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

It is easy to talk about democracy, but it is difficult to practice. We talk about postmodernism, but difficult to be embodied in the ground. Yet, the age of democracy and modernity at the same time prompted the researcher to try to find a media concept for it. It does not mean that this concept has not yet formed. But the rooting of democracy and the approaching of states and groups towards it, made it necessary to by studied again.

The relationship between democracy and the media has made them look like one concept. The existence of one is linked to the existence of the other. The reality is only a linguistic formulation, but the social and cultural aspect is related to democracy origin

 The researcher was interested in studying a crucial aspect of the systematic world music culture. He highlights the analysis of the harmonic construction in the musical compositions of the artist Khalil Ismail, where harmony is a significant Western musical science, a pillar of the structure of instrumental and vocal music.
It depends on the compositions of vertical sounds performed simultaneously, as tones coincide and are sometimes dissonant to give sound resonance that enriches musical work and attracts recipients. Hence, the researcher has many questions, including: Can the composition of the writings of the artist Khalil Ismail determine in an objective research framework? Is there a study on this subject in some detail? whic

This study deals with the estimation of critical load of unidirectional polymer matrix composite plates by using experimental and finite element techniques at different fiber angles and fiber volume fraction of the composite plate.

            Buckling analysis illustrated that the critical load decreases in nonlinear relationship with the increase of the fiber angle and that it increases with the increase of the fiber volume fraction.

            The results show that the maximum value of the critical load is (629.54 N/m) at (q = 0°) and (V_f = 40 %) for the finite element method, while the minimum val

This paper deals with the ideological positioning of the English poet John Donne in a selected poems of his i.e Holy Sonnet X, as regards the theme of death found therein. The researchers adopt an emerging branch of stylistics, called Critical Stylistics, as proposed by Jeffries (2010) in order to uncover the ideologies of the author regarding the topic concerned and how linguistic choices are used to slant ideas. The model is comprised of ten tools of analysis which, upon being applied to the selected data, have shown how the poet exploits language resources in order to pass his ideology and influence his readers. In this paper, the workings of only one tool are presented as applied to a certain portion of the data.

Wielands Hauptwerk die Geschichte des Agathon (1766/73,1794) ist

der wichtigste Roman der Aufklärungsepoche (1720-1785). Die Verlegung der

Handlung in die Antike widerspiegelt die kulturelle Blüte der vorbildhaften Zeit

zwischen 5. und 4. Jhd. v. Chr.

Beim Lesen des Romans findet man unzählige (über 70) Namen aus der

Antike; von Herrschern, Strategen, Philosophen, Dichtern, Künstlern . . . etc,

woüber man unbedingt informiert werden muss, um deren Zusammenhang in der

Geschichte zu verstehen. Vorübergehend erwähnte Personennamen gibt Wieland

meistens als Beispiel für eine Situation oder ein Verhalten. Dies gab mir den

Anstoß, die wichtigsten Figuren

يهدف البحث التعرف على مستوى الوعي بتقنيات إعادة التدوير غير الميكانيكية التي يجري تطويرها حاليًا في قطاع "إعادة التدوير الكيميائي" الجديد لدى طلبة كلية التربية للعلوم الصرفة -ابن الهيثم. تكونت عينة البحث من (198) طالبا وطالبة من قسم الكيمياء للعام الدراسي (2021-2022) من أصل(250) أي (79%) من مجتمع البحث لدراسة الفصول الصباحية و(50) طالباً وطالبة من أصل (73) أي (68٪) من مجتمع البحث لدراسة الفصول المسائية لطلبة المرحلة الرابعة.وت

The research aims to know the impact of using the strategy (think-tac-toe) in the achievement of Biology subject for female students of fourth grade scientific branch. The research sample consisted of 70female students the of fourth Grade scientific Branch . The students were divide randomly, equally to two groups, experimental and control group. the two groups are equaled in the variable ( intelligence, age, previous information, former achievement of biology subject ) and the strategy applied over the entire semester. built an achievement test and it has been the expense of validity, and the reliability and The psychometric properties, and the data were analyzed statistically by recourse to Statistical package SPSS, the results showed

The study aimed to explore the effectiveness of using rational judgment strategy in teaching science to develop scientific thinking for second-grade students. The researcher utilized the quasi-experimental approach based on (the pre/post designing) of two groups: experimental and control. As for tools: a test of scientific thinking prepared by the researcher that proved its verification of their validity and reliability. The test applied on a random sample of (66) students, divided into two groups: (34) experimental, and (32) control. The results showed that the experimental group outperformed the control group in the post-application of the scientific thinking test, In each skill separately, and in the total skills. The study recommende

Abstract

This research presents a on-line cognitive tuning control algorithm for the nonlinear controller of path-tracking for dynamic wheeled mobile robot to stabilize and follow a continuous reference path with minimum tracking pose error. The goal of the proposed structure of a hybrid (Bees-PSO) algorithm is to find and tune the values of the control gains of the nonlinear (neural and back-stepping method) controllers as a simple on-line with fast tuning techniques in order to obtain the best torques actions of the wheels for the cart mobile robot from the proposed two controllers. Simulation results (Matlab Package 2012a) show that the nonlinear neural controller with hybrid Bees-PSO cognitive algorithm is m