Abstract

Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each

In the reverse engineering approach, a massive amount of point data is gathered together during data acquisition and this leads to larger file sizes and longer information data handling time. In addition, fitting of surfaces of these data point is time-consuming and demands particular skills. In the present work a method for getting the control points of any profile has been presented. Where, many process for an image modification was explained using Solid Work program, and a parametric equation of the profile that proposed has been derived using Bezier technique with the control points that adopted. Finally, the proposed profile was machined using 3-aixs CNC milling machine and a compression in dimensions process has been occurred betwe

The application of ultrafiltration (UF) and nanofiltration (NF) processes in the handling of raw produced water have been investigated in the present study. Experiments of both ultrafiltration and nanofiltration processes are performed in a laboratory unit, which is operated in a cross-flow pattern. Various types of hollow fiber membranes were utilized in this study such as poly vinyl chloride (PVC) UF membrane, two different polyether sulfone (PES) NF membranes, and poly phenyl sulfone PPSU NF membrane. It was found that the turbidity of the treated water is higher than 95 % by using UF and NF membranes. The chemical oxygen demand COD (160 mg/l) and Oil content (26.8 mg/l) were found after treatment according to the allowable limits set

Permeability data has major importance work that should be handled in all reservoir simulation studies. The importance of permeability data increases in mature oil and gas fields due to its sensitivity for the requirements of some specific improved recoveries. However, the industry has a huge source of data of air permeability measurements against little number of liquid permeability values. This is due to the relatively high cost of special core analysis.
The current study suggests a correlation to convert air permeability data that are conventionally measured during laboratory core analysis into liquid permeability. This correlation introduces a feasible estimation in cases of data loose and poorly consolidated formations, or in cas

   In this research, an adaptive Canny algorithm using fast Otsu multithresholding method is presented, in which fast Otsu multithresholding method is used to calculate the optimum maximum and minimum hysteresis values and used as automatic thresholding for the fourth stage of the Canny algorithm.      The new adaptive Canny algorithm and the standard Canny algorithm (manual hysteresis value) was tested on standard image (Lena) and satellite image. The results approved the validity and accuracy of the new algorithm to find the images edges for personal and satellite images as pre-step for image segmentation.  
 

In this paper, we implement and examine a Simulink model with electroencephalography (EEG) to control many actuators based on brain waves. This will be in great demand since it will be useful for certain individuals who are unable to access some control units that need direct contact with humans. In the beginning, ten volunteers of a wide range of (20-66) participated in this study, and the statistical measurements were first calculated for all eight channels. Then the number of channels was reduced by half according to the activation of brain regions within the utilized protocol and the processing time also decreased. Consequently, four of the participants (three males and one female) were chosen to examine the Simulink model during di

The purpose of this study is to avoid delays and cost changes that occur in emergency reconstruction projects especially in post disaster circumstances. This study is aimed to identify the factors that affect the real construction period and the real cost of a project against the estimated period of construction and the estimated cost of the project. The case study is related to the construction projects in Iraq. Thirty projects in different areas of construction in Iraq were selected as a sample for this study. Project participants from the projects authorities provided data about the projects through a data collection distributed survey made by the authors. Mathematical data analysis was used to construct a model to predict change

Pavement crack and pothole identification are important tasks in transportation maintenance and road safety. This study offers a novel technique for automatic asphalt pavement crack and pothole detection which is based on image processing. Different types of cracks (transverse, longitudinal, alligator-type, and potholes) can be identified with such techniques. The goal of this research is to evaluate road surface damage by extracting cracks and potholes, categorizing them from images and videos, and comparing the manual and the automated methods. The proposed method was tested on 50 images. The results obtained from image processing showed that the proposed method can detect cracks and potholes and identify their severity levels wit

      Data security is an important component of data communication and transmission systems. Its main role is to keep sensitive information safe and integrated from the sender to the receiver. The proposed system aims to secure text messages through two security principles encryption and steganography. The system produced a novel method for encryption using graph theory properties; it formed a graph from a password to generate an encryption key as a weight matrix of that graph and invested the Least Significant Bit (LSB) method for hiding the encrypted message in a colored image within a green component. Practical experiments of (perceptibility, capacity, and robustness) were calculated using similarity measures like PSNR, MSE, and