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.
Hepatitis-B (HBV) is a viral disease cause liver damage, cirrhosis, fibrosis and hepatocellular carcinoma. Present study attempted to elucidate the biochemical and haematological markers other than Australia antigen, of hepatitis,B,vairusV (HBsAg) for better assessment of HBV infection. The present study was conducted on 76 men, 50 of them were found to be HBeAg positive and 26 were negative, mean age was53±5.7years. Haematological parameters such as Absolute Erythrocyte( Abs Eryt), Absolute Leukocyte(Abs Leuk) , Haemoglobin(Hb), Packed Cell Volume(PCV),Mean Corpuscular Volume (MCV), Red Cell Distribution Width (RDW), Mean Corpuscular Haemoglobin (MCH),MCH Concentration(MCHC) ,Neutrophi
... Show MoreThis study shows the effects of copper material electrode, applied voltage, and different pressure values on electrical discharge plasma. The purpose of the work is the application of the spectral analysis method to obtain accurate results of nitrogen plasma parameters. By using the optical emission spectroscopy (OES), many N2 molecular spectra peaks appeared in the range from 300 to 480 nm. Also, some additional peaks were recorded, corresponding to atomic and ionic lines for nitrogen, target material, and hydrogen, in all samples. The electron density (ne) was calculated from the measurement of Stark broadening effect, which was found to decrease with increasing pressure from 0.1 mba
... Show MoreHuwaiza marsh is considered the largest marsh in the southern part of Iraq. It is located between 31° and 31.75° latitude and extends over the Iraqi-Iranian border; but the largest part lies in Iraq. It is located to the east of Tigris River in Messan and Basra governorates.
In this research, the variation of some water quality parameters at different locations of Huwaiza marsh were studied to find out its efficacy in the treatment of the contamination coming from the wastewater outfall of Kahlaa brokendown sewage treatment plant which lies on the Kahlaa River. This rive is the main feeder of Huwaiza marsh. Ten water quality sampling locations were chosen in this marsh. The water samples were taken during 2009 for three months; Janu
Some new complexes of 4-(5-(1,5-dimethyl-3-oxo-2-phenyl pyrazolidin-4- ylimino)-3,3-dimethyl cyclohexylideneamino) -1,5- dimethyl-2- phenyl -1H- pyrazol -3(2H) –one (L) with Mn(II), Fe(III), Co(II), Ni(II), Cu(II), Pd(II), Re(V) and Pt(IV) were prepared. The ligand and its metal complexes were characterized by phisco- chemical spectroscopic techniques. The spectral data were suggested that the (L) as a neutral tetradentate ligand is coordinated with the metal ions through two nitrogen and two oxygen atoms. These studies revealed Octahedral geometries for all metal complexes, except square planar for Pd(II) complex. Moreover, the thermodynamic activation parameters, such as ?E*, ?H, ?S, ?G and K are calculated from the TGA curves using Coa
... Show MoreThe root-mean square-radius of proton, neutron, matter and charge radii, energy level, inelastic longitudinal form factors, reduced transition probability from the ground state to first-excited 2+ state of even-even isotopes, quadrupole moments, quadrupole deformation parameter, and the occupation numbers for some calcium isotopes for A=42,44,46,48,50 are computed using fp-model space and FPBM interaction. 40Ca nucleus is regarded as the inert core for all isotopes under this model space with valence nucleons are moving throughout the fp-shell model space involving 1f7/2, 2p3/2, 1f5/2, and 2p1/2 orbits. Model space is used to present calculations using FPBM intera
... Show MoreThis study describes the preparation of new series of tetra-dentate N2O2 dinuclear complexes (Cr3+, Co2+, Cu2+) of the Schiff base derived from condensation of 1-Hydroxy-naphthalene-2-carbaldehyde with 2-amino-5-(2-hydroxy-phenyl)-1,3,4-thiadiazole. The structures of the ligands were identified using IR, UV-Vis , mass, elemental analysis and 1H-NMR techniques. All prepared complexes have been characterized by conductance measurement, magnetic susceptibility, electronic spectra, infrared spectrum, theromgravimatric analysis (TGA) and metal analysis by atomic absorption. From stoichiometry of metal to ligand and all measurements show a octahedral geometry proposed for all
... Show MoreThis research aims to investigate parameters for magnesium (Mg) carbon (C), and carbon/magnesium plasma produced by the exploding electrical wire (EEW) technique. In this work, C and Mg nanoparticles were synthesized. The plasma spectra with three different current values (50, 75 and 100A) were recorded using optical emission spectroscopy (OES). The plasma electron temperature (Te), electron density (ne), plasma frequency (fp), Debye length (ℷD), and Debye number (ND) provided by arc discharge plasma were calculated. Boltzmann plots were used to calculate the electron temperature (Te); electron density (ne) was calculated by Stark broadening . The results showed that the electron temperature and electron density increa
... Show MoreThe adsorption of Congo red (CR) dye on modified synthetic zeolite 5A , the general name of which is Linde Type A (LTA)which is modified by amino mercepto thiadiazole (AMT) and have been characterized by using fourier transform infrared (FT-IR) , x-ray diffraction (XRD) spectroscopies, atomic force microscopy (AFM) and scanning electron microscope (SEM) analysis.In this work Modified zeolite was utilized as adsorbent to remove (CR) dye from aqueous solution by adsorption. Batch experiments were conducted to study the effects contact time , initial concentration of adsorbate and temperature on dye adsorption. The equilibrium adsorption data were analyzed by using several isotherm models ( Freu
... Show MoreThe study aims to identify the acceptability of drinking water for human consumption depend on Iraqi specification and WHO standards. Samples collected monthly for each station from March to December2014. The samples collected from six stations distributed in Baghdad City, the first two stations located in al-Kadmyai area , the 3rd and 4th located in AL- Doora while the last two stations located in Al-Amryai area. The study measured physical, chemical and bacteriological factors. The measured parameters were ranged each for pH 6.63-7, turbidity 0.4-1.3NTU,TDS394.2-960mg/l,total hardness 259.1-578while Ca and Mg were 43-134,20.1-72 mg /l respectively. Other chemical parameters like chloride ranged from 56.8-184 mg/l and heavy metals range
... Show MoreTwo-dimensional electrical resistivity imaging and seismic refraction, in the form of down-hole survey, were applied to delineate the subsurface section and elastic moduli and identify geotechnical characteristics of subsurface materials in the 10th of Ramadan industrial area, Cairo, Egypt. The results of four 2-D profiles of electrical resistivity, in the form of dipole–dipole and Wenner configurations, revealed that the subsurface section contains two main geo-electrical layers; the first is made of sand, some silt, and gravels, reflecting low resistivity values ranging from 25 to 65.5 ohm m. This layer is overlying a high resistivity layer (65.5 to135 ohm m), corresponding to medium to coars
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