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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 Apr 20 2020
Journal Name
Neuroquantology
Evaluating Radon Level in Imported Milk Using CR-39 Detector
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Publication Date
Wed Mar 30 2022
Journal Name
Iraqi Journal Of Science
Monitoring Vegetation Area in Baghdad Using Normalized Difference Vegetation Index
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       Vegetation monitoring is considered an important application in remote sensing task due to variation of vegetation types and their distribution. The vegetation concentration around the Earth is increase in 5% in 2000 according to NASA monitoring. This increase is due to the Indian vegetable programs. In this research, the vegetation monitoring in Baghdad city was done using Normalized Difference Vegetation Index (NDVI) for temporal Landsat satellite images (Landsat 5 TM& Landsat 8 OIL). These images had been used and utilize in different times during the period from 2000, 2010, 2015 & 2017. The outcomes of the study demonstrate that a change in the vegetation Cover (VC) in Baghdad city. (NDVI) generally shows a

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Publication Date
Tue Jan 01 2019
Journal Name
Indian Journal Of Public Health Research & Development
Anterior Loop Presence and Extension Using Cone-Beam Computed Tomography
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Publication Date
Wed Aug 25 2021
Journal Name
2021 7th International Conference On Contemporary Information Technology And Mathematics (iccitm)
Anomaly Detection in Flight Data Using the Naïve Bayes Classifier
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Publication Date
Wed Dec 23 2020
Journal Name
Iraqi Journal Of Agricultural Sciences
PHYTOREMEDIATION OF SYNTHETIC WASTEWATER CONTAINING COPPER BY USING NATIVE PLANT
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This study was aimed to assess the efficiency of N.oleander to remove heavy metals such as Copper (Cu) from wastewater. A toxicity test was conducted outdoor for 65-day to estimate the ability of N.oleander to tolerate Cu in synthetic wastewater. Based on a previous range-finding test, five concentrations were used in this test (0, 50, 100, 300, 510 mg/l). The results showed that maximum values of removal efficiency was found 99.9% on day-49 for the treatment 50 mg/l. Minimum removal efficiency was 94% day-65 for the treatment of 510 mg/l. Water concentration was within the permissible limits of river conservation and were 0.164 at day-35 for the 50 mg/l treatment, decreased thereafter until the end of the observation, and 0.12 at d

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Publication Date
Thu Nov 25 2021
Journal Name
Engineering And Technology Journal
Pentacene Based Organic Field Effect Transistor Using Different Gate Dielectric
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This paper presents the electrical behavior of the top contact/ bottom gate of an organic field-effect transistor (OFET) utilizing Pentacene as a semiconductor layer with two distinctive gate dielectric materials Polyvinylpyrrolidone (PVP) and Zirconium oxide (ZrO2) were chosen. The influence of the monolayer and bilayer gates insulator on OFET performance was investigated. MATLAB software was used to simulate and determine the electrical characteristics of a device. The output and transfer characteristics were studied for ZrO2, PVP and ZrO2/PVP as an organic gate insulator layer. Both characteristics show a high drain current at the gate dielectric ZrO2/PVP equal to -0.0031A and -0.0015A for output and transfer characteristics respectively

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Publication Date
Mon Dec 25 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Preparation and Evaluation of Ketoprofen Nanosuspension Using Solvent Evaporation Technique
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The effective surface area of drug particle is increased by a reduction in the particle size. Since dissolution takes place at the surface of the solute, the larger the surface area, the further rapid is the rate of drug dissolution. Ketoprofen     is class II type drug according to (Biopharmaceutics Classification System BCS) with low solubility and high permeability. The aim of this investigation was to increase the solubility and hence the dissolution rate by the preparation of ketoprofen     nanosuspension using solvent evaporation method. Materials like PVP K30, poloxamer 188, HPMC E5, HPMC E15, HPMC E50, Tween 80 were used as stabilizers in perpetration of differ

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Publication Date
Thu Jan 23 2020
Journal Name
Iraqi Journal Of Laser
Spider Veins Treatment using 1064 nm Long-Pulse Nd:YAG Laser
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spider veins are clusters of Ectatic venules & are common finding on the lower limbs generally believed to be caused by multiple factors, including genetic predisposition, hormonal factors, gravity, occupation, pregnancy, becoming increasingly apparent with age, and trauma. Therapeutic options include sclerotherapy, surgical procedures, and treatment with different laser systems.

 Objectives: The purpose of the study was to evaluate the efficacy and safety of long pulsed (Nd:YAG) laser emitting at 1064nm in the treatment of spider veins.

Patients, Materials and Methods: This prospective study was done in the laser medicine research clinics of the Institute of las

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Publication Date
Tue Jun 21 2022
Journal Name
Journal Of Petroleum Research And Studies
Drag Reduction of AL-Ahdab Crude Oil Using Chemical Additives
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The viscosity of crude oil has a crucial role in drag reduction during pipeline transportation; hence additives are required to enhancing the flow properties of AL-Ahdab crude oil. In this work, the potato starch biopolymer and CTAB surfactant are utilized to achieve the target. The drag reduction experiments were carried out at different crude oil flow rates (20-35-50 liters/min), pipe diameters (0.5-0.75 -1 inch), and different concentrations of potato starch (500-2000 ppm) and CTAB (100-500 ppm). The results showed that these additives had minimized flow resistance in various operating conditions, the drag reduction percent increased with increasing of additives concentration increase. The maximum drag reduction achieved using CT

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Publication Date
Tue Dec 05 2023
Journal Name
Engineering, Technology & Applied Science Research
Investigating the Ability of producing Sustainable Blocks using Recycled Waste
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The primary objective of this study is to manage price market items in the construction of walls for affordable structures with load-bearing hollow masonry units using the ACI 211.1 blend design with a slump range of 25-50 mm that follows the specification limits of IQS 1077. It was difficult to reach a suitable cement weight to minimum content (economic and environmental goal), so many trail mixtures were cast. A portion (10-20%) of the coarse aggregates was replaced with concrete, tile, and clay-brick waste. Finally, two curing methods were used: immersion under water as normal curing, and water spraying as it is closer to the field conditions. The recommendation in IQS 1077 to increase the curing period from 14 to 28 days was tak

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