Calculating the Inverse Kinematic (IK) equations is a complex problem due to the nonlinearity of these equations. Choosing the end effector orientation affects the reach of the target location. The Forward Kinematics (FK) of Humanoid Robotic Legs (HRL) is determined by using DenavitHartenberg (DH) method. The HRL has two legs with five Degrees of Freedom (DoF) each. The paper proposes using a Particle Swarm Optimization (PSO) algorithm to optimize the best orientation angle of the end effector of HRL. The selected orientation angle is used to solve the IK equations to reach the target location with minimum error. The performance of the proposed method is measured by six scenarios with different simulated positions of the legs. The proposed method is compared with procedures that used different optimization algorithms such as Genetic Algorithm (GA), Differential Evolution (DE), and Invasive Weed Optimization (IWO). The Root Mean Square Error (RMSE) and computation time are used as comparison measures. The proposed method gives the best results among others, and it reaches the target location with an average RMSE of 10-12 with 2.5 seconds average computation time.
Endocrine Abnormalities in β-thalassemia major are common disturbing
complications, that need prompt management. Importance of this work was to
evaluate the some biochemical parameters and endocrine hormones related to
the pubertal maturity and fertility status in cases with thalassemia. A sixty patients
[38 males and 22 females] with β - thalassemia major against 30 healthy subjects
[17 males and 13 females] were enrolle . The Blood levels of, Leptin, Vitamin D,
thyroid function test, parathyroid hormone, ghrelin, and sex hormones were
determined in the blood. Body Mass Index (BMI) was also evaluate. Results
showed that besides lower BMI, all hormones assessed were significantly lower in
thalassemia β-major
Multiple single-nucleotide polymorphisms (SNPs) located in the intergenic region between estrogen receptor 1 and
To assess the potential association between rs3757318 SNP and breast cancer pathogenicity, specifically in relation to serum vitam
In this article, an inverse problem of finding timewise-dependent thermal conductivity has been investigated numerically. Numerical solution of forward (direct) problem has been solved by finite-difference method (FDM). Whilst, the inverse (indirect) problem solved iteratively using Lsqnonlin routine from MATLAB. Initial guess for unknown coefficient expressed by explicit relation based on nonlocal overdetermination conditions and intial input data .The obtained numrical results are presented and discussed in several figures and tables. These results are accurate and stable even in the presense of noisy data.
The influence of Toxoplasma gondii on some biochemical parameters has lately gained an increasing attention. The aim of this study was to assess the levels of some biochemical parameters in Toxoplasma positive and negative subjects. An analytical case–control study was achieved in Baghdad for the period from October 2018 until March 2019. Forty nine females participated in this study, with an age range of 18-55 years. The participants were separated into two groups, namely Toxoplasma positive subjects (n=21) and Toxoplasma negative subjects (n=28), based on enzyme-linked immunosorbent assay (ELISA). Blood and serum samples were collected from all subjects to evaluate the serum levels of cholesterol,
... Show MoreIn this paper, we introduce new definitions of the - spaces namely the - spaces Here, and are natural numbers that are not necessarily equal, such that . The space refers to the n-dimensional Euclidean space, refers to the quaternions set and refers to the N-dimensional quaternionic space. Furthermore, we establish and prove some properties of their elements. These elements are quaternion-valued N-vector functions defined on , and the spaces have never been introduced in this way before.
In the case where a shallow foundation does not satisfy with design requirements alone, the addition of a pile may be suitable to improve the performance of the foundation design. The lack of in-situ data and the complexity of the issues caused by lagging in the research area of pile foundations are notable. In this study, different types of piles were used under the same geometric conditions to determine the load-settlement relationships with various sandy soil relative densities. The ultimate pile capacity for each selected pile is obtained from a modified California Bearing Ratio (CBR) machine to be suitable for axial pile loading. Based on the results, the values of Qu for close-ended square pile were increased by 15
... Show MoreIn this paper, a shallow foundation (strip footing), 1 m in width is assumed to be constructed on fully saturated and partially saturated Iraqi soils, and analyzed by finite element method. A procedure is proposed to define the H – modulus function from the soil water characteristic curve which is measured by the filter paper method. Fitting methods are applied through the program (SoilVision). Then, the soil water characteristic curve is converted to relation correlating the void ratio and matric suction. The slope of the latter relation can be used to define the H – modulus function. The finite element programs SIGMA/W and SEEP/W are then used in the analysis. Eight nodded isoparametric quadrilateral elements are used for modeling
... Show MoreThis study deal with structural and stratigraphic analysis of the seismic reflection data for Hartha Formation at Nasiriyah field, the area of seismic data is about (1237) km2. Nasiriyah oil field is located in Dhi Qar Governorate, southern Iraq, and the oil field is located to the East of Euphrates River of about (38) km northwest of Nasiriyah city. which includes twenty-four (24) wells. In some wells there are oil evidences in Hartha Formation at Nasiriyah oil field, for this reason, Hartha Formation is studied.
Two reflectors are picked (top and bottom Hartha) they are defined by using synthetic seismograms in time domain for wells (Ns-1, and 3). Time and depth of Hartha Formation are drawn using velocity data of reflectors. The st
The aim of our work is to develop a new type of games which are related to (D, WD, LD) compactness of topological groups. We used an infinite game that corresponds to our work. Also, we used an alternating game in which the response of the second player depends on the choice of the first one. Many results of winning and losing strategies have been studied, consistent with the nature of the topological groups. As well as, we presented some topological groups, which fail to have winning strategies and we give some illustrated examples. Finally, the effect of functions on the aforementioned compactness strategies was studied.