Tracking a desired trajectory in joint space has been favored in several robot manipulators and end-effector control scheme due to the simplicity and high sampling rate offered by the joint space scheme. This usually require the trajectory conversion process, of the desired position, velocity, and acceleration, from Cartesian space to joint space u

We provide a solvability criterion for a cubic equation in domains Z*3, Z3, and Q3.Sains Malaysiana 44(4)(2015): 635–641 Solvability of Cubic Equations over 3 (Kebolehselesaian Persamaan Kubik ke atas 3) MANSOOR SABUROV* & MOHD ALI KHAMEINI AHMAD ABSTRACT We provide a solvability criterion for a cubic equation in domains , 3, and 

We knew that a trajectory of a linear stochastic operator associated with a positive square stochastic matrix starting from any initial point from the simplex converges to a unique fixed point. However, in general, the similar result for a quadratic stochastic operator associated with a positive cubic stochastic matrix does not hold true. In this p

We know from the theory of Markov chains that any positive square stochastic matrix has a unique fixed point in the simplex and its trajectory starting from any initial point of the simplex converges to that unique fixed point. However, in general, the similar result for a positive cubic stochastic matrix does not hold true. We know that a cubic st

Islam clearly identifies not only lawful (halal) activities, but also unlawful (haram) activities as well. Differences of opinion may arise in these two areas too. In order to achieve the ultimate in Islam, we should exercise caution when practicing Islamic finance. In Islamic banking and finance, most of the contracts deal with exchange contracts

This paper illustrates the background of various concepts, approaches, terminologies used to describe the basic framework of an Islamic Hotel Room Design. This paper reviews the theoretical views in establishing a suitable and optimum environment for Muslim as well as non-Muslim guests in hotel rooms according to shariah. It involves a few research

Performance enhancement of laser acquired from a newly developed double-clad Yb31/Tm31 codoped fiber (YTDF) is demonstrated using dual-pumping scheme. The laser uses a 2 m long YTDF fiber with a core dopant concentrations (in wt%) of 2.00 Yb2O3, 0.5 Tm2O3, 1.0 Al2O3, and 3.00 Y2O3 as a gain medium in conjunction with a pair of fiber Bragg grating i

We investigated the relationship among the number of flash annealing times to obtain Si clean surface and the change of arsenic dopant concentration and subband levels using secondary ion mass spectroscopy (SIMS) and angle-resolved photoelectron spectroscopy(ARPES). The SIMS result shows that the first five times of the flash annealing already indu

There are many instruments being offered in the current Islamic Interbank money market (IIMM). We can divide it into two main types: deposit and placement; and tradable securities. Mudharabah Interbank Instrument (MII), Wadiah Acceptance, Commodity Murabahah (CM) and Wakalah Investment Account (WIA) are categorized as deposit and placement instrume

The offered programmes for Islamic and Arabic studies at higher learning institutions in Malaysia have proven that the efforts towards the empowerment of this field are currently ongoing process and shown a positive transformation. Furthermore, the number of experts and practitioners who are actively involved in the field of Islamic and Arabic stud