Search results for: Nabeel Abdallah Mohammad Abedalaziz

Authors: Chandrakala Varatharajoo, Adelina Binti Asmawi, Nabeel Abdallah Mohammad Abedalaziz

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This study investigated the impact of inflectional and derivational morphemic analysis awareness on ESL secondary school students’ vocabulary learning strategy. The quasi-experimental study was conducted with 106 low proficiency secondary school students in two experimental groups (inflectional and derivational) and one control group. The students’ vocabulary acquisition was assessed through two measures: Morphemic Analysis Test and Vocabulary- Morphemic Test in the pretest and posttest before and after an intervention programme. Results of ANCOVA revealed that both the experimental groups achieved a significant score in Morphemic Analysis Test and Vocabulary-Morphemic Test. However, the inflectional group obtained a fairly higher score than the derivational group. Thus, the results indicated that ESL low proficiency secondary school students performed better on inflectional morphemic awareness as compared to derivatives. The results also showed that the awareness of inflectional morphology contributed more on the vocabulary acquisition. Importantly, learning inflectional morphology can help ESL low proficiency secondary school students to develop both morphemic awareness and vocabulary gain. Theoretically, these findings show that not all morphemes are equally useful to students for their language development. Practically, these findings indicate that morphological instruction should at least be included in remediation and instructional efforts with struggling learners across all grade levels, allowing them to focus on meaning within the word before they attempt the text in large for better comprehension. Also, by methodologically, by conducting individualized intervention and assessment this study provided fresh empirical evidence to support the existing literature on morphemic analysis awareness and vocabulary learning strategy. Thus, a major pedagogical implication of the study is that morphemic analysis awareness strategy is a definite boon for ESL secondary school students in learning English vocabulary.

Keywords: ESL, instruction, morphemic analysis, vocabulary

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Authors: Hamid Alalwany, Nabeel A. Koshak, Mohammad K. Ibrahim

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Both knowledge economy and sustainable development are considered key dimensions in the policy action lines of many developed and developing countries. In this context, universities and other higher education institutes have a vital role in developing and sustaining wellbeing communities. In this paper, the authors’ aim is to address the links between the concepts of innovation and entrepreneurial capacity and knowledge economy, and to utilize the approach of intellectual capital development in building a sustainable knowledge economy. The paper will contribute to two discourses: (1) Developing a common understanding of the intersection aspects between the three concepts: Knowledge economy, Innovation and entrepreneurial system, and sustainable development; (2) Paving the road towards developing an integrated multidimensional framework for sustainable knowledge economy.

Keywords: innovation and entrepreneurial capacity, intellectual capital development, sustainable development, sustainable knowledge economy.

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Authors: Emad E. Abdallah, Alaa E. Abdallah, Bajes Y. Alskarnah

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We introduce a robust three-dimensional watermarking algorithm for copyright protection and indexing. The basic idea behind our technique is to measure the interquartile range or the spread of the 3D model vertices. The algorithm starts by converting all the vertices to spherical coordinate followed by partitioning them into small groups. The proposed algorithm is slightly altering the interquartile range distribution of the small groups based on predefined watermark. The experimental results on several 3D meshes prove perceptual invisibility and the robustness of the proposed technique against the most common attacks including compression, noise, smoothing, scaling, rotation as well as combinations of these attacks.

Keywords: watermarking, three-dimensional models, perceptual invisibility, interquartile range, 3D attacks

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Authors: Esmail Shakman, Khaled Etyab, Ibraheim Taboni, Mohamed Et-wail, Abdallah Ben Abdallah

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This study was carried out along the Libyan coast during the period from 1st February to 31st March 2013. More than 120 landing sites have been visited in order to investigate their status and fishing activities. The study found that more than 91% of the landing sites were permanent and around 8% were seasonal. The type of landing sites were mostly harbors (42.86%), 31.75% protected bays and 25.4% are open beach. However, seven types of fishing boats were observed; flouka type was the largest percentage (70.06%), then 18.14% for mator, 3.28% for lampara, 0.41% for Tarrad, Gayag (0.16%), 5.97 for Daghesa, and 1.98% for batah. Moreover, the majority of them were concentrated in the western region of the country. The most common used fishing gearsare the trammel nets about 80%, which are used by flouka, mator, Tarrad, and batah. The using of trammel nets rely on the fishing season, fishes size and the target fish species. The other fishing gears are also used but occasionally.

