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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
Tue Sep 01 2009
Journal Name
2009 5th International Conference On Wireless Communications, Networking And Mobile Computing
Cooperation Spectrum Sensing Using Optimal Joint Detecting
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In cognitive radio networks, there are two important probabilities; the first probability is important to primary users called probability of detection as it indicates their protection level from secondary users, and the second probability is important to the secondary users called probability of false alarm which is used for determining their using of unoccupied channel. Cooperation sensing can improve the probabilities of detection and false alarm. A new approach of determine optimal value for these probabilities, is supposed and considered to face multi secondary users through discovering an optimal threshold value for each unique detection curve then jointly find the optimal thresholds. To get the aggregated throughput over transmission

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Publication Date
Sat Dec 01 2012
Journal Name
Journal Of Engineering
Database for Baghdad Soil Using GIS Techniques
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teen sites Baghdad are made. The sites are divided into two groups, one in Karkh and the other in Rusafa. Assessing the underground conditions can be occurred by drilling vertical holes called exploratory boring into the ground, obtaining soil (disturbed and undisturbed) samples, and testing these samples in a laboratory (civil engineering laboratory /University of Baghdad). From disturbed, the tests involved the grain size analysis and then classified the soil, Atterberg limit, chemical test (organic content, sulphate content, gypsum content and chloride content). From undisturbed samples, the test involved the consolidation test (from this test, the following parameters can be obtained: initial void ratio eo, compression index cc, swel

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Publication Date
Wed Jan 01 2025
Journal Name
Lecture Notes In Networks And Systems
Diagnosis of Diabetes Using Artificial Intelligence Programs
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Scientific development has occupied a prominent place in the field of diagnosis, far from traditional procedures. Scientific progress and the development of cities have imposed diseases that have spread due to this development, perhaps the most prominent of which is diabetes for accurate diagnosis without examining blood samples and using image analysis by comparing two images of the affected person for no less than a period. Less than ten years ago they used artificial intelligence programs to analyze and prove the validity of this study by collecting samples of infected people and healthy people using one of the Python program libraries, which is (Open-CV) specialized in measuring changes to the human face, through which we can infer the

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Publication Date
Thu Jul 01 2021
Journal Name
Journal Of Physics: Conference Series
Human Dynamic Behavior: Reconstruction Trajectories Using CDRs
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Abstract<p>Investigating the human mobility patterns is a highly interesting field in the 21th century, and it takes vast attention from multi-disciplinary scientists in physics, economic, social, computer, engineering…etc. depending on the concept that relates between human mobility patterns and their communications. Hence, the necessity for a rich repository of data has emerged. Therefore, the most powerful solution is the usage of GSM network data, which gives millions of Call Details Records gained from urban regions. However, the available data still have shortcomings, because it gives only the indication of spatio-temporal data at only the moment of mobile communication activities. In th</p> ... Show More
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Publication Date
Mon Oct 01 2018
Journal Name
International Journal Of Modern Trends In Engineering And Research
Quadtree Partitioning Scheme using Fixed Predictor Base
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Publication Date
Wed Jun 01 2011
Journal Name
Journal Of Engineering
REMOVAL OF HEAVY METALS USING REVERSE OSMOSIS
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The aim of this work is to study reverse osmosis characteristics for copper sulfate hexahydrate (CuSO4.6H2O), nickel sulfate hexahydrate (NiSO4.6H2O) and zinc sulfate hexahydrate (ZnSO4.6H2O) removal from aqueous solution which discharge from some Iraqi factories such as Alnasser Company for mechanical industries. The mode of operation of reverse osmosis was permeate is removed and the concentrate of metals solution is recycled back to the feed vessel. Spiral-wound membrane is thin film composite membrane (TFC) was used to conduct this study on reverse osmosis. The variables studied are metals concentrations (50 – 150 ppm) and time (15 – 90 min). It was found that increasing the time results in an increase in concentration of metal in p

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Publication Date
Sun Jun 01 2008
Journal Name
Baghdad Science Journal
The Writer Authentication by Using Syllables Frequency
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An approach is depended in the recent years to distinguish any author or writer from other by analyzing his writings or essays. This is done by analyzing the syllables of writings of an author. The syllable is composed of two letters; therefore the words of the writing are fragmented to syllables and extract the most frequency syllables to become trait of that author. The research work depend on analyzed the frequency syllables in two cases, the first, when there is a space between the words, the second, when these spaces are ignored. The results is obtained from a program which scan the syllables in the text file, the performance is best in the first case since the sequence of the selected syllables is higher than the same syllables in

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Publication Date
Thu Jan 01 2015
Journal Name
International Journal Of Computer Science And Mobile Computing
Image Compression using Hierarchal Linear Polynomial Coding
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Publication Date
Sun Jun 01 2008
Journal Name
2008 Ieee International Joint Conference On Neural Networks (ieee World Congress On Computational Intelligence)
Linear block code decoder using neural network
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Publication Date
Thu Jun 29 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Removal of Ranitidine Using Chlorella Sorokiniana MH923013
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The frequent and widespread use of medicines and personal care products, particularly in the residential environment, tends to raise concerns about environmental and human health impacts. On the other hand, carbon dioxide accumulation in the atmosphere is a problem with numerous environmental consequences. Microalgae are being used to bioremediate toxins and capture CO2. The current study aimed to confirm the possibility of removing pharmaceutical contaminant (Ranitidine) at different concentrations by using the Chlorella Sorokiniana MH923013 microalgae strain during the growth time. As part of the experiment, carbon dioxide was added to the culture medium three times per week. Explanatory results revealed that gas doses directly affect

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