This paper investigates a new approach to the rapid control of an upper limb exoskeleton actuator. We used a mathematical model and motion measurements of a human arm to estimate joint torque as a means to control the exoskeleton’s actuator. The proposed arm model is based on a two-pendulum configuration and is used to obtain instantaneous joint torques which are then passed into control law to regulate the actuator torque. Nine subjects volunteered to take part in the experimental protocol, in which inertial measurement units (IMUs) and a digital goniometer were used to measure and estimate the torque profiles. To validate the control law, a Simscape model was developed to simulate the arm model and control law in which measurem

Were arranged this study on two sections, which included first section comparison between markets proposed through the use of transport models and the use of the program QSB for less costs , dependant the optimal solution  to chose the suggested market  to locate new market that achieve lower costs in the transport of goods from factories (ALRasheed ,ALAmeen , AlMaamun ) to points of sale, but the second part has included comparison of all methods of transport (The least cost method ,Vogels method , Results Approximations method , Total method) depending on the agenda of transport, which includes the market proposed selected from the first section and choose the way in which check the solution first best suited in terms

In this study, the zinc oxide NPs have been synthesized from the fresh pomegranate peels extract using the precipitation method. The ZnO nanoparticles were produced from the reaction of fresh peels extract with zinc acetate salt which was used as zinc source in the presence of 2 M NaOH. The green synthesized nanoparticles were characterized through X-ray diffraction (XRD), UV-Vis diffuse reflection spectroscopy, Fourier transform infrared spectroscopy (FTIR), and Atomic force microscopy (AFM). The XRD patterns confirm the formation of hexagonal wurtzite phase structure for ZnO synthesized using pomegranate peels extract with average crystalline size of 28 nm. FTIR spectra identify the presence of many active functional groups for the pom

This research deals with unusual approach for analyzing the Simple Linear Regression via Linear Programming by Two - phase method, which is known in Operations Research: “O.R.”. The estimation here is found by solving optimization problem when adding artificial variables: Ri. Another method to analyze the Simple Linear Regression is introduced in this research, where the conditional Median of (y) was taken under consideration by minimizing the Sum of Absolute Residuals instead of finding the conditional Mean of (y) which depends on minimizing the Sum of Squared Residuals, that is called: “Median Regression”. Also, an Iterative Reweighted Least Squared based on the Absolute Residuals as weights is performed here as another method to

يهدف هذا البحث إلى تحقيق مجموعة من الأهداف المرتبطة بدراسة فاعلية العلاج القائم على القبول والالتزام (ACT) في خفض أعراض الوسواس القهري لدى ذوي الإعاقة الحركية، وتتمثل هذه الأهداف فيما يلي: 1. إعداد مقياس لقياس الوسواس القهري لدى ذوي الإعاقة الحركية، والتحقق من خصائصه السيكومترية من حيث الصدق والثبات. 2. بناء وتطبيق برنامج علاجي قائم على مبادئ القبول والالتزام، مخصص لخفض أعراض الوسواس القهري لدى هذه الفئة. 3. التع

هدفت هذه الدراسة إلى التعرف على علاقة فاعلية الذات والفرع الأكاديمي بدافع الإنجاز الدراسي لدى طالبات كلية عجلون الجامعية. تكونت عينة الدراسة من (200) طالبة ممن درسن في أحد الفرعين العلمي أو الأدبي اختيرت بالطريقة الطبقية العشوائية، وشكلت ما نسبته 10% من مجتمع الدراسة.

ولتحقيق أهداف الدراسة تم تطبيق مقياس فاعلية الذات على عينة الدراسة، كما تم تطبيق مقياس دافع الإنجاز الدراسي على العينة نفسها