Keywords: fishery, South Mediterranean, landing sites, marine biology

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Authors: Abdallah H. Ramini, Alwathiqbellah I. Ibrahim, Mohammad I. Younis

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We investigate experimentally and theoretically the dynamics of a capacitive resonator under mixed frequency excitation of two AC harmonic signals. The resonator is composed of a proof mass suspended by two cantilever beams. Experimental measurements are conducted using a laser Doppler Vibrometer to reveal the interesting dynamics of the system when subjected to two-source excitation. A nonlinear single-degree-of-freedom model is used for the theoretical investigation. The results reveal combination resonances of additive and subtractive type, which are shown to be promising to increase the bandwidth of the resonator near primary resonance frequency. Our results also demonstrate the ability to shift the combination resonances to much lower or much higher frequency ranges. We also demonstrate the dynamic pull-in instability under mixed frequency excitation.

Keywords: electrostatically actuated resonator, multi-frequency excitation, nonlinear dynamics, AC harmonic signals

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Authors: Mohammad Hamzah Alshehab

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Metaphor is a substitute expression in everyday life in languages, thoughts and actions. It has an original value in language use with different conceptual, grammatical and properties. In addition, it is a central concept in literary studies. The present paper aims at investigating metaphor’s types imbedded in some Holy Verses (HV). For achieving the objectives of this paper, two English versions were chosen , the first is the Translation of the Meanings of the Noble Qura’n in the English Language by Mohammad AlHilali and Mohammad Khan, and the second version is the English Translation of the Holy Qura’n by Mohammad Ali were used. The researcher selected (20) Holy Verses include metaphors to be analyzed and investigated. Metaphor types were categorized by an assessment of the two translations followed by a discussion between the two versions of translation.

Keywords: metaphor, metaphor’s types, Holy Qura’n, Holy Verses

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Authors: Asma Ben Abdallah

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Interlanguage Pragmatics (ILP) Instruction has brought a lot of enlightenment for Foreign Language Teaching and has secured itself a deserved position in SLA research. In the Tunisian context, ILP instruction remains less explored for academics and educational practitioners. In our experience as teachers, both at secondary school and at university levels, the instruction and assessment of pragmatics seem to be contentious. This paper firstly introduces the theoretical models of Interlanguage pragmatics Instruction and focuses on their implications for foreign language teaching. This study builds on the work of Ben Abdallah (2015) that investigated the effects of pragmatic Instruction on Tunisian EFL Learners where pragmatic Instruction has been approached from the perspective of students and their learning strategies. The data for the present study, however, come from Tunisian EFL teachers by investigating their pragmatics practices and their perceptions of pragmatic instruction. The findings indicated that EFL teachers have pragmatic awareness; yet, their reflections revealed that their awareness was mostly on theoretical pragmatic knowledge, and not explicitly brought into practical pragmatic applications. The paper concludes by promoting pragmatics instruction with the suggestion that EFL teachers should teach pragmatics in class.

Keywords: interlanguage pragmatics theory, pragmatics, pragmatic instruction, SLA

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Authors: Mohammad Abdallah

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Due to the constant increase in terrorist attacks, the research and engineering communities have given significant attention to building performance under explosions. This paper presents a methodology for studying and simulating the dynamic responses of steel structures during external detonations, particularly for accurately investigating the impact of incrementing charge weight on the members total behavior, resistance and failure. Prediction damage method was introduced to evaluate the damage level of the steel members based on five scenarios of explosions. Johnson–Cook strength and failure model have been used as well as ABAQUS finite element code to simulate the explicit dynamic analysis, and antecedent field tests were used to verify the acceptance and accuracy of the proposed material strength and failure model. Based on the structural response, evaluation criteria such as deflection, vertical displacement, drift index, and damage level; the obtained results show the vulnerability of steel columns and un-braced steel frames which are designed and optimized to carry dead and live load to resist and endure blast loading.

