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Hexapod Robot Static Stability Enhancement using Genetic Algorithm
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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.

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Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Physics: Conference Series
Reinforce organizational communication using Information Technology
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Abstract<p>The purpose of this research is to enhance the role of organizational communication in organizations using IT technologies. The results showed that there is a strong relationship with information technology technologies in enhancing the role of organizational communication, which in turn helps to improve the performance of organizations in general</p>
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Publication Date
Sun Mar 03 2024
Journal Name
The Science Teacher
Using Scenarios to Assess Student Learning
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Publication Date
Sun Sep 07 2008
Journal Name
Baghdad Science Journal
Hybrid Cipher System using Neural Network
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The objective of this work is to design and implement a cryptography system that enables the sender to send message through any channel (even if this channel is insecure) and the receiver to decrypt the received message without allowing any intruder to break the system and extracting the secret information. In this work, we implement an interaction between the feedforward neural network and the stream cipher, so the secret message will be encrypted by unsupervised neural network method in addition to the first encryption process which is performed by the stream cipher method. The security of any cipher system depends on the security of the related keys (that are used by the encryption and the decryption processes) and their corresponding le

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
edge detection using modification prewitt operators
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in this paper we adopted ways for detecting edges locally classical prewitt operators and modification it are adopted to perform the edge detection and comparing then with sobel opreators the study shows that using a prewitt opreators

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Publication Date
Wed Jan 30 2019
Journal Name
Journal Of The College Of Education For Women
Image Hiding Using Discrete Cosine Transform
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Steganography is a mean of hiding information within a more obvious form of
communication. It exploits the use of host data to hide a piece of information in such a way
that it is imperceptible to human observer. The major goals of effective Steganography are
High Embedding Capacity, Imperceptibility and Robustness. This paper introduces a scheme
for hiding secret images that could be as much as 25% of the host image data. The proposed
algorithm uses orthogonal discrete cosine transform for host image. A scaling factor (a) in
frequency domain controls the quality of the stego images. Experimented results of secret
image recovery after applying JPEG coding to the stego-images are included.

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Publication Date
Sun Mar 02 2008
Journal Name
Baghdad Science Journal
Using LiF Disc in Thermoluminescence Dosimetry
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A LiF (TLD-700) PTFED disc has adiameter of (13mm) and thickness of (0.4mm) for study the response and sensetivity of this material for gamma and beta rays by using (TOLEDO) system from pitman company. In order to calibrate the system and studying the calibration factor. Discs were irradiated for Gamma and Beta rays and comparing with the theoretical doses. The exposure range is between 15×10-2 mGy to 1000×10-2 mGy. These doses are within the range of normal radiation field for workers.

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Publication Date
Sun Jan 01 2023
Journal Name
Technologies And Materials For Renewable Energy, Environment, And Sustainability: Tmrees23fr
Hyperspectral pansharpening improvement using MNF transformation
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Publication Date
Sat Jan 23 2016
Journal Name
Computer Science &amp; Information Technology ( Cs &amp; It )
Modelling Dynamic Patterns Using Mobile Data
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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Engineering
Image Reconstruction Using Modified Hybrid Transform
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In this paper, an algorithm for reconstruction of a completely lost blocks using Modified
Hybrid Transform. The algorithms examined in this paper do not require a DC estimation
method or interpolation. The reconstruction achieved using matrix manipulation based on
Modified Hybrid transform. Also adopted in this paper smart matrix (Detection Matrix) to detect
the missing blocks for the purpose of rebuilding it. We further asses the performance of the
Modified Hybrid Transform in lost block reconstruction application. Also this paper discusses
the effect of using multiwavelet and 3D Radon in lost block reconstruction.

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Publication Date
Fri Jan 01 2021
Journal Name
Advances In Intelligent Systems And Computing
Optimal Prediction Using Artificial Intelligence Application
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