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 current study was conducted to demonstrate the effects of air pollution on different biochemical parameters in Citrus aurantium plant and calculation the Air Pollution Tolerance Index (APTI). Five sites were selected to collect plant leaves, four of them within the city of Baghdad, namely Al-Jadriya, Al-Andlous, Al-Doura and close to the private generators to represent the urban areas and Abu Ghraib site to represent the rural area. Seasonal samples were collected for the period from October 2016 to June 2017. Eleven biochemical parameters total chlorophyll, ascorbic acid, leaf extract pH, relative water content, total nitrogen, total protein content, total sugar content, proline, electrical conducti
... Show MoreIn this paper, an analytical study for the behavior of ionospheric parameters (Maximum Usable Frequency (MUF) and Optimum Traffic Frequency (FOT)) has been preformed between transmitter station (Baghdad) and many different receiver stations which are distributed randomly over Iraqi territory. The ionospheric parameters dataset has been made using ICEPAC communication model for annual time for the years 2009-2011 of the solar cycle 24. A simplified ionospheric model has been suggested which based on the correlated relationship between the geographical locations coordinates (longitudes & latitudes) of receiver stations and the dataset of the MUF and FOT parameters. The results of this study showed that the correlation between the ionos
... Show MoreComputer Aided Designing Tools of Electron Lenses (CADTEL) is a software packages cares about design, compute and plot simultaneously of the objective and projector properties of electron magnetic lenses. The developments in CADTEL software leads to contain a large fields and methods, adding to previous publish in 2013. The current improvement is inserting of some important parameters which are the resolution and focusing parameters. These parameters are angular semi-angle (α), focusing power (β), resolution limit (δ), image rotation (θ), spherical aberration (Cs), defocus (ΔZ), wave aberration (Χwab), depth of field (Dfld), and depth of focus (Dfoc) a
... Show MoreCorrosion behavior of aluminium in 0.6 mol. dm-3 NaCl solution in acidic medium 0.7 was investigated in the absence and presence of different concentrations of amino acid, methionine, as environmentally – friendly corrosion inhibitor over temperature range (293-308)K. The investigation involved electrochemical polarization method using potentiostatic technique and optical microscopy, the inhibition efficiency increased with an increase in inhibitor concentration but decreased with increase in temperature. Results showed that the inhibition occurs through adsorption of the inhibitor molecules on the metal surface and it was found to obey Langmuir adsorption isotherm. Some thermodynamic parameters ∆. and activation ener
... Show MoreThe work includes synthesis of 1,2,3-triazoles via click conditions and using the microwave irradiation starting from two synthesized azides: 2,3,4,6-tetra-O-acetyl-β-D-glucopyranosyl azide (5) and perfluorobutylethyl azide (10) and different terminal alkynes. It also includes microwave enhanced synthesis of tetrazoles via the reaction of two synthesized azides i.e., perfluorobutylethyl azide (10) and 1,5-diazidopentane (13) with benzoyl cyanide. Most of the prepared compounds have been characterized by: TLC, FT-IR, 1H NMR, 13C NMR, LC-MS and microelemental analysis
This paper concerned with development of a spectrophotometric method for the determination of paracetamol, based on the diazotisation and coupling reaction with anthranilic acid in basic medium, to form an intense yellow coloured, water-soluble and stable azo-dye which shows a maximum absorption at 421nm. Beer’s law is obeyed over the concentration range of 1.0-10 µg/ml; with molar absorptivity of 2.1772×104 L.mol -1.cm-1 and Sandell’s sensitivity index 6.9446 µg.cm-2. The method has been applied successfully for the determination of paracetamol in pharmaceutical formulation.
In this paper we discuss the Zariski topology of intuitionistic fuzzy d-filter in d-algebra, with some topological properties on the spectrum of intuitionistic fuzzy d-filter in d-algebra X which have algebraic features such as connectedness. We find that this topology is a strongly connected, and T0 space. We also define the invariant map on intuitionistic fuzzy prime d-filter with a homomorphism map.
CZTS / CdS / ZnO / ITO solar cell was studied using Solar Cell Capacitance Simulato-1D (SCAPS-1D) program. We performed an improvement on the theoretical cell by increasing the doping and thickness of some layers. As a result, the efficiency was shifted from 2.18% to 6.17% and several back reflection layers (BSL) were introduced on the enhanced cell until. We obtained a highest conversion efficiency of 13.99%. The best reflection layer (CZTSSe) was combined with the best buffer layer (CdSe), with thickness of 0.9µm, on the enhanced cell. Thereby, we obtained a cell with a conversion efficiency of 16.53%. A second improvement was made to the best obtained cell, where the CZTSSe with thickness of 0.05µm and the CdSe with thickness
... Show MoreOne of the most common forms of diabetes is Type-2 that occurs due to the failure of cells in recognizing and responding to insulin if not accurately treated. The aim of this work is to evaluate the relations of thyroid hormones, vitamins, and lipid peroxidation with the glycemic index in patients experiencing Type-2 diabetes. Some tests of biochemical parameters and vitamins were conducted on 35 patients experiencing Diabetes Mellitus (DM) and 35 healthy subjects. The results indicated the increase in the levels of MDA (3.86 ± 0.97 µmol/L), HbA1c (8.27 ± 1.66 %), FBS (198.34 ± 32.41 mg/dl) and TSH (5.67 ±0.34 mIU/L) in the blood of diabetic subjects in comparison to the controls at a P value lower than 0.05. These incr
... Show MoreThis research aims to present some results for conceptions of quasi -hyponormal operator defined on Hilbert space . Signified by the -operator, together with some significant characteristics of this operator and various theorems pertaining to this operator are discussed, as well as, we discussed the null space and range of these kinds of operators.