Keywords: steel structure, blast load, terrorist attacks, charge weight, damage level

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Authors: Mehdi Basirat, Mohammad Rouhani, Shahla Borzouei, Majid Zarangi, Asma Abolghasemi, Mohammad Fazel Soltani, Mohammad Gorji, Mohammad Amin Samih

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The common pistachio psylla, Agonoscena pistaciae Burckhardt and Lauterer (Hemiptera: Aphalaridae), as one of the most detrimental pests in all pistachio producing regions, causes great economic damages to pistachio trees. Nowadays, various pesticides are used to control the common pistachio psylla and robust pesticide exposure has occurred in orchards. In this study, field experiments were conducted during 2018–2021 to assess the effects of sulfur on A. pistaciae. This study compared sulfur with asafoetida extract and pesticide (acetamiprid) on A. pistaciae based on complete randomized blocks with three replications. The analysis results of variance showed that the effect of treatments on egg (F2,24 = 17.61, P = 0.00) and nymphs (F2,24 = 18.29, P = 0.00) had a significant difference at a 1% level. The results demonstrated that sulfur had the highest measure of control on eggs and nymphs significantly compared to the plant extract and pesticide (negative control). These results provide support to the potential use of sulfur as an alternative pest management tool against A. pistaciae. The results clearly indicated that sulfur could control the common pistachio psylla population for six weeks at least.

Keywords: Agonoscena pistaciae, pesticide exposure, pistachio, sulfur

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Authors: Hamad Almohamadi, Nabeel H. Alharthi, Abdulrahman Aljabri

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In this study, two-dimensional CuFeOx is deposited on nickel foam for the fabrication of electrocatalyst for oxygen evolution reaction (OER). The in-situ hydrothermal synthesis of CuFeOx in presence of aloe vera extract was found to yield unique nano-rose-like morphology which aided to improve the electrochemical surface area of the electrode. The phytochemical assisted synthesis of CuFeOx using 75% aloe vera extract resulted in improved OER electrocatalytic performance by attaining the overpotential of 310 mV for 50 mA cm−2 and 410 mV for 100 mA cm−2. The electrode also sustained robust stability throughout the 50 h of chronopotentiometry studies under alkaline electrolyte conditions, thus proving to be prospective electrode material for efficient OER in electrochemical water splitting.

Keywords: water splitting, phytochemicals, oxygen evaluation reaction, Tafel's slope, stability

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Authors: Moulay Driss Mellaoui, Abdallah Imjjad, Rachid Boutiddar, Haydar Mohammad-Salim, Nivedita Acharjee, Hassan Bourzi, Souad El Issami, Khalid Abbiche, Hanane Zejli

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We have investigated the underlying molecular processes involved in the [3+2] cycloaddition (32CA) reactions between N-methyl-C-(2-furyl) nitrone and three acetylene derivatives: 4b, 5b, and 6b. For this investigation, we utilized molecular electron density theory (MEDT) and density functional theory (DFT) methods at the B3LYP-D3/6 31G (d) computational level. These 32CA reactions, which exhibit a zwitterionic (zw-type) nature, proceed through a one-step mechanism with activation enthalpies ranging from 8.80 to 14.37 kcal mol−1 in acetonitrile and ethanol solvents. When the nitrone reacts with phenyl methyl propiolate (4b), two regioisomeric pathways lead to the formation of two products: P1,5-4b and P1,4-4b. On the other hand, when the nitrone reacts with dimethyl acetylene dicarboxylate (5b) and acetylene dicarboxylic acid (but-2-ynedioic acid) (6b), it results in the formation of a single product. Through topological analysis, we can categorize the nitrone as a zwitterionic three-atom component (TAC). Furthermore, the analysis of conceptual density functional theory (CDFT) indices classifies the 32CA reactions of the nitrone with 4b, 5b, and 6b as forward electron density flux (FEDF) reactions. The study of bond evolution theory (BET) reveals that the formation of new C-C and C-O covalent bonds does not initiate in the transition states, as the intermediate stages of these reactions display pseudoradical centers of the atoms already involved in bonding.

Keywords: 4-isoxazoline, DFT/B3LYP-D3, regioselectivity, cycloaddition reaction, MEDT, ELF

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Authors: Mohammad Hadi Khorashadi Zadeh, Amin Karkon, Seyd Mohammad Reza Mashhoori

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The technology of computer audit played a major role in the progress and prospects of a proper application to improve the quality and efficiency of audit work. But due to the technical complexity and the specific risks of computer audit, it should be shown effective in audit and preventive action. Mainly through research in this paper, we propose the causes of audit risk in a computer environment and the risk of further proposals for measures to control, to some extent reduce the risk of computer audit and improve the audit quality.

