In this paper, the human robotic leg which can be represented mathematically by single input-single output (SISO) nonlinear differential model with one degree of freedom, is analyzed and then a simple hybrid neural fuzzy controller is designed to improve the performance of this human robotic leg model. This controller consists from SISO fuzzy proportional derivative (FPD) controller with nine rules summing with single node neural integral derivative (NID) controller with nonlinear function. The Matlab simulation results for nonlinear robotic leg model with the suggested controller showed that the efficiency of this controller when compared with the results of the leg model that is controlled by PI+2D, PD+NID, and F

تعرضت المواقع الاثریة في الع ا رق الى النبش والتخریب،وقد أدى ذلك الى أستخ ا رج أعداداً كبیرة من النصوص المسماریة وتهریبها الى خارج الع ا رق. ومن ضمنها نصوص مدینة أ ري- ساكرك، فقد درست مجموعة من هذه النصوص والبالغ عددها ( ١١٥٩ ) نصاً التي نش رت في في هذا البحث قمنا بد ا رسة ( ٤) نصوص مصادرة لصالح المتحف .(Nisaba مجلد ( 15 الع ا رقي ذات مضامین أقتصادیة تتعلق بالحیوانات،ارخت بین السنة الثانیة والاربعین من حكم الملك شولكي وحت

The wear behavior of alumina particulate reinforced A332 aluminium alloy composites produced by a stir casting process technique were investigated. A pin-on-disc type apparatus was employed for determining the sliding wear rate in composite samples at different grain size (1 µm, 12µm, 50 nm) and different weight percentage (0.05-0.1-0.5-1) wt% of alumina respectively. Mechanical properties characterization which strongly depends on microstructure properties of reinforcement revealed that the presence of ( nano , micro) alumina particulates lead to simultaneous increase in hardness, ultimate tensile stress (UTS), wear resistances. The results revealed that UTS, Hardness, Wear resistances increases with the increase in the percentage of

تكمن مشكلة البحث في أن كليات التربية عامةً وكلية التربية /ابن الهيثم خاصة ما زالت تسير وفق أنماط إدارية تقليدية وأن هناك شكوى تلهج بها الألسن في المجتمع المحيط بأن المخرجات التعليمية لا توازي تطلعات المجتمع وتوجهاته المستقبلية، كذلك الأهمية لتطبيق معايير ضمان جودة تحقق المستوى المطلوب لهذه الكلية أسوة بالمعايير العالمية، إذ هدف البحث في معرفة واقع معايير ضمان الجودة في الكلية والانتقال إلى رؤية مستقبلية ل

Manufacturing industries are at the beginning of the thinking of those who put economic policies in developed countries and also more in developing countries, where manufacturing is the engine of industrial and economic development through its performance and its effective role in the formation of GDP, as well as the great advantages that characterize this sector and affect Largely on sustainable development, as well as its importance in its influential role in protecting national industry through increased exports and reduced imports.

      Iraq is one of the countries that rely on its oil economy to rely entirely on the provision of needs and requirements of the state, and this

The shoulder and hip joints though essentially both are ball and socket joints, show structural variability to serve functional needs.

This study aims at revealing some of the structural and functional properties of each of the two joints regarding the factors that contribute to the stability of any joint in the body, namely: bone, ligament, and muscle.

    The weak and strong forms are so called because it is not their lexical content that primary matter, but the role they have in the sentence. The problematic confusion, our students encounter, in recognizing and producing the correct pronunciation of weak and strong forms of the English function words is the main incentive behind conducting  this study. In order to gather the data, this paper used two types of tests: a recognition test and a production test. The general results reached  through the analysis of the students' answers seem to conform to the researcher's assumption: students face a critical problem in recognizing and producing correct pronunciation of the weak and strong forms of the English funct

In this article, the solvability of some proposal types of the multi-fractional integro-partial differential system has been discussed in details by using the concept of abstract Cauchy problem and certain semigroup operators and some necessary and sufficient conditions. 

Number theorists believe that primes play a central role in Number theory and that solving problems related to primes could lead to the resolution of many other unsolved conjectures, including the prime k-tuples conjecture. This paper aims to demonstrate the existence of this conjecture for admissible k-tuples in a positive proportion. The authors achieved this by refining the methods of “Goldston, Pintz and Yildirim” and “James Maynard” for studying bounded gaps between primes and prime k-tuples. These refinements enabled to overcome the previous limitations and restrictions and to show that for a positive proportion of admissible k-tuples, there is the existence of the prime k-tuples conjecture holding for each “k”. The sig

The denoising of a natural image corrupted by Gaussian noise is a problem in signal or image processing.  Much work has been done in the field of wavelet thresholding but most of it was focused on statistical modeling of wavelet coefficients and the optimal choice of thresholds.  This paper describes a new method for the suppression of noise in image by fusing the stationary wavelet denoising technique with adaptive wiener filter. The wiener filter is applied to the reconstructed image for the approximation coefficients only, while the thresholding technique is applied to the details coefficients of the transform, then get the final denoised image is obtained by combining the two results. The proposed method was applied by usin