قضية الترادف اللفظي والاتحاد المعنوي في اللسان العربي

In this article meaning of Taradif (synonymity) and identical meanings are treated from diverse aspects. Its implications in Arabic language have been particularly focused one. The article deals with different thoughts of lexicographers in this regard. There are some lexicographers who of the opinion that there does not exist any taraduf and different words are used for different meanings. For instance they do not believe that Saif(ÿ) and Sarim (rju>) have any Taraduf between them. In fact, according to them they are used for two different meanings and hence they do not give identical meanings. There is another group of lexicographers who are supporters of the existence of taraduf in Arabic language. In this regard they present the examples of existence of about 100 words for the meaning of "LION". Such as asad (J-I) Ghazanfar (>~ÿ) and daraghim etc. They also argue that denial of taradufcan lead to many linguistic problems. Such as how one can/would translate the phrase (v V) without need of rephrasing to the phrase of (v eiiV)

Design of Mobile Articulated Climber Robot Marak Ii

Robots are designed in a variety of types and shapes for performing different tasks. Mostly, they are designed by looking at nature and imitating its principles (e.g. snake-like robot). Author argues that snake-like robots offer very good capability for surveillance, inspection, exploration and search & rescue operations, especially in tight & hard-to-reach areas. But they find it difficult to climb vertically flat-surfaced obstacles (e.g. flat-surfaced wall or barrier) with higher heights than their own maximum free-climbing height. Initially, the author attempted to address this deficiency by developing a planar snake-like climber robot, however, speed of locomotion under the employed rectilinear gait was very low. In this context, the research was aimed to explore the possibility of increasing the climbing speed of planar snake-like climber robots (undergoing the rectilinear gait) on vertical or near-vertical flat surfaces with higher heights than the robots’ own free-climbing height through implementation of wheeling gait. The successful development of this robot, called “Marak II" is presented herein. It should be noted that the approach for designing such a robot is not to fully copy or imitate the biological aspects. Instead, the approach is to bypass some of the limitations in nature and some of the limitations that the nature poses against the design. The next task that was carried out, was the development of a unified mathematical formula for the parallel robots that could cover some deficiencies of available inverse dynamics formulations. A novel approach is presented herein which follows the Euler-Lagrange technique and is also able to handle inverse dynamics formulation under any type of passive, and/or active joints. Experiments were repeated multiple times to validate both introduced hypotheses and the results were found to be in close proximity of each other. The experiments on “Marak II" with both gaits (under similar conditions) revealed that the wheeling gait is approximately 10 times faster than the rectilinear gait. Moreover, the novel mathematical formula (based on Euler-Lagrange approach) was successfully validated through extensive simulations and experimentation under different settings.