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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
Sat Jan 01 2022
Journal Name
Ieee Access
Assessment of Delamination Under Insulation Using Ridge Waveguide
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Publication Date
Wed Mar 01 2023
Journal Name
Journal Of Engineering
Directive and Steerable Radiation Pattern using SASPA Array
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This work examines the ability of a special type of smart antenna array known as Switched Active Switched Parasitic Antenna (SASPA) to produce a directive and electronically steerable radiation pattern. The SASPA array consists of antenna elements that are switchable between active and parasitic states by using P-Intrinsic-N (PIN) diodes. The active element is the element that is supplied by the radio frequency while short-circuiting the terminals of an element in the array results in a parasitic element. Due to the strong mutual coupling between the elements, a directional radiation pattern with high gain and a small beamwidth can be produced with only one active element operating at a time. By changing the parasitic state to the active

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Publication Date
Sun Jul 09 2023
Journal Name
Journal Of Engineering
Improving IoT Applications Using a Proposed Routing Protocol
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The main objective of this work is to propose a new routing protocol for wireless sensor network employed to serve IoT systems. The routing protocol has to adapt with different requirements in order to enhance the performance of IoT applications. The link quality, node depth and energy are used as metrics to make routing decisions. Comparison with other protocols is essential to show the improvements achieved by this work, thus protocols designed to serve the same purpose such as AODV, REL and LABILE are chosen to compare the proposed routing protocol with. To add integrative and holistic, some of important features are added and tested such as actuating and mobility. These features are greatly required by some of IoT applications and im

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Publication Date
Fri Nov 01 2024
Journal Name
Baghdad Science Journal
Estimation of Copula Density Using the Wavelet Transform
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يقترح هذا البحث طريقة جديدة لتقدير دالة كثافة الرابطة باستخدام تحليل المويجات كطريقة لامعلمية، من أجل الحصول على نتائج أكثر دقة وخالية من مشكلة تاثيرات الحدود التي تعاني منها طرائق التقدير اللامعلمية. اذ تعد طريقة المويجات طريقة اوتماتيكية للتعامل مع تاثيرات الحدود وذلك لانها لا تأخذ بنظر الاعتبار إذا كانت السلسلة الزمنية مستقرة او غير مستقرة. ولتقدير دالة كثافة الرابطة تم استعمال المحاكاة لتوليد البي

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Publication Date
Sun Jan 01 2023
Journal Name
Journal Of Engineering
Risk Assessment in BOT Contracts using AHP Technique
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The process of risk assessment in the build-operate transfer (BOT) project is very important to identify and analyze the risks in order to make the appropriate decision to respond to them. In this paper, AHP Technique was used to make the appropriate decision regarding response to the most prominent risks that were generated in BOT projects, which includes a comparison between the criteria for each risk as well as the available alternatives and by mathematical methods using matrices to reach an appropriate decision to respond to each risk.Ten common risks in BOT contracts are adopted for analysis in this paper, which is grouped into six main risk headings.The procedures followed in this paper are the questionnaire method

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Scopus (7)
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Publication Date
Fri Sep 01 2023
Journal Name
Journal Of Engineering
Iraqi Sentiment and Emotion Analysis Using Deep Learning
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Analyzing sentiment and emotions in Arabic texts on social networking sites has gained wide interest from researchers. It has been an active research topic in recent years due to its importance in analyzing reviewers' opinions. The Iraqi dialect is one of the Arabic dialects used in social networking sites, characterized by its complexity and, therefore, the difficulty of analyzing sentiment. This work presents a hybrid deep learning model consisting of a Convolution Neural Network (CNN) and the Gated Recurrent Units (GRU) to analyze sentiment and emotions in Iraqi texts. Three Iraqi datasets (Iraqi Arab Emotions Data Set (IAEDS), Annotated Corpus of Mesopotamian-Iraqi Dialect (ACMID), and Iraqi Arabic Dataset (IAD)) col

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Scopus (11)
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Publication Date
Mon Jan 01 2024
Journal Name
Journal Of Engineering
Face-based Gender Classification Using Deep Learning Model
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Gender classification is a critical task in computer vision. This task holds substantial importance in various domains, including surveillance, marketing, and human-computer interaction. In this work, the face gender classification model proposed consists of three main phases: the first phase involves applying the Viola-Jones algorithm to detect facial images, which includes four steps: 1) Haar-like features, 2) Integral Image, 3) Adaboost Learning, and 4) Cascade Classifier. In the second phase, four pre-processing operations are employed, namely cropping, resizing, converting the image from(RGB) Color Space to (LAB) color space, and enhancing the images using (HE, CLAHE). The final phase involves utilizing Transfer lea

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Publication Date
Wed Jan 01 2020
Journal Name
International Journal Of Engineering Business Management
Using ANN in emergency reconstruction projects post disaster
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The purpose of this study is to avoid delays and cost changes that occur in emergency reconstruction projects especially in post disaster circumstances. This study is aimed to identify the factors that affect the real construction period and the real cost of a project against the estimated period of construction and the estimated cost of the project. The case study is related to the construction projects in Iraq. Thirty projects in different areas of construction in Iraq were selected as a sample for this study. Project participants from the projects authorities provided data about the projects through a data collection distributed survey made by the authors. Mathematical data analysis was used to construct a model to predict change

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Publication Date
Thu Dec 01 2022
Journal Name
Al-khwarizmi Engineering Journal
BCI-Based Smart Room Control using EEG Signals
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In this paper, we implement and examine a Simulink model with electroencephalography (EEG) to control many actuators based on brain waves. This will be in great demand since it will be useful for certain individuals who are unable to access some control units that need direct contact with humans. In the beginning, ten volunteers of a wide range of (20-66) participated in this study, and the statistical measurements were first calculated for all eight channels. Then the number of channels was reduced by half according to the activation of brain regions within the utilized protocol and the processing time also decreased. Consequently, four of the participants (three males and one female) were chosen to examine the Simulink model during di

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Publication Date
Sat Sep 30 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Accurate Petrophysical Interpretation of Carbonate using the Elemental Capture Spectroscopy (ECS)
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Elemental capture spectroscopy (ECS) is an important tool in the petroleum industry for determining the composition and properties of rock formations in a reservoir. Knowledge of the types and abundance of different minerals in the reservoir is crucial for accurate petrophysical interpretation, reservoir engineering practices, and stratigraphic correlation. ECS measures the elemental content of the rock, which directly impacts several physical properties that are essential for reservoir characterization, such as porosity, fluid saturation, permeability, and matrix density. The ability to accurately determine these properties leads to better reservoir mapping, improved production, and more effective resource management. Accurately de

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