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.
The reaction paths of the C-C and C-H bond cleavage in the anthracene and phenanthrene aromatic molecules are studied by applying the ab-initio DFT method. It is found that the C-C bond cleavage proceeds via a singlet aromatic transition state, compelled through a disrotatoric ring opening reaction. A suprafacial H atom shift follows the transition state, leading to the formation of a methylene -CH2 and an acetylenic or allenic moiety. The calculated activation energies for anthracene range from 158.81-208.90 kcal/mol and the reaction energies from 96.106-156.976 kcal/mol. For phenanthrene, the energy values are 157.39-202.34 kcal/mol and 62.639-182.423 kcal/mol, respectively. For the C-H cleavage reactions, the calculated reaction energies
... Show MoreAn R-module M is called ET-H-supplemented module if for each submodule X of M, there exists a direct summand D of M, such that T⊆X+K if and only if T⊆D+K, for every essential submodule K of M and T M. Also, let T, X and Y be submodules of a module M , then we say that Y is ET-weak supplemented of X in M if T⊆X+Y and (X⋂Y M. Also, we say that M is ET-weak supplemented module if each submodule of M has an ET-weak supplement in M. We give many characterizations of the ET-H-supplemented module and the ET-weak supplement. Also, we give the relation between the ET-H-supplemented and ET-lifting modules, along with the relationship between the ET weak -supplemented and ET-lifting modules.
From 124 women in different stage of pregnancy ,there were 83 (67%) conceded
anemic and 41(33%) were non anemic ,there were 54(65%) suffering from iron
deficiency anemia. According to the form of anemia , 27 (32.5%) were suffering
from mild anemia, 41 (49.4%) moderately anemia while15 (18.1%) severe anemia
The number of anemic pregnant women from Baghdad was 39 (47%) and the
internally displaced anemic pregnant women 44 (53%). the anemic pregnant women
who were primigravida 36 (43.4%), while the pregnant women who were multipart
gravida 47 (56.6%) .The number of anemic pregnant women was 26(31.3%) for age
of 17-27y ,33(39.8%) for age of 28-37y and 24(28.9% )for age of 38-45y .while the
number of anemic pregnant
A total of 65 blood samples (25 culture positive sepsis and 40 culture negative sepsis) from patients with sepsis symptoms who resided in the ICU of Hilla city hospitals, were collected, as well as 25 samples as a control (healthy persons) during a period from January to June 2022. Data was documented at the time of admission to the ICU. Regarding PSN and PCT concentration (P value= 0.001), the control group had a significant difference from both the two patients’ groups (culture positive and negative groups of sepsis). Whereas the difference was not significant for the PTX3 concentration among patients and control (P value = 0.56). Furthermore, PSN and PCT concentrations did not significantly differ between the culture positi
... Show MoreThe characterization of ZnO and ZnO:In thin films were confirmed by spray pyrolysis technique. The films were deposited onto glass substrate at a temperature of 450°C. Optical absorption measurements were also studied by UV-VIS technique in the wavelength range 300-900 nm which was used to calculate the optical constants. The changes in dispersion and Urbach parameters were investigated as a function of In content. The optical energy gap was decreased and the wide band tails were increased in width from 616 to 844 eV as the In content increased from 0wt.% to 3wt.%. The single–oscillator parameters were determined also the change in dispersion was investigated before and after doping.
Al-Yusifia river was assessed at three sampling stations with study period from Autumn 2010 to the end of Summer 2011. The present investigation was carried out on diversity of fungi and bacteria from Al-Yusifia river, Baghdad city. During the study, a total of 12 fungal genus and 6 bacterial genus were isolated during the year seasons. The dominant fungus at the three stations were Penicillium sp., then Rhizopus and Trichophyton megninii while the dominant bacteria was Escherichia coli and Klebsiella sp.
The higher
... Show MoreTo estimate some of the genetic parameters and genotypic phenotypic coefficient of variation and to find the interaction between varieties and generations in the morphological traits and yield,yield components. Three varieties of Faba beans were treated by nitroso acid mutagen, field experiments were conducted during 2010-2013. The results showed that variances values were different among traits, and the values of genetic and phenotypic variance were greater than the environmental variance values for most of the traits. Heritability in the broad sense has reached the highest value in most of the studied traits for M1 and M2 generations. Heritability in the broad sense varied among the traits. Highest heritability in most of the traits in
... Show MoreThe main goal of this work is to obtain the plasma electron temperature Te by optical emission spectroscopy of low pressure microwave argon plasma, as a function of working pressure and microwave power. A plasma system was designed and constructed in our laboratory using a magnetron of domestic microwave oven with power 800W without any commercial part. The applied voltage on the magnetron electrical circuit is changed for the purpose of obtaining the variable values of the microwave power. The spectral detection is performed with a spectrometer of wavelength range (200−1000nm). The working pressure and magnetron applied voltage were 0.3-3.0mbar and 180-240V, respectively. Two methods had been applied to estimate the electron temperatu
... Show MoreThis work aims to analyze and study the bit performance in directional oil wells which leads to get experience about the drilled area by monitoring bit performance and analyzing its work. This study is concerned with Rumaila Oil Field by studying directional hole of one oil well with different angles of inclination. Drilling program was used in order to compare with used parameters (WOB, RPM and FR).in those holes. The effect of the drilling hydraulic system on the bit performance was studied as well as the hydraulic calculation can be done by using Excel program. This study suggests method which is used to predict the value of penetration rate by studying different formation type to choose the best drilling parameters t
... Show MoreHematological parameters were used as a biomarker of sub chronic effect of dursban in Cyprinus carpio L. The common carp was exposed sub chronically to the 36, 53,113 µg /l concentrations of dursban for six weeks. During the experimental period the results showed a decrease in the red blood cell (RBC), white blood cell (WBC), hemoglobin (Hb), mean corpuscular volume (MCV), and packed cell volume (PCV) in the last two weeks of exposure, while the Mean corpuscular hemoglobin (MCH) and Mean corpuscular hemoglobin concentration (MCHC) were significantly increased. The present study indicates that sub chronic exposures of C.carpio to dursban alter the hematological parameters.