In this paper, an Integral Backstepping Controller (IBC) is designed and optimized for full control, of rotational and translational dynamics, of an unmanned Quadcopter (QC). Before designing the controller, a mathematical model for the QC is developed in a form appropriate for the IBC design. Due to the underactuated property of the QC, it is possible to control the QC Cartesian positions (X, Y, and Z) and the yaw angle through ordering the desired values for them. As for the pitch and roll angles, they are generated by the position controllers. Backstepping Controller (BC) is a practical nonlinear control scheme based on Lyapunov design approach, which can, therefore, guarantee the convergence of the position tracking

الحمد لله ، والصلاة والسلام على سيدنا محمد رسول الله ، وعلى آله وأصحابه ومن والاه.

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فقد تبارى العلماء لخدمة ديننا الحنيف، توثيقاً، وتحليلاً، ودراسة، مضافاً للتعريف بالأعلام الذين أسهموا في إرساء معالم الدعوة الإسلامية، وقد تباينت أساليب علمائنا الأفذاذ، فلكل كان منهجه وطريقته، مقصدهم في هذا، حبهم لهذا الدين، والذبّ عن العقيدة، ومن هؤلاء الجهابذة، العلامة عبد الله بن ابراهيم الميرغني ا

The significant addition of immersive technologies, Virtual Reality (VR), Augmented Reality(AR) and Mixed Reality(MR) are transforming the domain of design education. Still, finding an equilibrium between these new tools alongside with traditional methods of teaching is a menace which educational institutes needs to solve. This paper proposes a structure that would help the ease with which to include immersive technologies within design education, keeping in mind the solid points of more conventional pedagogical methods. Based on a survey of interior design programs, this research highlights the potential for VR, AR and MR in student engagement, creativity skills and professional practices. The results suggest that adoption of an im

The study aims to identify the extent of the availability of administrative empowerment and the implementation of remote supervision in relation to two variables with respect to the employees of the Saudi Ministry of Education. The study included (456) male and female supervisors. The questionnaire has been administrated to collected data related to the research aims. The results indicated that both the extent of the availability of administrative empowerment and the implementation of remote supervision is of an average degree. There is a significant correlation relationship (p<0.05) between administrative empowerment and remote supervision of the educational supervisors of the Saudi Ministry of Education. The research recommends that

: تفرض مرحلة إعادة بناء الدولة أو مرحلة بناء الدولة حالتين متقاربتين، لكن تختلف تجربة كل منهما عن األخرى، ففي الحالة األولى نعني بها أن دولة ما متكاملة المقومات سواء القانونية أو السياسية أو االقتصادية، وتمتلك هذه الدولة الشرعية القانونية واالعتراف الدولي، لكن تتعرض هذه الدولة لألزمة سواء كانت ثورة أو انقالب أو احتالل، وإلى السقوط ونهاية نظامها السياسي القانوني ومن ثم إعادة بناء الدولة ومنظومتها السياسية..

مرت العلاقات المصرية – الامريكية بمنعطفات مهمة كان لها تاثيرها الكبير في مسار تلك العلاقات ولعل اهمها حرب حزيران 1967 و حرب تشرين الثاني 1973 ،الا ان تلك العلاقات اخذت منعطفا مختلفاً خلال عهد الرئيس المصري انور السادات واستمرت تلك العلاقات حتى عهد الرئيس المصري حسني مبارك وشملت مختلف المجالات السياسية والاقتصادية والعسكرية والامنية ،بل وصلت العلاقة بين البلدين الى حد الشراكة..ومهما قيل عن تحسن العلاقات المصر

نزع السلاح بعد انتهاء الحرب الباردة " دراسة نقدية"

There is a continuous and massive need for newer cephalosporins that should have resistance against β-lactamases and can be used orally. An approach of using cephalexin, as a well-studied and potent antibacterial compound is considered to prepare new designed derivatives.  These derivatives include the incorporation of amino acid moiety linked through an amide bond with the α-amino group of cephalexin. Certain aliphatic amino acids were used, such as glycine, alanine, valine and proline. The chemical structures of these derivatives were confirmed by IR spectroscopy and elemental analyses. All the synthesized compounds were subjected for preliminary evaluation of antimicrobial activity using well diffusion method, against certa

Granular carbon can be used after conventional filtration of suspended matter or, as a combination of filtration - adsorption medium. The choice of equipment depends on the severity of the organic removal problem, the availability of existing equipment, and the desired improvement of adsorption condition.
Design calculations on dechlorination by granular - carbon filters considering the effects of flow rate, pH , contact time, head loss and bed expansion in backwashing , particle size, and physical characteristics were considered assuming the absence of bacteria or any organic interface .