Keywords: computer auditing, risk, measures to prevent, information management

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Authors: Mohammad Hadi Khorashadi Zadeh, Amin Karkon, Seyd Mohammad Reza Mashhoori ‎

Abstract:

the technology of Computer audit played a major role in the progress and ‎prospects of a proper application to improve the quality and efficiency of audit ‎work. But due to the technical complexity and the specific risks of computer ‎audit, it should be shown effective in audit and preventive action. Mainly through ‎research in this paper, we proposes the causes of audit risk in a computer ‎environment and the risk of further proposals for measures to control, to some ‎extent reduce the risk of computer audit and improve the audit quality.‎

Keywords: computer auditing, risk, measures to prevent, information technology

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Authors: Suleiman Obeidat, Nabeel Mandahawi

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In this work, the packaging process for a move is improved. The customers of this move need their household stuff to be moved from their current house to the new one with minimum damage, in an organized manner, on time and with the minimum cost. Our goal was to improve the process between 10% and 20% time efficiency, 90% reduction in damaged parts and an acceptable improvement in the cost of the total move process. The expected ROI was 833%. Many improvement techniques have been used in terms of the way the boxes are prepared, their preparation cost, packing the goods, labeling them and moving them to a place for moving out. DMAIC technique is used in this work: SIPOC diagram, value stream map of “As Is” process, Root Cause Analysis, Maps of “Future State” and “Ideal State” and an Improvement Plan. A value of ROI=624% is obtained which is lower than the expected value of 833%. The work explains the techniques of improvement and the deficiencies in the old process.

Keywords: packaging, lean tools, six sigma, DMAIC methodology, SIPOC

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Authors: Jaouadi Imen, Ben Djemaa Raoudha, Ben Abdallah Hanene

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The access to relevant information that is adapted to users’ needs, preferences and environment is a challenge in many applications running. That causes an appearance of context-aware systems. To facilitate the development of this class of applications, it is necessary that these applications share a common context meta-model. In this article, we will present our context meta-model that is defined using the OMG Meta Object facility (MOF). This meta-model is based on the analysis and synthesis of context concepts proposed in literature.

Keywords: context, meta-model, MOF, awareness system

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Authors: Ossama Abdelmotaal, Olfat Shaker, Tarek Salman, Lamiaa Nabeel, Mostafa Shabayek

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Colorectal Cancer (CRC) is an important worldwide health problem. Colonoscopy is used in detecting CRC suffer from drawbacks where colonoscopy is an invasive method. This study validates easier and less time-consuming techniques to evaluate the usefulness of detecting miRNA-21, miRNA-215 and miRNA-378 in the sera of colorectal cancer patients as new diagnostic tools. This study includes malignant (Colo Rectal Cancer patients, n= 64)) and healthy (n=27) groups. The studied groups were subjected to colonoscopic examination and estimation of miRNA-21, miRNA-215 and miRNA-378 in sera by RT-PCR. miRNA-21 showed the statistically significantly highest median fold change. miRNA-378 showed statistically significantly lower value (Both showed over-expression). miRNA-215 showed the statistically significantly lowest median fold change (It showed down-regulation). Overall the miRNA (21-215 and 378) appear to be promising method of detecting CRC and evaluating its stages.

Keywords: colorectal cancer, miRNA-21, miRNA-215, miRNA-378

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Authors: Amin Derakhshan, Mohammad Mikaili, Mohammad Ali Khalilzadeh, Amin Mohammadian

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This paper proposes a stress recognition system from multi-modal bio-potential signals. For stress recognition, Support Vector Machines (SVM) and LDA are applied to design the stress classifiers and its characteristics are investigated. Using gathered data under psychological polygraph experiments, the classifiers are trained and tested. The pattern recognition method classifies stressful from non-stressful subjects based on labels which come from polygraph data. The successful classification rate is 96% for 12 subjects. It means that facial thermal imaging due to its non-contact advantage could be a remarkable alternative for psycho-physiological methods.

Keywords: stress, thermal imaging, face, SVM, polygraph

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Authors: Mohammed Nabeel Khan, C. Perisamy

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Convective vortices are normal highlights of air that ingest lower-entropy-energy at higher temperatures than they dismiss higher-entropy-energy to space. By means of the thermodynamic proficiency, it has been anticipated that the force of convective vortices relies upon the profundity of the convective layer. The atmospheric vortex engine is proposed as a gadget for delivering mechanical energy by methods for artificially produced vortex. The task of the engine is in view of the certainties that the environment is warmed from the base and cooled from the top. By generation of the artificial vortex, it is planned to take out the physical solar updraft tower and decrease the capital of the solar chimney power plants. The study shows the essentials of the atmospheric vortex engine, furthermore, audits the cutting edge in subject. Moreover, the study talks about a thought on using the solar energy as heat source to work the framework. All in all, the framework is attainable and promising for electrical power production.

