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
Tue Jan 01 2019
Journal Name
Revista Aus
On Simply* Compact Spaces
...Show More Authors

In the present paper, a simply* compact spaces was introduced it defined over simply*- open set previous knowledge and we study the relation between the simply* separation axioms and the compactness, in addition to introduce a new types of functions known as 𝛼𝑆 𝑀∗ _irresolte , 𝛼𝑆 𝑀∗ __𝑐𝑜𝑛𝑡𝑖𝑛𝑢𝑜𝑢𝑠 and 𝑅 𝑆 𝑀∗ _ continuous, which are defined between two topological spaces.

Preview PDF
Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
ON G-OPEN SET
...Show More Authors

A new class of generalized open sets in a topological space, called G-open sets, is introduced and studied. This class contains all semi-open, preopen, b-open and semi-preopen sets. It is proved that the topology generated by G-open sets contains the topology generated by preopen,b-open and semi-preopen sets respectively.

View Publication Preview PDF
Crossref
Publication Date
Sun Dec 05 2010
Journal Name
Baghdad Science Journal
ON M- Hollow modules
...Show More Authors

Let R be associative ring with identity and M is a non- zero unitary left module over R. M is called M- hollow if every maximal submodule of M is small submodule of M. In this paper we study the properties of this kind of modules.

View Publication Preview PDF
Crossref
Publication Date
Mon Apr 04 2016
Journal Name
Journal Of Advances In Mathematics
ON CJ-TOPLOGICAL SPACES
...Show More Authors

Publication Date
Wed Sep 30 2015
Journal Name
College Of Islamic Sciences
A consensus on measurement
...Show More Authors

Many letters and theses written on the subject of consensus, as well as in measurement,
But we tried to address a topic of consensus

Building a blind measuring guide.
 We have tried to explain the meaning of convening, then the statement of consensus in language and terminology and then the statement of measurement
Also, we have shown the types of consensus mentioned by the jurists, and this is how much was in the first topic, either
The second section included the statement of the doctrines of the blind in the matter, and then the evidence of each doctrine and discussed.
We followed it with the most correct opinion statement and concluded the research with some of the conclusions we reached through
search.

... Show More
View Publication Preview PDF
Publication Date
Sun Sep 04 2011
Journal Name
Baghdad Science Journal
On Primary Multipliction Modules
...Show More Authors

Let R be a commutative ring with identity and M be a unitary R- module. We shall say that M is a primary multiplication module if every primary submodule of M is a multiplication submodule of M. Some of the properties of this concept will be investigated. The main results of this paper are, for modules M and N, we have M N and HomR (M, N) are primary multiplications R-modules under certain assumptions.

View Publication Preview PDF
Crossref
Publication Date
Fri May 01 2020
Journal Name
Journal Of Physics: Conference Series
On J–Lifting Modules
...Show More Authors
Abstract<p>Let R be a ring with identity and M is a unitary left R–module. M is called J–lifting module if for every submodule N of M, there exists a submodule K of N such that <inline-formula> <tex-math><?CDATA ${\rm{M}} = {\rm{K}} \oplus \mathop {\rm{K}}\limits^\prime,\>\mathop {\rm{K}}\limits^\prime \subseteq {\rm{M}}$?></tex-math> <math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="block" overflow="scroll"> <mrow> <mi mathvariant="normal">M</mi> <mo>=</mo> <mi mathvariant="normal">K</mi></mrow></math></inline-formula></p> ... Show More
View Publication
Scopus (5)
Scopus Crossref
Publication Date
Fri Apr 01 2022
Journal Name
Baghdad Science Journal
On Hereditarily Codiskcyclic Operators
...Show More Authors

Many codiskcyclic operators on infinite-dimensional separable Hilbert space do not satisfy the criterion of codiskcyclic operators. In this paper, a kind of codiskcyclic operators satisfying the criterion has been characterized, the equivalence between them has been discussed and the class of codiskcyclic operators satisfying their direct summand is codiskcyclic. Finally, this kind of operators is used to prove that every codiskcyclic operator satisfies the criterion if the general kernel is dense in the space.

View Publication Preview PDF
Scopus (5)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Thu Dec 08 2022
Journal Name
Aequationes Mathematicae
On graceful antimagic graphs
...Show More Authors

View Publication
Scopus (6)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Sun Mar 01 2020
Journal Name
Baghdad Science Journal
On S*-Supplemented Modules
...Show More Authors

The main goal of this paper is to introduce and studya new concept named Ᵹ*-supplemented which can be considered as a generalization of W-supplemented modules and Ᵹ-hollow module. Also, we introduce a Ᵹ*-supplement submodule.Many relationshipsof Ᵹ*-supplemented modules are studied. Especially, we give characterizations of Ᵹ*-supplemented modules and relationship between this kind of modules and other kind modules for example every Ᵹ-hollow (Ᵹ-local) module is Ᵹ*-supplemented and by an example we show that the converse is not true.

View Publication Preview PDF
Scopus (3)
Crossref (2)
Scopus Crossref