Alginate from Large brown seaweeds act as natural polymer has been investigated as polymer and has been added to concrete in different percentages ( 0% , 0.5% , 1% and 1.5% ) by the cement weight and the study show the effect of using alginate biopolymer admixtures on  some of the fresh properties of the concrete (slump &  the density  fresh) also in the hardened state (  Compressive strength , Splitting tensile strength  and Flexural strength ) at 28 days. The mix proportion was (1:2.26:2.26) (cement: sand: gravel) respectively and at constant w/c equal to 0.47. The results indicate that the use of alginate as a percent of the cement weight possess a positive effect on fresh properties of co

Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptiv

In the present work we prepared heterojunction not homogenous CdS/:In/Cu2S) by spray and displacement methods on glass substrate , CdS:In films prepared by different impurities constration. Cu2S prepared by chemical displacement method to improve the junction properties , structural and optical properties of the deposited films was achieved . The study shows that the film polycrystalline by XRD result for all film and the energy gap was direct to 2.38 eV with no effect on this value by impurities at this constration .

In this study, mean free path and positron elastic-inelastic scattering are modeled for the elements hydrogen (H), carbon (C), nitrogen (N), oxygen (O), phosphorus (P), sulfur (S), chlorine (Cl), potassium (K) and iodine (I). Despite the enormous amounts of data required, the Monte Carlo (MC) method was applied, allowing for a very accurate simulation of positron interaction collisions in live cells. Here, the MC simulation of the interaction of positrons was reported with breast, liver, and thyroid at normal incidence angles, with energies ranging from 45 eV to 0.2 MeV. The model provides a straightforward analytic formula for the random sampling of positron scattering. ICRU44 was used to compile the elemental composition data. In this

In this paper, a computational method for solving optimal problem is presented, using indirect method (spectral methodtechnique) which is based on Boubaker polynomial. By this method the state and the adjoint variables are approximated by Boubaker polynomial with unknown coefficients, thus an optimal control problem is transformed to algebraic equations which can be solved easily, and then the numerical value of the performance index is obtained. Also the operational matrices of differentiation and integration have been deduced for the same polynomial to help solving the problems easier. A numerical example was given to show the applicability and efficiency of the method. Some characteristics of this polynomial which can be used for solvin

It research and descriptive sample of players Handball number (21) player (Club Husseiniya) The research aims to identify the relationship between certain components of blood and immunological speed the transition has been a test speed the transition in addition to the withdrawal of a blood sample after (5-10) minutes on the test to identify the nature of the correlation between speed and some transitional immune blood Mkonaght. The importance of research in identifying the relationship element speed in the game where one of the key elements in this game and some blood components immune where there is little of the studies, which focused on the nature of the relationship between exercise and immune blood, especially in a game of handball, e