Preferred Language
Articles
/
alkej-264
Hexapod Robot Static Stability Enhancement using Genetic Algorithm
...Show More Authors

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 hexapod’s leg. They are defined as the sub-constraint workspaces volumes when the legs are moving without collision with each other and they are useful to keep the legs stable from falling during each gait. A smooth gait was analyzed and enhanced for each hexapod’s leg in two phases, stance phase and swing phase. The proposed work focused on the two approaches first, the modified classical stability margins. In this approach, the range of stability margins is evaluated for all gaits. The second method is called stability margins using Genetic Algorithm (GA) that enhanced the static stability by getting the best stability margins for hexapod robot and these results are useful to get best stable path planning of hexapod robot with smaller error than the first approach and with better new stable coordinates of legs tips than the first method. In addition, the second approach is useful for getting the better new stable center body coordinates than center body coordinates in the first approach of hexapod robot.

Keywords: Kinematics, Stability Margin, Workspace, Genetic Algorithm and Hexapod Robot.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Thu Jul 01 2021
Journal Name
Iraqi Journal Of Science
Improvement of Chacha20 Algorithm based on Tent and Chebyshev Chaotic Maps
...Show More Authors

Chacha 20 is a stream cypher that is used as lightweight on many CPUs that ‎do not have dedicated AES instructions. As stated by Google, that is the reason why they use it on many ‎devices, such as mobile devices, for authentication in TLS protocol. This paper ‎proposes an improvement of chaha20 stream cypher algorithm based on tent and ‎Chebyshev functions (IChacha20). The main objectives of the proposed IChacha20 ‎algorithm are increasing security layer, designing a robust structure of the IChacha20 ‎to be enabled to resist various types of attacks, implementing the proposed ‎algorithm for encryption of colour images, and transiting it in a secure manner. The ‎ test results proved that the MSE, PSNR, UQI and NCC metrics

... Show More
View Publication Preview PDF
Scopus (5)
Crossref (1)
Scopus Crossref
Publication Date
Sat Apr 30 2022
Journal Name
Iraqi Journal Of Science
Convergence Theorems of Three-Step Iteration Algorithm in CAT (0) Spaces
...Show More Authors

      In this paper, a modified three-step iteration algorithm for approximating a joint fixed point of non-expansive and contraction mapping is studied. Under appropriate conditions, several strong convergence theorems and Δ-convergence theorems are established in a complete CAT (0) space. a numerical example is introduced to show that this modified iteration algorithm is faster than other iteration algorithms. Finally, we prove that the modified iteration algorithm is stable. Therefore these results are extended and improved to a novel results that are stated by other researchers. Our results are also complement to many well-known theorems in the literature. This type of research can be played a vital role in computer programming

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Crossref
Publication Date
Tue Oct 16 2018
Journal Name
Springer Science And Business Media Llc
MOGSABAT: a metaheuristic hybrid algorithm for solving multi-objective optimisation problems
...Show More Authors

Scopus (60)
Crossref (41)
Scopus Clarivate Crossref
Publication Date
Mon May 01 2017
Journal Name
2017 5th International Conference On Information And Communication Technology (icoic7)
Analysis of the number of ants in ant colony system algorithm
...Show More Authors

View Publication
Scopus (26)
Crossref (11)
Scopus Crossref
Publication Date
Wed Jul 29 2020
Journal Name
Iraqi Journal Of Science
Fog-based Spider Web Algorithm to Overcome Latency in Cloud Computing
...Show More Authors

The cloud-users are getting impatient by experiencing the delays in loading the content of the web applications over the internet, which is usually caused by the complex latency while accessing the cloud datacenters distant from the cloud-users. It is becoming a catastrophic situation in availing the services and applications over the cloud-centric network. In cloud, workload is distributed across the multiple layers which also increases the latency. Time-sensitive Internet of Things (IoT) applications and services, usually in a cloud platform, are running over various virtual machines (VM’s) and possess high complexities while interacting. They face difficulties in the consolidations of the various applications containing heterog

... Show More
View Publication Preview PDF
Scopus (7)
Crossref (3)
Scopus Crossref
Publication Date
Sun Dec 01 2019
Journal Name
Applied Soft Computing
A new evolutionary multi-objective community mining algorithm for signed networks
...Show More Authors

View Publication
Scopus (7)
Crossref (5)
Scopus Clarivate Crossref
Publication Date
Tue Dec 01 2020
Journal Name
Baghdad Science Journal
Real-Time Cloth Simulation on Virtual Human Character Using Enhanced Position Based Dynamic Framework Technique
...Show More Authors

     Cloth simulation and animation has been the topic of research since the mid-80's in the field of computer graphics. Enforcing incompressible is very important in real time simulation. Although, there are great achievements in this regard, it still suffers from unnecessary time consumption in certain steps that is common in real time applications.   This research develops a real-time cloth simulator for a virtual human character (VHC) with wearable clothing. This research achieves success in cloth simulation on the VHC through enhancing the position-based dynamics (PBD) framework by computing a series of positional constraints which implement constant densities. Also, the self-collision and collision wit

... Show More
View Publication Preview PDF
Scopus (23)
Crossref (20)
Scopus Clarivate Crossref
Publication Date
Fri Oct 07 2022
Journal Name
Himalayan Economics And Business Management
Analyzing and Measuring the Relationship between Monetary Policy and Monetary Stability in the Iraqi Economy for the Period 1990-2020
...Show More Authors

Monetary policy occupies a prominent role in achieving monetary stability by adjusting the growth rates of the number of available means of payment in line with changes in the size of the gross domestic product in the country and expressed by the monetary stability coefficient agreed upon by the International Monetary Fund, a term that hides the fact that there is a rate of change in the volume of commodity or real production which expresses the levels of aggregate supply in the economy, which corresponds to the quantities of cash in circulation, which represent a net purchasing power and stimulate aggregate demand, which completes the picture of the existence of the market mechanism, expressed by the monetary or economic stability

... Show More
View Publication Preview PDF
Publication Date
Wed Oct 28 2015
Journal Name
Journal Of Mathematics And System Science
Simulating Particle Swarm Optimization Algorithm to Estimate Likelihood Function of ARMA(1, 1) Model
...Show More Authors

Crossref
Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
Eatimation Availability Function Through Determination The Optimal Imperfect Preventive Maintenance Period By using Simulation
...Show More Authors

This paper deals with the modeling of a preventive maintenance strategy applied to a single-unit system subject to random failures.

According to this policy, the system is subjected to imperfect periodic preventive maintenance restoring it to ‘as good as new’ with probability

p and leaving it at state ‘as bad as old’ with probability q. Imperfect repairs are performed following failures occurring between consecutive

preventive maintenance actions, i.e the times between failures follow a decreasing quasi-renewal process with parameter a. Considering the

average durations of the preventive and corrective maintenance actions a

... Show More
View Publication Preview PDF
Crossref