We propose a new object tracking model for two degrees of freedom mechanism. Our model uses a reverse projection from a camera plane to a world plane. Here, the model takes advantage of optic flow technique by re-projecting the flow vectors from the image space into world space. A pan-tilt (PT) mounting system is used to verify the performance of our model and maintain the tracked object within a region of interest (ROI). This system contains two servo motors to enable a webcam rotating along PT axes. The PT rotation angles are estimated based on a rigid transformation of the the optic flow vectors in which an idealized translation matrix followed by two rotational matrices around PT axes are used. Our model was tested and evaluated using different objects with different motions. The results reveal that our model can keep the target object within a certain region in the camera view.
This research considers the preservation of environment through recycling old toys. This is achieved by transforming the old toys into educational clothing accessories for kindergarten stages. The research methodology adapts both descriptive and applied approaches. The research questionnaire targeted a sample of 35 teachers to collect information about the waste toys in kindergarten. Also, another sample of 30 teachers and mothers were targeted to measure the suitability of the clothing designs for the early childhood stages. The results shows that both teachers and mothers were well satisfied with clothing accessories designed with the toys waste. This concept contributes to limiting the pollution caused by toys and could save time, eff
... Show MoreIn this study NiO - CoO bimetallic catalysts are prepared with two Ni/Co ratios (70:30 and 80: 20) using the precipitation method of nitrate salts. The effects of Ni /Co ratio and preparation methods on the catalyst are analyzed by using different characterization techniques, i.e. atomic absorption (AA) , XRD, surface area and pore volume measurements according to the BET method . The results indicate that the best catalyst is the one containing the percentage of Ni :Co ( 70 : 30 ). Experiments indicate that the optimal conditions to prepare catalyst are stirring for three hours at a temperature of 60oC of the preparation , pH= (8-9) , calcination temperature at 400oC for two hours
... Show MoreThis paper proposes a new structure for a Fractional Order Sliding Mode Controller (FOSMC) to control a Twin Rotor Aerodynamic System (TRAS). The new structure is composed by defining two 3-dimensional sliding mode surfaces for the TRAS model and introducing fractional order derivative integral in the state variables as well as in the control action. The parameters of the controller are determined so as to minimize the Integral of Time multiplied by Absolute Error (ITAE) performance index. Through comparison, this controller outperforms its integer counterpart in many specifications, such as reducing the delay time, rise time, percentage overshoot, settling time, time to reach the sliding surface, and amplitude of chattering in control inpu
... Show MoreCircular data (circular sightings) are periodic data and are measured on the unit's circle by radian or grades. They are fundamentally different from those linear data compatible with the mathematical representation of the usual linear regression model due to their cyclical nature. Circular data originate in a wide variety of fields of scientific, medical, economic and social life. One of the most important statistical methods that represents this data, and there are several methods of estimating angular regression, including teachers and non-educationalists, so the letter included the use of three models of angular regression, two of which are teaching models and one of which is a model of educators. ) (DM) (MLE) and circular shrinkage mod
... Show MoreThis paper including a gravitational lens time delays study for a general family of lensing potentials, the popular singular isothermal elliptical potential (SIEP), and singular isothermal elliptical density distribution (SIED) but allows general angular structure. At first section there is an introduction for the selected observations from the gravitationally lensed systems. Then section two shows that the time delays for singular isothermal elliptical potential (SIEP) and singular isothermal elliptical density distributions (SIED) have a remarkably simple and elegant form, and that the result for Hubble constant estimations actually holds for a general family of potentials by combining the analytic results with data for the time dela
... Show MoreDerivatives of Schiff-bases possess a great importance in pharmaceutical chemistry. They can be used for synthesizing different types of bioactive compounds. In this paper, derivatives of new Schiff bases have been synthesized from several serial steps. The acid (I) was synthesized from the reaction of dichloroethanoic acid with 2 moles of p-aminoacetanilide. New acid (I) converted to its ester (II) via the reaction of (I) with dimethyl sulphate in the present of anhydrous of sodium carbonate and dry acetone. Acid hydrazide (III) has been synthesized by adding 80% of hydrazine hydrate to the new ester using ethanol as a solvent. The last step included the preparation of new Schiff-bases (IV-VIII) by the reaction of acid hydrazide with
... Show MoreAbstract: The aim of the current research is to find out the extent to which systems thinking skills are included in the mathematics textbook scheduled for the third intermediate grade for the academic year (2020-2021) by answering the main research question: What are the systems thinking skills included in the mathematics textbook for middle third grade? The analytical descriptive approach was used, and to achieve the goal of the research, a list of the main systemic thinking skills and sub-skills was prepared, and after analyzing the content of the mathematics textbook, the reliability of the analysis was verified through the analysis over time and through others, and it obtained a reliability rate of 98% us
... Show MoreWestern Scholars have criticized al the material on the point of reliability . Some have taken the unduly Sceptical view that nothing is to be trusted except Quran . The present study is based on opposing view that at least the material in the early biographers is to be accepted as true , except where there are particular reasons for thinking that an anecdote has been distorted ( or invented ) through legal or political motives. It is also assumed that most of the background material culled from a large number of vaired works , is sound . This standpoint .I would claim , leads to a coherent view of Muhammad's life and achievement.