This work is concerned with designing two types of controllers, a PID and a Fuzzy PID, to be used
for flying and stabilizing a quadcopter. The designed controllers have been tuned, tested, and
compared using two performance indices which are the Integral Square Error (ISE) and the Integral
Absolute Error (IAE), and also some response characteristics like the rise time, overshoot, settling
time, and the steady state error. To try and test the controllers, a quadcopter mathematical model has
been developed. The model concentrated on the rotational dynamics of the quadcopter, i.e. the roll,
pitch, and yaw variables. The work has been simulated with “MATLAB”. To make testing the
simulated model and the controllers m

There is no doubt that the narrative form is a mixture of many elements that it
becomes so hard to differentiate between them. Thus, to differentiate between those
elements we must understand the job of every element; and that is the structure of narrative
form in the artistic frame of the old Arabic poem.
Poetry, as the readers confirm, is strongly related to a lot of arts. The rhetorical
form is related to the art of drawing and photography, the rhythm- the core of poetry- is
related to music, its structure to the art of architecture, its tension to drama as it consist of
internal conflict between its elements and ingredients, and the poetry has a narrative
element which relates it to the art of narration and it

ارتبط الانسان بالطبيعة بأشكالها المختلفة ارتباطا وثيقا ، فهي تمثل الحاضنة له بمجالات حياته كلها، فما كان من الأدباء الا أن يجعلوها في كثير من الأحيان مادة لأدبهم وأرضية خصبة لنتاجهم، فتمظهرت بصورها المختلفة وحاجة الانسان لها وخيرها وشرها في الأدب على مدى التاريخ، والعرب شأنهم شأن غيرهم من الأمم فمنذ عصر ما قبل الاسلام كانت الطبيعة منفذا مهما وملجأ للشعراء في انتاج الأدب وابداعه وإلى يومنا هذا، ونحن إذ نتحد

يعد الرثاء أساساً من أسس الموروث الشعري العربي، وهو باب من أبواب الشعر الرئيسة. وقد وجد الإنسان فيه بغيته في التعبير عن مكنون نفسه ساعة تكتظ بالألم، ومنفذاً يخرج منه لواعجه وأشجانه إلى الخارج في شكل تعبيري يحرر الدمعة، ويعاتب الموت. والرثاء غرض متطور ينمو مع نمو المجتمع والحياة ويسجل التغيير الذي يحصل في كل مرحلة من مراحل التاريخ، وهو نتيجة مهمة من نتائج اصطدام الشاعر بالحياة والأحداث. لهذا وقع اختياري على شع

Literary heritage and its employment in poetry has received the attention of poets, and they have employed it in their literary texts, as this employment is one of the oldest phenomena in Arabic literature, that the inspiration of this heritage in texts through the overlap of their texts with previous texts, and no poet neglected the importance of this employment.

The Andoluosian literatures has been captured my mind, and had a very
pure and great place in my spirit, which is remembering me the roots of
genuine Arabic civilization spread during eight century in endoluos region.
also the Arabic creation which is moved from east to far way land in that
ages. And very clearly appearance tremendous men interested in science and
all kind of literature and arts especially in poetry, no one who has taste and
minimum knowledge can denied the effect of indoluosan prosperity among
readers. So for that reason I work very hard to choose a very famous poet his
nick name (Al-Ramadee) he is Youseif Bin Haroon born in the first decade
of the 4TH hijri (Islamic Calendar), died in (403H).

Literary heritage and its employment in poetry has received the attention of poets, and they have employed it in their literary texts, as this employment is one of the oldest phenomena in Arabic literature, that the inspiration of this heritage in texts through the overlap of their texts with previous texts, and no poet neglected the importance of this employment.  The ancient critics determined that the poet’s special culture is represented in the necessity of taking from the ancients, and this taking is the reference from which the poet draws his material and idea, as well as to clarify the meaning and its significance

This research is a rhetorical study that sheds light on theme
prominent of central identified as custom poet of MUDAFAR AL NAWAB
political and national' that "wine "that themes which had a prominent
presence and intense in his poetry .and objective of this research is to detect
the aesthetic performance ALNAWABY in which he put to categorization
"wine" ,through observation of manifestation the presence of winey. And
related scream the images and the meaning of talking semantics base to
move in the spaces of the text and have built our study on three topics: we
started The first research with lexicon russet in the processes of counting
and analysis of the semantics wine in the office of the poet trying to reveal

          The research aims to determine the impact of Human Resources Accounting (HRA) on employee’s performance. The research’s problem was embodied in the lack of interest in HRA, which was reflected on the performance of employees in the Ministry of Education; the research adopted the descriptive-analytical approach, and the research community included the directors of departments and people at the headquarters of the Ministry of Education. The sample size was (224) individuals from the total community of 533. The questionnaire was adopted as the main tool for collecting data and information, as well as the interviews that were conducted by the researcher. In order to analyze t

Communication has seen a big advancement through ages; concepts, procedures and technologies, it has also seen a similar advancement of language. What unites language and media is the fact that each one of them guides and contributes to the other; media exists and results from language and from the other sign systems, and what strengthens this connection is the symbolic language system, as media helps it by providing knowledge and information. The change that occurred through time must leave a significant trace in the media, for example Diction, which has changed concerning development and growth, also the ways and mediums of media have become manifold and widespread. This change affected the recipient whether it was a reader, listener o