This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem.  The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.

An automatic text summarization system mimics how humans summarize by picking the most ‎significant sentences in a source text. However, the complexities of the Arabic language have become ‎challenging to obtain information quickly and effectively. The main disadvantage of the ‎traditional approaches is that they are strictly constrained (especially for the Arabic language) by the ‎accuracy of sentence feature ‎functions, weighting schemes, ‎and similarity calculations. On the other hand, the meta-heuristic search approaches have a feature tha

يهدف البحث الى التعرف على بقاء اثر المعلومة عن طريق الاجابة عن السؤال: ما مدى بقاء اثر التعلم بين التعليم الالكتروني والتعليم الاعتيادي ( الحضوري )؟ تم تطبيق البحث في العام الدراسي( 2020-2021 م) في العراق. تم استخدام المنهج الوصفي بالاسلوب المقارن في عقد مقارنة بين التعليم الالكتروني والتعليم الاعتيادي. وقد تحدد مجتمع البحث لطلبة المرحلة الرابعة كلية التربية للعلوم الصرفة – ابن الهيثم واستخدمت العيتة من قسم

Knowledge is a source of innovation, and innovation is the distinctive means of creating knowledge and achieving prosperity in the information age with the presence of information technology means and electronic platforms. The aim of the research is to introduce the most important specialized electronic knowledge platforms, and seek to answer questions that cover aspects of the subject and describe it as a source of information, guidance and training in the educational community. and electronic training and its importance in developing knowledge and innovation in the services of information institutions, The research dealt with two models of specialized electronic knowledge platforms in the field of information and libraries, the adoption o

    Thank Allah and prayers on the Prophet Mohammed the man of truth and honest (PBUH).

The initiations in the role of Imam Ali (PBUH) is considered among the important initiations in Islamic thinking .It is considered the way to invest the conditions that the individual in the light of it can reach to make gains and achievements

The wisdom of the Creator ensures the call of every prophet with a miracle that would be something beyond what is familiar from the customs

The message of the Kurdish tag tagged with(Mada alfay fi taqrir lays  kamithlih shay) one of his most prominent scientific messages in the door of faith, especially in the matter of the unification of the divine self and its distancing from all analogies and representations  and the importance of this message historically, due to its documentation of a stage in the development of Islamic speech thought, where the logical method was taken over the minds of the intellectuals of Islam, including the kurani, whether it is in understanding the quranic and modern meaning or as a way of convincing me towards the opponent.

The Kurd was able to use logical concepts to marginalize the difference between grammarians and interprete

  IF we called twentieth century, the century of productivity and information revolution, the suitable address for twenty-first century is (( The quality century )) .

The research aims to initiate Arabic prize for quality to apply concepts and strategies of total quality management at Higher education sector, which is a vital sector and it may be the most importance sector because it provide efficient human manpower working at all other sectors.

The suggested prize take in consideration the specialty of this sector, and when we apply perspectives of this prize this will promote Arabic universities performance as well as the quality of graduates.

The importance of this research due to the necessity of this pri

يعد التحليل العاملي Factor Analysis أحد الأساليب الإحصائية المهمة والتي يصعب تنفيذها يدويا ً أو بالألات الحاسبة الصغيرة لذا لاقى الباحثين صعوبة في إستخدامه في البداية بل كان من المستحيل القيام به ، لذا فالمؤلف قد تناول التحيلي العاملي الاستكشافي لكونه إسلوب إحصائي يستخدم في تحليل البيانات ويتطلب شروطا ً لأستخدامه ودقة في مراعاة هذه الشروط ويتطلب أيضا ً معايير يجب أن يتأكد الباحث من توافرها في البيانات وهذا ما تم ت

يتناول هذا البحث موضوع (( فعل الامر في صيغة المبني للمجهول في اللغة الاكدية )) وهو يتعلق بقواعد اللغة الاكدية , وقد تضمن هذا البحث مقدمة وشقين : صيغة المبني للمجهول وفعل الامر. اما ما يخص المقدمة فقد شملت تعريف الفعل وانقساماته حسب قوة احرفه , الجذر , المعنى , والفاعل , كما تضمنت المقدمة أيضا الحديث عن الصيغ الفعلية الرئيسة الأربعة التي يتألف الفعل الاكدي منها إضافة الى الصيغ الثانوية التي تتضمنها الصيغ الرئيسة . و