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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 May 20 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
An Improved Image Compression Technique Using EZW and SPHIT Algorithms
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 Uncompressed form of the digital images are needed a very large storage capacity amount, as a consequence requires large communication bandwidth for data transmission over the network. Image compression techniques not only minimize the image storage space but also preserve the quality of image. This paper reveal image compression technique which uses distinct image coding scheme based on wavelet transform that combined effective types of compression algorithms for further compression. EZW and SPIHT algorithms are types of significant compression techniques that obtainable for lossy image compression algorithms. The EZW coding is a worthwhile and simple efficient algorithm. SPIHT is an most powerful technique that utilize for image

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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
Mon Nov 01 2021
Journal Name
University Of Baghdad, College Of Education For Pure Sciences \ Ibn Al-haitham, Department Of Mathematics
SOME ALPHA-TOPOLOGICAL CONCEPTS USING GRAPH THEORY
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This dissertation depends on study of the topological structure in graph theory as well as introduce some concerning concepts, and generalization them into new topological spaces constructed using elements of graph. Thus, it is required presenting some theorems, propositions, and corollaries that are available in resources and proof which are not available. Moreover, studying some relationships between many concepts and examining their equivalence property like locally connectedness, convexity, intervals, and compactness. In addition, introducing the concepts of weaker separation axioms in α-topological spaces than the standard once like, α-feebly Hausdorff, α-feebly regular, and α-feebly normal and studying their properties. Furthermor

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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 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
Tue May 01 2018
Journal Name
Journal Of Physics: Conference Series
Hiding Information Using different lighting Color images
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Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
Painterly Rendering by Using K-mean Segmentation
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    The problem statement discussed in this paper is a new technique for the presentation of painterly rendering that uses a K-mean segmentation to divide the input image into a set of regions (depending on the grayscale of the regions). Segmenting the input image helps users use different brush strokes and easily change the strokes' shape, size, or orientation for different regions. Every region is painted using different brush kinds. The properties of the brush strokes are chosen depending on the region's details. The brush stroke properties, such as size, color, shape, location, and orientation, are extracted from the source image using statistical tools. The number of regions is set up manually and depends on the input image. This

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Publication Date
Sun Sep 24 2023
Journal Name
Journal Of Al-qadisiyah For Computer Science And Mathematics
Human Recognition Using Ear Features: A Review
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Over the past few years, ear biometrics has attracted a lot of attention. It is a trusted biometric for the identification and recognition of humans due to its consistent shape and rich texture variation. The ear presents an attractive solution since it is visible, ear images are easily captured, and the ear structure remains relatively stable over time.  In this paper, a comprehensive review of prior research was conducted to establish the efficacy of utilizing ear features for individual identification through the employment of both manually-crafted features and deep-learning approaches. The objective of this model is to present the accuracy rate of person identification systems based on either manually-crafted features such as D

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Publication Date
Tue Dec 01 2020
Journal Name
Telkomnika (telecommunication Computing Electronics And Control)
Offline signatures matching using haar wavelet subbands
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The complexity of multimedia contents is significantly increasing in the current world. This leads to an exigent demand for developing highly effective systems to satisfy human needs. Until today, handwritten signature considered an important means that is used in banks and businesses to evidence identity, so there are many works tried to develop a method for recognition purpose. This paper introduced an efficient technique for offline signature recognition depending on extracting the local feature by utilizing the haar wavelet subbands and energy. Three different sets of features are utilized by partitioning the signature image into non overlapping blocks where different block sizes are used. CEDAR signature database is used as a dataset f

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Publication Date
Wed May 31 2017
Journal Name
Journal Of Engineering
Stabilization of Clay Soil Using Tyre Ash
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The planning, designing, construction of excavations and foundations in soft to very soft clay soils are always difficult. They are problematic soil that caused trouble for the structures built on them because of the low shear strength, high water content, and high compressibility. This work investigates the geotechnical behavior of soft clay by using tyre ash material burnt in air. The investigation contains the following tests: physical tests, chemical tests, consolidation test, Compaction tests, shear test, California Bearing Ratio test CBR, and model tests. These tests were done on soil samples prepared from soft clay soil; tyre ash was used in four percentages (2, 4, 6, and 8%). The results of the tests were; The soil samples which

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