A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits:  creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends up

The atomic properties have been studied for He-like ions (He atom, Li+, Be2+ and B3+ions). These properties included, the atomic form factor f(S), electron density at the nucleus , nuclear magnetic shielding constant and diamagnetic susceptibility ,which are very important in the study of physical properties of the atoms and ions. For these purpose two types of the wave functions applied are used, the Hartree-Fock (HF) waves function (uncorrelated) and the Configuration interaction (CI) wave function (correlated). All the results and the behaviors obtained in this work have been discussed, interpreted and compared with those previously obtained.

The present paper is a qualitative descriptive study. It aims to examine the macro-cultural schemata addressing the concept of violence against women in Iraq from a cognitive linguistic point of view. To meet this objective, a number of Iraqi social caricatures have been selected from two popular and active Iraqi caricaturists, Odeh Al-Fahdawi and Nasser Ibrahim. The selection and the analysis of data have been achieved following the validity and reliability procedures and the ethical considerations. To meet this objective, Sharifian’s Model (2011) of Cultural Schemata has been adopted in data analysis. The study has concluded that the macro-cultural schemata regarding the concept of violence in the selected panels reveals that violenc

The service quality of any information-based system could be evaluated by the high-end user in such a way that the system developer or responsible intently might use these user experiences to improve, develop and benchmark their system. In this paper, questionnaire implemented to rate to what extent the academic admission system as a web site achieves performance. Data were collected from 21 users of the system; all of them are highly educated and have the experience of using the site. Quadrant and gap analysis were implemented to evaluate the weakness and strength of the data. The major data analyses were performed on the data collected in terms of its importance and satisfaction to the users. A number of statistical tools have been uti

     The analysis of the hyperlink structure of the web has led to significant improvements in web information retrieval. This survey study evaluates and analyzes relevant research publications on link analysis in web information retrieval utilizing diverse methods. These factors include the research year, the aims of the research article, the algorithms utilized to complete their study, and the findings received after using the algorithms. The findings revealed that Page Rank, Weighted Page Rank, and Weighted Page Content Rank are extensively employed by academics to properly analyze hyperlinks in web information retrieval. Finally, this paper analyzes the previous studies.

The liver diseases can define as the tumor or disorder that can affect the liver and causes deformation in its shape. The early detection and diagnose of the tumor using CT medical images, helps the detector to specify the tumor perfectly. This search aims to detect and classify the liver tumor depending on the use of a computer (image processing and textural analysis) helps in getting an accurate diagnosis. The methods which are used in this search depend on creating a binary mask used to separate the liver from the origins of the other in the CT images. The threshold has been used as an early segmentation. A Process, the watershed process is used as a classification technique to isolate the tumor which is cancer and cyst.

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Mauddud Formation (Albian stage-the Early Cretaceous) is an important oil reservoir in Ratawi field of southern Iraq. Four wells, R T-2, R T-3, R T-6, and R T-7, located 70 km northwest of Basra, were selected to study microfacies properties and petrophysical associations with the probability of oil production. Seventy-seven core samples are collected, and thin sections for petrographic analysis. The self-potential, Gamma-ray, resistivity, and porosity logs are used to determine the top and bottom of the Mauddud Formation. Water saturation of the invaded and uninvaded zones, shale volume, and porosity were calculated. The study area results showed that the quantity of shale is less than 15% for most of the wells, and the dominant po

Tafsir, ‘interpretation’ is one of the most important sciences the Muslims need. Because Allah, Almighty, revealed the Qur’an to be a way of life for the Muslims in which the healing of what is in the chest, including their goodness and their peasant. Allah says:
“O people, an admonition has indeed come to you from your Lord and a healing for what is in the hearts; and a guidance and a mercy for the believers.”
In order to achieve the goal for which God revealed the Quran must be understood and managed verses:” This is a Book that We have revealed to you abounding in good, that they may ponder over its verses, and that those who have understanding may be mindful.”
The Prophet (PBUH) and his companions understood t