Keywords: AVE, atmospheric vortex engine, atmosphere, updraft, vortex

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Authors: Ali Abojassim, Nabeel Kadhim, Adil Jaber, Ali Hussein

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Water quality index (WQI) is valuable and unique rating to depict the total water quality status in a single term that is helpful for the selection of appropriate treatment technique to meet the concerned issues. Fifteen surface water samples were collected from the Euphrates river within AlHaydria is sub district of AL-Najaf (Iraq). The quality of surface water were evaluated by testing various physicochemical parameters such as pH, Total Dissolved Solid (TDS), , Calcium, Chloride, Sulphate and Electrical conductivity. The WQI for all samples were found in the range of 25.92 to 47.22. The highest value of WQI was observed in the Ali Hajj Hassan(SW4,SW8), El Haj Abdel Sayed (SW 10 to SW 12)and Hasan alsab(SW 14) sampling locations. Most of the water samples within study area were found good to moderate categories. most of the water samples for study area were found good as well as moderate categories

Keywords: water quality index, GIS, physicochemical parameters, Iraq Standards for irrigation purpose 2012

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Authors: M. Sharif Imam Ibne Amir, Mohammad Masud Kamal Khan, Mohammad Golam Rasul, Raj H. Sharma, Fatema Akram

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Future flood can be predicted using the probable maximum flood (PMF). PMF is calculated using the historical discharge or rainfall data considering the other climatic parameter stationary. However, climate is changing globally and the key climatic variables are temperature, evaporation, rainfall and sea level rise (SLR). To develop scenarios to a basin or catchment scale these important climatic variables should be considered. Nowadays scenario based on climatic variables is more suitable than PMF. Six scenarios were developed for a large Fitzroy basin and presented in this paper.

Keywords: climate change, rainfall, potential evaporation, scenario, sea level rise (SLR), sub-catchment

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Authors: Mohammad Mehdi Mazaheri, Mohammad Motiee Lahromi

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In a depression after world wars, Beckett's plays presented a picture of the world fragmented and disrupted. Among other modern literary works, Beckett's path-breakingly innovative literature presented the parodies of pointlessness of human actions and thoughts in the world. This new dramatic style catapulted Beckett to the centre stage of modern drama, though it should be mentioned that he may not have been influenced in this without the prevailing climate of ideas. The prevailing literary attitude of Modernism indicates that the modern world is irrational and incoherent. The present study explores Samuel Beckett's literary approach to modern drama and shows how the author could create the characters stuck in a lifelong suspicious about the Self.

Keywords: modern drama, absurdity, the theatre of the absurd, existentialism, self searching

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Authors: Mahdi Rahimi, Mohammad Mahdi Mojahedian, Mohammad Reza Aref

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In this paper, a cellular communication scenario with a transmitter and an authorized user is considered to analyze its secrecy in the face of eavesdroppers and the interferences propagated unintentionally through the communication network. It is also assumed that some D2D pairs and eavesdroppers are randomly located in the cell. Assuming hardware impairment, perfect connection probability is analytically calculated, and upper bound is provided for the secrecy outage probability. In addition, a method based on random activation of D2Ds is proposed to improve network security. Finally, the analytical results are verified by simulations.

Keywords: physical layer security, stochastic geometry, device-to-device, hardware impairment

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Authors: Ben Abdallah Aicha

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In this work we show a H∞ synthesis method which enables us to calculate a feedback controller according to considerations of stability robustness and disturbance rejection translated on to the open loop response. However, it may happen that we have an additional specification on the closed loop response relating to tracking of the reference trajectory. The H∞ synthesis has the advantage of offering increased specifications in robustness stability. Implemented for a DC motor, it offers invaluable performance in speed control in both directions of rotation.

