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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
Mon Feb 24 2025
Journal Name
Journal Of Engineering
Drag Reduction by using Anionic Surfactants
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Publication Date
Sat Jan 23 2016
Journal Name
Computer Science & Information Technology ( Cs & It )
Modelling Dynamic Patterns Using Mobile Data
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Publication Date
Fri Jan 01 2016
Journal Name
Ssrn Electronic Journal
Human Mobility Patterns Modelling Using Cdrs
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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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Scopus Crossref
Publication Date
Sun Jun 06 2010
Journal Name
Baghdad Science Journal
Using Neural Network with Speaker Applications
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In Automatic Speech Recognition (ASR) the non-linear data projection provided by a one hidden layer Multilayer Perceptron (MLP), trained to recognize phonemes, and has previous experiments to provide feature enhancement substantially increased ASR performance, especially in noise. Previous attempts to apply an analogous approach to speaker identification have not succeeded in improving performance, except by combining MLP processed features with other features. We present test results for the TIMIT database which show that the advantage of MLP preprocessing for open set speaker identification increases with the number of speakers used to train the MLP and that improved identification is obtained as this number increases beyond sixty.

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Publication Date
Wed Dec 26 2018
Journal Name
Iraqi Journal Of Science
Outdoor Scene Classification Using Multiple SVM
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This paper presents a hierarchical two-stage outdoor scene classification method using multi-classes of Support Vector Machine (SVM). In this proposed method, the gist feature of all the images in the database is extracted first to obtain the feature vectors. The image of database is classified into eight outdoor scenes classes, four manmade scenes and four natural scenes. Second, a hierarchical classification is applied, where the first stage classifies all manmade scene classes against all natural scene classes, while the second stage of a hierarchical classification classifies the outputs of first stage into either one of the four manmade scene classes or natural scene classes. Binary SVM and multi-classes SVMs are employed in the fir

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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
Feature Extraction Using Remote Sensing Images
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Feature extraction provide a quick process for extracting object from remote sensing data (images) saving time to urban planner or GIS user from digitizing hundreds of time by hand. In the present work manual, rule based, and classification methods have been applied. And using an object- based approach to classify imagery. From the result, we obtained that each method is suitable for extraction depending on the properties of the object, for example, manual method is convenient for object, which is clear, and have sufficient area, also choosing scale and merge level have significant effect on the classification process and the accuracy of object extraction. Also from the results the rule-based method is more suitable method for extracting

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Publication Date
Fri Oct 01 2010
Journal Name
Iraqi Journal Of Physics
Smoothing Image using Adaptive Median Filter
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Median filter is adopted to match the noise statistics of the degradation seeking good quality smoothing images. Two methods are suggested in this paper(Pentagonal-Hexagonal mask and Scan Window Mask), the study involved modified median filter for improving noise suppression, the modification is considered toward more reliable results. Modification median filter (Pentagonal-Hexagonal mask) was found gave better results (qualitatively and quantitatively ) than classical median filters and another suggested method (Scan Window Mask), but this will be on the account of the time required. But sometimes when the noise is line type the cross 3x3 filter preferred to another one Pentagonal-Hexagonal with few variation. Scan Window Mask gave bett

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Publication Date
Thu Apr 27 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Texts Ciphering by using Translation Principle
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The proposed algorithm that is presented in this paper is based on using the principle of texts translation from one language to another, but I will develop this meaning to cipher texts by using any electronic dictionary as a tool of ciphering based on the locations of the words that text contained them in the dictionary. Then convert the text file into picture file, such as BMP-24 format. The picture file will be transmitted to the receiver. The same algorithm will be used in encryption and decryption processing in forward direction in the sender, and in backward direction in the receiver. Visual Basic 6.0 is used to implement the proposed cryptography algorithm.

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Publication Date
Wed Mar 28 2018
Journal Name
Iraqi Journal Of Science
Remove Reflection Using Wavelet transformation Estimation
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     Improving the performance of visual computing systems is achieved by removing unwanted reflections from a picture captured in front of a glass. Reflection and transmission layers are superimposed in a linear form at the reflected photographs. Decomposing an image into these layers is often a difficult task. Plentiful classical separation methods are available in the literature which either works on a single image or requires multiple images. The major step in reflection removal is the detection of reflection and background edges. Separation of the background and reflection layers is depended on edge categorization results. In this paper a wavelet transform is used as a prior estimation of background edges to sepa

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