the principle of legality is a fundamental principle of criminal law within all statutory legal systems. the principle has been recognized in the iranian legal system which has been influenced by islamic law as well as french law especially since the beginning of the codification era. conversely, in english law which is mainly defined by common law, recently have been taken significant steps to...

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

Accurate detection of weak periodic signals within noise and possibility of secure messaging have made Duffing oscillator (DO) highly important in the field of communication. Investigation on the properties of DO is thus ardently sought for. An elegant approach to accomplish the same is to fabricate electronic circuit simulating DO non-linear equation and to study the effect of input signal amp...

Agricultural Extension services are among the most important rural services in developing countries. The services are considered to be a key driver of technological change and productivity growth in agriculture. In Kenya, like in the rest of the developing economies, agricultural extension has largely been delivered through supply–driven approaches. Due to perceived low impact of agricultural e...

A novel multiband multiple-input-multiple-output (MIMO) antenna system is proposed. The MIMO antenna system consists of two antenna elements, each of which comprises of three radiators: a driven monopole, an S-shaped strip and an inverted F-shaped strip and occupies footprint of 15x18.5x0.8 mm3 only. The driven monopole acts as a quarter-wave monopole and stimulate higher mode resonance. The tw...

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

In previous papers authors have considered agents as inertia-less self driven particles and designed a flocking algorithm. Application of this algorithm to agents with considerable inertial characteristics needs a behavioural controller. The controller uses the local information and helps every agent to imitate the desired behaviour as a member of the flocking frame which covers the main is...

This study examines the capability of the Relevance Vector Machine (RVM) and Multivariate Adaptive Regression Spline (MARS) for prediction of ultimate capacity of driven piles and drilled shafts. RVM is a sparse method for training generalized linear models, while MARS technique is basically an adaptive piece-wise regression approach. In this paper, pile capacity prediction models are developed...