destroying the enemy), occupying its lands, and benefiting of the advantage of working on (internal lines against an enemy) working on external lines, and ending the war quickly, before the major powers intervene to impose a ceasefire

    Terrestrial laser scanners (TLSs) are 3D imaging systems that provide the most powerful 3D representation and practical solutions for various applications. Hence this is due to effective range measurements, 3D point cloud reliability, and rapid acquisition performance. Stonex X300 TOF scanner delivered better certainty in far-range than in close-range measurements due to the high noise level inherent within the data delivered from Time of Flight (TOF) scanning sensors. However, if these errors are manipulated properly using a valid calibration model, more accurate products can be obtained even from very close-range measurements. Therefore, to fill this gap, this research presents a user-oriented target-based calibration routine to

A method has been demonstrated to synthesise effective zeolite membranes from existing crystals without a hydrothermal synthesis step.

Signal denoising is directly related to sample estimation of received signals, either by estimating the equation parameters for the target reflections or the surrounding noise and clutter accompanying the data of interest. Radar signals recorded using analogue or digital devices are not immune to noise. Random or white noise with no coherency is mainly produced in the form of random electrons, and caused by heat, environment, and stray circuitry loses. These factors influence the output signal voltage, thus creating detectable noise. Differential Evolution (DE) is an effectual, competent, and robust optimisation method used to solve different problems in the engineering and scientific domains, such as in signal processing. This paper looks

The process of converting coordinates is, still, considered an important and difficult issue due to the way of conversion from geographic ellipsoidal system to the projected flat system. The most common method uses contiguous UTM system as one of the most accurate systems in the conversion process, but the users of the
system face problems related to contiguity, especially at the large areas that lie within more than one zone. The aim of the present research is to solve the problem related to the multiple zones coverage found in the Iraqi territory using a mathematical model based on the use of Taylor series. The most accurate conversion equation used in this paper was based on the 4th order polynomial of two variables. The calculatio

      Face Detection by skin color in the field of computer vision is a difficult challenge. Detection of human skin focuses on the identification of pixels and skin-colored areas of a given picture. Since skin colors are invariant in orientation and size and rapid to process, they are used in the identification of human skin. In addition features like ethnicity, sensor, optics and lighting conditions that are different are sensitive factors for the relationship between surface colors and lighting (an issue that is strongly related to color stability). This paper presents a new technique for face detection based on human skin. Three methods of Probability Density Function (PDF) were applied to detect the face by skin color; these ar

In this work, we employ a new normalization Bernstein basis for solving linear Freadholm of fractional integro-differential equations  nonhomogeneous  of the second type (LFFIDE_s). We adopt Petrov-Galerkian method (PGM) to approximate solution of the (LFFIDE_s) via normalization Bernstein basis that yields linear system. Some examples are given and their results are shown in tables and figures, the Petrov-Galerkian method (PGM) is very effective and convenient and overcome the difficulty of traditional methods. We solve this problem (LFFIDE_s) by the assistance of Matlab10.   

      The present paper concern with minimax shrinkage estimator technique in order to estimate Burr X distribution shape parameter, when prior information about the real shape obtainable as original estimate while known scale parameter.

 Derivation for Bias Ratio, Mean squared error and the Relative Efficiency equations.

 Numerical results and conclusions for the expressions mentioned above were displayed. Comparisons for proposed estimator with most recent works were made.