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.
In the present study, the effect of Zinc nanoparticles on levels of (T3 , T4 and TSH) hormones was investigated. Zinc nanoparticles were synthesized by Laser induced plasma.The Nd: YAG Nd: YAG laser with a wavelength of 1064 nm was used to generate nanomaterials of the elements (zinc) upon collision with target atoms. Plasma generated by different laser intensity is generated. After confirming the preparation of zinc nanoparticles, XRD, AFM was examined, and the effect of these substances on the thyroid gland (T3, T4, TSH) was observed for two doses of each component (1 ml / kg, 4 ml / kg) after conducting a cytotoxicity examination of the lymphocytes of the rats extracted from Rat spleen was 1.8% less toxic to zinc, and as noted The
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The scholars of Iraq have rich contributions to enrich this science and other Islamic sciences. Many of them presented the juices of their ideas to build and defend Islamic civilization, and among them are those who took care and carried this scientific trust upon themselves and conveyed it (Sheikh Muhammad Taha Al-Balisani (may God have mercy on him), who was a prominent scholar in His era, where he presented antiquities, opinions, and ideas worthy of attention and study.
He was the author of many books, some of them printed, and some of which are manuscripts, waiting for someone to bring them out to the light of life, verify them and present them to Islamic libraries, because our libraries are i
... Show MoreThe construction of highly safe and durable buildings that can bear accident damage risks including fire, earthquake, impact, and more, can be considered to be the most important goal in civil engineering technology. An experimental investigation was prepared to study the influence of adding various percentages 0%, 1.0%, and 1.5% of micro steel fiber volume fraction (Vf) to reactive powder concrete (RPC)—whose properties are compressive strength, splitting tensile strength, flexural strength, and absorbed energy—after the exposure to fire flame of various burning temperatures 300, 400, and 500 °C using gradual-, foam-, and sudden-cooling methods. The outcomes of this research proved that the maximum reduction in mechanical prop
... Show MoreAn experiment was carried out in the fields that belong to agiriculture college /Baghdad university (AL-Jadyria) according to randomized compeleted blocks design(R.C.B.D.) with three replications during the spring season of 2015 to Study impact of growing point pinching and foliar spraying of whey on some traits of vegetative growth and yield of okra(Abelmoschus esculentus L.Moench) AL-Batra local cultivar.The experiment was included six treatments which was pinching or no pinching of growthing point and foliar spraying of whey with three concentration (0%,50%and75%).The results showed that pinching was siginificant in all traits of vegetative growth except plant High where the highest values of branches number , diameter of stem and leafe
... Show MoreDevelopment of NSAIDS based on inhibiting cyclooxygenase activity. However, the different physiological consequences arrised by appearance of new drugs with different selectivity to COX-2 enzyme upon their administration with their relevant affects on some cardiovascular risk factors. To study the potential effects of relatively diclofenac and highly specific celecoxib COX-2 inhibitors on lipid profile and serum C-reactive protein in type 2 diabetes, whom have hyperlipidemia to be compared by their effects with normolipidemic patients. A total number of 34 type 2 diabetics (14 normolipidemics and 20 hyperlipidemics) treated with either diclofenac 100mg/day or celecoxib 200mg/day for eight weeks. Analysis of results indi
... Show MoreFrom a large number of bacterial samples collected from different hospital in Iraq in central health laboratory ,only ten isolates were identified primary as Vibrio. A number of morphology and biochemical test were carried out to complete this identification that showed all bacterial isolates were related to Vibrio cholerae .In this study all Vibrio isolates were investigated for Bio typing and the result showed that all (10) isolate were related to (Eltor biotypes) .Also, the susceptibility test towards eight antibiotics were carried out .
Results shows that ciprofloxacin , Norfloxacin, Erythromycin, Ampicillin, ceftriaxone and Amikacin were the most effective
... Show MoreZinc oxide films (ZnO) are prepared by an electrolysis technique and without vacuum and then annealed atvarious temperatures (300,400,500)OC for an hour. The structural analysis performed by X-Ray diffraction (XRD) shows,dominant orientation of this films is plane (101), has a hexagonal structure and polycrystalline pattern and it was is found that the crystal size increases(24,29) nm at annealing temperatures (300, 400)° C, but the crystal size decreases to (20 nm) at annealing temperature (500 ° C). As the results of a surface nature study of these films showed by examining the atomic force microscope (AFM), the grain size increases from (60.79 to 88.11) nm, and the surface roughnes
... Show MoreUsing three-point bending experiments, the effect of the particle size of SiO2 on the flexural properties of epoxy composites was investigated. Young modulus and flexural strength were studied for different weight percentage of filler (2,4,6,8 and 10) wt%.The size of SiO2 particles varied from micro (100um) to nano (12nm) .
Flexural strength and Young modul were found to increase with the filler content, but when the particle size decreased to the nanoscale, the Young module increased. Flexural strength was higher for microcomposites than nanocomposites.
A mathematical model was created to study the influences of Hall current and Joule heating with wall slip conditions on peristaltic motion of Rabinowitsch fluid model through a tapered symmetric channel with Permeable Walls. The governing equations are simplified under low Reynolds number and the long-wavelength approximations. The perturbation method is used to solve the momentum equation. The physiological phenomena are studied for a certain set of pertinent parameters. The effects offered here show that the presence of the hall parameter, coefficient of pseudo-plasticity, and Hartman number impact the flow of the fluid model. Additional, study reveals that a height in the Hall parameter and the velocity slip parameter incre
... Show MoreBackground: Sildenafil, a selective phosphodiesterase -5 (PDE-5) inhibitor increases cyclic guanosine monophosphate (cGMP) and amplifies many biological actions of nitric oxide (NO) which is an important mediator of gastric mucosal defense ; was evaluated in this study using different doses for its cytoprotective effect on gastric mucosal damage induced by indomethacin . We also evaluated the effect of this drug on NO production, Prostaglandin E2 (PGE2) synthesis, Myeloperoxidase (MPO) activity, and Interlukin-4 (IL-4) expression.
Methods: The study was performed between April and July 2008 in the Department of Pharmacology / College of Medicine /Baghdad University .It was conducted on 80 adult male albin