الانهار اصبحت مشبعة بثاني اوكسيد الكربون بشكل عالي وبذلك فهي تلعب دور مهم في كميات الكربون العالمية. لزيادة فهمنا حول مصادر الكربون المتوفرة في النظم البيئية النهرية، تم اجراء هذه الدراسة حول تأثير الكربون العضوي المذاب والحرارة (العوامل الرئيسية لتغير المناخ) كمحركات رئيسية لوفرة ثاني اوكسيد الكربون في الانهار. تم جمع العينات من خمسة واربعون موقع في ثلاثة اجزاء رئيسية لنهر دجلة داخل مدينة بغداد خلال فصلي الخريف والشتاء. اظهرت الدراسة ان جميع المتغيرات المدروسة (الحرارة، الأس الهيدروجيني، الكربون العضوي المذاب، وثاني اوكسيد الكربون) تتغير مع الوقت. كانت التغيرات في تركيز ثاني اوكسيد الكربون مرتبطة ايجابيا بالتغيرات في تركيز الكربون العضوي المذاب وليست بتغير درجات الحرارة. نتائجنا بشكل عام تشير الى ان الزيادة بتراكيز ثاني اوكسيد الكربون في الانهار هو نتيجة لزيادة المدخلات من الكربون العضوي المذاب. وبذلك نستنتج ان الزيادة في تراكيز الكربون العضوي المذاب في الأنهار مطلوبة كمصدر لثاني اوكسيد الكربون من خلال عمليات التنفس الميكروبي والتحلل الكيميائي.
This study aimed at examining the role played by the media outlets during the coverage
of the presidential election campaigns 2020 of the United States of America.
The analytical study used through a partial inventory of the research community
for almost three months from the announcement of the candidates’ names by
the major parties on August 13 to November 6، which is the official election day in
the U.S. National Public Radio Station (NPR) to achieve the objectives of the study.
The study reached a number of conclusions related to the contents، methods and
sources of media coverage of the election campaigns of the 2020 U.S. at the mentioned
station، where the researcher proposed a number of recommendations
Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptiv
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