Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modelin
A pioneering idea for increasing the thermal performance of heat transfer fluids was to use ultrafine solid particles suspended in the base fluid. Nanofluids, synthesized by mixing solid nanometer sized particles at low concentrations with the base fluid, were used as a new heat transfer fluid and developed a remarkable effect on the thermophysical properties and heat transfer coefficient. For any nanofluid to be usable in heat transfer applications, the main concern is its long-term stability. The aim of this research is to investigate the effect of using four different surfactants (sodium dodecyl benzene sulfonate (SDBS), sodium dodecyl sulfate (SDS), cetyl trimethylammonium bromide (CTAB), and gum Arabic (GA)), each with three different
... Show MoreIn this research, hand lay- up technique is used to prepare samples from epoxy resin reinforced with multi- walled carbon nanotubes in different weight fractions (0, 2, 3, 4, 5) wt%. The immersion effect by sodium hydroxide solution (NaOH) at normality (0.3N) for a period of (15 days) on the thermal conductivity of nanocomposites was studied, and compared to natural condition (before immersion). The thermal conductivity of epoxy nanocomposites specimens were carried out using Lee’s disk method. The experimental results showed that thermal conductivity increased with increase weight fraction before and after immersion for all specimens, while the immersion effect leads to decrease thermal conductive values compared to thermal conductivi
... Show MoreThe experimentes were carried out by using a nutrient solution in the green house of Biology Dept , college of Education (Ibn Al- Haitham , University of Baghdad .) during 2001 -2002 growing season in order to determine the effect of sodium ion, by using four concentrations: (zero , 40,80,120. Mm), to study the appearance and physiological characteristics for two wheat varieties : IP A99 and Al-Kaid according to factorial experiment in completely randomized design for each concentration. The rcsults showed that the fourth concentration (120 Mm) for the Na ion is the most effective one on Leaf area, chlorophyll content, soluble carbohydrates, nitrogen content and protein percentage. Moreove
... Show MoreEffects of Boron on the structure of chloroplasts membrane isolated from cauliflower are investigated , using light scattering technique. Results obtained in this study suggest that Boron in the concentration range (0.1-5 µm) can fluidize the lipids of the chloroplast membrane due to different extent. Mechanisms by which Boron can change the lipid fluidity is discussed. Furthermore, an experimental evidence is presented to show that2µM Boron can mediate conformational changes in the membrane –bound proteins of the cauliflower’s chloroplast.
Abstract : Silicone elastomer is widely used as the material of choice for fabricating maxillofacial prosthesis. However, silicone properties are far from ideal; low tear strength, low tensile strength and insufficient elasticity are the most undesirable properties. The purpose of this study was to evaluate the effect of addition of nano SiO2filler on tear strength, tensile strength, elongation at break, hardness and color of Cosmesil M-511 HTV maxillofacial silicone elastomer. Nano SiO2was added to the silicone base in concentrations of 4%, 5% and 6% by weight. Silicone with 0% nano filler served as a control. Tear test was done according to ISO 34-1. Tensile and elongation test was done according to ISO 37. Shore A hardness test was done
... Show MoreIntroduction: The study was intended for Roseomonas gilardii NTCC 13290 strain pigment extraction and characterization. Methodology: The pigment-producing bacterial were cultured on Columbia blood agar and nutrient media agar. Then the pigments were extracted by ethanol. The candidate pigment was further characterized by different biotechnological techniques: UV-Vis spectroscopy, FT-IR to analyze the functional group of the targeted pigment, and TLC media. Results: The cultivation of Roseomonas gilardii on media showed pink color and nearly runny texture. The bacterial colonies were microscopically gram stained and examined, the R. gilardii was seen as coccobacillus colonies that mostly form pairs arranged as short chains. The R. gilardii b
... Show More