Keywords: H∞ synthesis, DC motor, robustness stability, performance conditions

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Authors: Mohammad Ali Aazami Mavaloo, Mohammad Bagher Hassanpouraghdam

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Intact leaves, leaf segments and petiole sections derived from nodal explants in vitro were employed for the optimization of Pelargonium odoratissimum micropropagation. MS and ½ MS media enriched with BAP (1, 1.5, 2 and 4.5 mg/l) and NAA (0.1, 1 and 1.5 mg/l) were the treatment combinations used for. With leaf segments, the lowest browning incidence, the greatest callogenesis and the highest number of shoots were obtained with the media containing 1.5 mg/L BAP and 1 mg/L NAA. Two mg/L BAP + 0.1 mg/L NAA hold the same results for petiole explants. Intact leaves showed the best results for the three before-mentioned traits with 1 mg/L BAP + 1 mg/L NAA. 0.2 mg/L NAA caused the highest rooting percentage and the greatest mean data for the number and length of the roots. Rooted plantlets were transferred to the pots containing 1:1 peat-moss and perlite. Acclimatization of the plantlets was followed by 90 percent of survival rate in the greenhouse.

Keywords: Pelargonium odoratissimum, micropropagation, BAP, NAA

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Authors: Rania M. Abdallah, Ahmed A. S. Dessouki, Moustafa H. Aly

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This paper has presented a new simple small signal model for a resonant tunnelling diode device. The resonant tunnelling diode equivalent circuit elements were calculated and the results led to good agreement between the calculated equivalent circuit elements and the measurement results.

Keywords: resonant tunnelling diode, small signal model, negative differential conductance, electronic engineering

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Authors: Nazatul Aini Abd Majid, Faridah Yunus, Haslina Arshad, Mohammad Farhan Mohammad Johari

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Mobile technology, augmented reality, and game-based learning are some of the key learning technologies that can be fully optimized to promote pre-literacy skills. The problem is how to design an effective pre-literacy kit that utilizes some of the learning technologies. This paper presents a framework based on mobile augmented reality for the development of pre-literacy kit. This pre-literacy kit incorporates three main components which are contents, design, and tools. A prototype of a mobile app based on the three main components was developed for promoting pre-literacy. The results show that the children and teachers gave positive feedbacks after using the mobile app for the pre-literacy.

Keywords: framework, mobile technology, augmented reality, pre-literacy skills

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Authors: Mohammad Erfan Doraki, Mohammad Salehi

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In this study, to evaluate the performance of Baseboard and Panel radiators with thermal comfort coefficient, A room with specific dimensions was modeled with Ansys fluent and DesignBuilder, then calculated the speed and temperature parameters in different parts of the room in two modes of using Panel and Baseboard radiators and it turned out that use of Baseboard radiators has a more uniform temperature and speed distribution, but in a Panel radiator, the room is warmer. Then, by calculating the thermal comfort indices, It was shown that using a Panel radiator is a more favorable environment and using a Baseboard radiator is a more uniform environment in terms of thermal comfort.

Keywords: Radiator, Baseboard, optimal, comfort coefficient, heat

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Authors: Mohammad Saberian, Mohammad Ali Rahgozar, Reza Porhoseini

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Peat soil is formed naturally through the accumulation of organic matter under water and it consists of more than 75% organic substances. Peat is considered to be in the category of problematic soil, which is not suitable for construction, due to its high compressibility, high moisture content, low shear strength, and low bearing capacity. Since this kind of soil is generally found in many countries and different regions, finding desirable techniques for stabilization of peat is absolutely essential. The purpose of this paper is to review the various techniques applied for stabilizing peat soil and discuss outcomes of its improved mechanical parameters and strength properties. Recognizing characterization of stabilized peat is one of the most significant factors for architectural structures; as a consequence, various strategies for stabilization of this susceptible soil have been examined based on the depth of peat deposit.

Keywords: peat soil, stabilization, depth, strength, unconfined compressive strength (USC)

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Authors: Christopher Spiewak, M. R. Islam, Mohammad Arifur Rahaman, Mohammad H. Rahman, Roger Smith, Maarouf Saad

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For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.

Keywords: biorobotics, rehabilitation, robotic assistive device, exoskeleton, nonlinear control

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Authors: Alaa Eddien Abdallah, Bajes Yousef Alskarnah

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Ant colony based routing algorithms are known to grantee the packet delivery, but they suffer from the huge overhead of control messages which are needed to discover the route. In this paper we utilize the network nodes positions to group the nodes in connected clusters. We use clusters-heads only on forwarding the route discovery control messages. Our simulations proved that the new algorithm has decreased the overhead dramatically without affecting the delivery rate.

Keywords: ad-hoc network, MANET, ant colony routing, position based routing

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