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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
Sun Jun 01 2025
Journal Name
Iop Conference Series: Earth And Environmental Science
Removal of Methylene Blue Dye from Synthetic Wastewater Using Iraqi Natural Plants
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Abstract<p>Water contamination by industrial dyes presents significant environmental and health concerns worldwide. In this research, the efficacy of utilising polypogon monspeliensis (locally known as Skekh EsmAllah (Sh.E)) as a natural adsorbent for the elimination of Methylene Blue (MB) dye from synthetic wastewater is explored. The X-ray diffraction test elucidate that the material is a multi-phase structure. Various operational factors, comprising pH, contact time, isoelectric point, adsorbent dose, dye concentration, and temperature, are used to analyse the adsorption process systematically. The results reveal that Sh.E. has exhibited remarkable removal efficiency and adsorption capacity c</p> ... Show More
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Publication Date
Fri Feb 21 2025
Journal Name
Chemical Papers
Viscosity reduction of heavy crude oil using ultrasonication assisted by SiFe nanoparticles
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Publication Date
Sun Jul 01 2018
Journal Name
Ieee Transactions On Emerging Topics In Computing
Network-on-Chip Multicast Architectures Using Hybrid Wire and Surface-Wave Interconnects
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Publication Date
Sun Jun 03 2012
Journal Name
Baghdad Science Journal
Batch and Flow-Injection Spectrophotometric Determination of Thymol Using Procaine Hydrochloride as a New Chromogenic Reagent
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New, simple and sensitive batch and Flow-injecton spectrophotometric methods for the determination of Thymol in pure form and in mouth wash preparations have been proposed in this study. These methods were based on a diazotization and coupling reaction between Thymol and diazotized procaine HCl in alkaline medium to form an intense orange-red water-soluble dye that is stable and has a maximum absorption at 474 nm. A graphs of absorbance versus concentration show that Beer’s law is obeyed over the concentration range of 0.4-4.8 and 4-80 µg.ml-1 of Thymol, with detection limits of 0.072 and 1.807 µg.ml-1 of Thymol for batch and FIA methods respectively. The FIA procedure sample throughput was 80 h-1. All different chemical and physical e

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Publication Date
Sat Jul 01 2023
Journal Name
Journal Of Engineering
Using of Constructed Wetlands in The Treatment of Wastewater: A Review for Operation and Performance: Review for Using of Constructed Wetlands in The Treatment of Wastewater: Operation and Performance
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Wastewater recycling for non-potable uses has gained significant attention to mitigate the high pressure on freshwater resources. This requires using a sustainable technique to treat natural municipal wastewater as an alternative to conventional methods, especially in arid and semi-arid rural areas. One of the promising techniques applied to satisfy the objective of wastewater reuse is the constructed wetlands (CWs) which have been used extensively in most countries worldwide through the last decades. The present study introduces a significant review of the definition, classification, and components of CWs, identifying the mechanisms controlling the removal process within such units. Vertical, horizontal, and hybrid CWs

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Publication Date
Fri Aug 07 2026
Journal Name
Al-noor Journal Of Engineering Management And Computer Science
Petrophysical Evaluation of the Jeribe–Euphrates Formation Using Well Log Data, