Preferred Language
Articles
/
FhdAU44BVTCNdQwCI0Iw
Inverse Kinematics Optimization for Humanoid Robotic Legs Based on Particle Swarm Optimization
...Show More Authors

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.

Scopus Crossref
View Publication
Publication Date
Sat Jan 30 2021
Journal Name
Iraqi Journal Of Science
Splitting the one-Dimensional Wave Equation, Part II: Additional Data are Given by an End Displacement Measurement
...Show More Authors

     In this research, an unknown space-dependent force function in the wave equation is studied. This is a natural continuation of [1] and chapter 2 of [2] and [3], where the finite difference method (FDM)/boundary element method (BEM), with the separation of variables method, were considered. Additional data are given by the one end displacement measurement. Moreover, it is a continuation of [3], with exchanging the boundary condition, where  are extra data, by the initial condition. This is an ill-posed inverse force problem for linear hyperbolic equation. Therefore, in order to stabilize the solution, a zeroth-order Tikhonov regularization method is provided. To assess the accuracy, the minimum error between

... Show More
View Publication Preview PDF
Scopus (10)
Crossref (4)
Scopus Crossref
Publication Date
Sun Jun 30 2019
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Enhancing Drilling Parameters in Majnoon Oilfield
...Show More Authors

The objective of drilling parameters optimization in Majnoon oilfield is to arrive for a methodology that considers the past drilling data for five directional wells at 35 degree of inclination as a baseline for new wells to be drilled. Also, to predicts drilling performance by selecting the applied drilling parameters generated the highest rate of penetration (ROP) at each section. The focal point of the optimization process is to reduce drilling time and associated cost per each well. The results of this study show that the maximum ROP could not be achieved without sufficient flow rate to cool and clean the bit in clay intervals (36" and 24") hole sections. Although the influence of combination of Weight on Bit (WOB), Round per minute

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Mar 08 2019
Journal Name
Desalination And Water Treatment
Xylenol orange removal from aqueous solution by natural bauxite (BXT) and BXT-HDTMA: kinetic, thermodynamic and isotherm modeling
...Show More Authors

Sorption is a key factor in removal of organic and inorganic contaminants from their aqueous solutions. In this study, we investigated the removal of Xylenol Orange tetrasodium salt (XOTS) from its aqueous solution by Bauxite (BXT) and cationic surfactant hexadecyltrimethyl ammonium bromide modified Bauxite (BXT-HDTMA) in batch experiments. The BXT and BXT-HDTMA were characterized using FTIR, and SEM techniques. Adsorption studies were performed at various parameters i.e. temperature, contact time, adsorbent weight, and pH. The modified BXT showed better maximum removal efficiency (98.6% at pH = 9.03) compared to natural Bauxite (75% at pH 2.27), suggesting that BXT-HDTMA is an excellent adsorbent for the removal of XOTS from water. The equ

... Show More
Publication Date
Tue Nov 01 2022
Journal Name
Alustath
Metrical Phonology in Modern Arabic Poetry
...Show More Authors

Providing stress of poetry on the syllable-, the foot-, and the phonological word- levels is one of the essential objectives of Metrical Phonology Theory. The subsumed number and types of syllables, feet, and meters are steady in poetry compared to other literary texts that is why its analysis demonstrates one of the most outstanding and debatable metrical issues. The roots of Metrical Phonology Theory are derived from prosody which studies poetic meters and versification. In Arabic, the starting point of metrical analysis is prosodic analysis which can be attributed to يديهارفلا in the second half of the eighth century (A.D.). This study aims at pinpointing the values of two metrical parameters in modern Arabic poetry. To

... Show More
Publication Date
Tue Nov 01 2022
Journal Name
Alustath
Metrical Phonology in Modern Arabic Poetry
...Show More Authors

Providing stress of poetry on the syllable-, the foot-, and the phonological word- levels is one of the essential objectives of Metrical Phonology Theory. The subsumed number and types of syllables, feet, and meters are steady in poetry compared to other literary texts that is why its analysis demonstrates one of the most outstanding and debatable metrical issues. The roots of Metrical Phonology Theory are derived from prosody which studies poetic meters and versification. In Arabic, the starting point of metrical analysis is prosodic analysis which can be attributed to يديهارفلا in the second half of the eighth century (A.D.). This study aims at pinpointing the values of two metrical parameters in modern Arabic poetry. To

... Show More
Publication Date
Tue Nov 01 2022
Journal Name
Res Militaris
Metrical Phonology in Modern English Poetry
...Show More Authors

One of the main aims of Metrical Phonology Theory (MTT) is to provide the stress of poetry on the syllable, the foot, and the phonological word levels. Analyzing poetry embodies one of the most prominent and controversial metrical issues as the subsumed number and types of syllables, feet, and meters are balanced compared to other literary texts. The MTT saw the light during the late seventies (1975) and (1977) by Liberman and Prince, who produced it as part of non-linear phonology. Its roots originated in prosody, which studies poetic meter and versification. The basis of the metrical analysis is the prosodic analysis developed in London by Firth and his students in 1950. This study aims to identify the values of five metri

... Show More
View Publication Preview PDF
Scopus
Publication Date
Sun Sep 01 2019
Journal Name
Baghdad Science Journal
Evaluation of Physical Chemical and Biological Characteristics of Underground Wells in Badra City, Iraq
...Show More Authors

The quality of groundwater should be improved by keeping safe water sources from contaminants in protective way by doing regular measuring and checkup before it supplied for usage. Private Wells do not receive the same services that wells supplying the public do. Well owners are responsible for protecting their drinking water. This work was carried out in Badra city, Iraq from December 2017 to May 2018, six wells water were investigated to determine the general characteristics of wells as well as studying the effect of environmental factors on the quality of water. The average of six wells were eleven parameters that is out of permissible limits were EC, Sal., Alk., TH, TDS, Na, Ca, Cl, SO4, Fe, Zn (4402-5183 /cm, 2.76-3.9 ppt

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Sat Sep 01 2018
Journal Name
International Journal Of Renewable Energy Research
Performance of Wind Turbines at Three Sites in Iraq
...Show More Authors

Matching between wind site characteristics and wind turbine characteristics for three selected sites in Iraq was carried out. Site-turbine matching for potential wind power application in Iraq has not yet been well reported on. Thus, in this study, five years’ wind speed data for sites located in Baghdad (33.34N, 44.40E), Nasiriyah (31.05N, 46.25E), and Basrah (30.50N, 47.78E) were collected. A full wind energy analysis based on the measured data, Weibull distribution function, and wind turbine characteristics was made. A code developed using MATLAB software was used to analyse the wind energy and wind turbines models. The primary objective was to achieve a standard wind turbine-site matching based on the capacity factor. Another matching

... Show More
View Publication
Crossref (1)
Crossref
Publication Date
Sun Mar 04 2018
Journal Name
Iraqi Journal Of Science
Calculating of Groundwater Recharge using Meteorological Water Balance and Water level Fluctuation in Khan Al-Baghdadi Area
...Show More Authors

Climate and hydrological conditions in any hydrological basin are multi-combined reflection of natural factors of morphology and soil nature, as well as the changing in climate factors that affect directly on hydrological cycle. Water balance techniques are a means of solution of important theoretical and practical hydrological problems, while estimating the physical properties of water-bearing layers is an essential part of groundwater studies. One of the most effective ways of determining these properties is to conduct and analyze aquifer tests. The aim of this research is to compare groundwater recharge in Khan Al-Baghdadi area which located to northwest of Anbar governorate in the west of Iraq, depending on meteorological water balan

... Show More
View Publication Preview PDF
Publication Date
Mon Mar 03 2014
Journal Name
Journal Of Al-nahrain University
Adsorption of Ciprofloxacin Hydrochloride from Aqueous Solution by Iraqi Porcelinaite Adsorbent
...Show More Authors

Pharmaceuticals are widely distributed in different applications and also released into the environment. Adsorption of Ciprofloxacin HCl (CIPH) on Porcelinaite was studied at ambient conditions. The adsorption isotherms can be well described using the Freundlich and Temkin equations. The pH of the solution influences significantly the adsorption capacity of Porcelinaite, the adsorption of CIPH increased from the initial pH 1.3 and then decreased over the pH rang of 3.8-9. The adsorption is sensitive to the change in ionic Strength, which indicate that electrostatic attraction is a significant mechanism for sorption process. The enthalpy change (ΔH) for the adsorption of CIPH onto Porcelinaite signifies an endothermic adsorption. The ΔG va

... Show More
Preview PDF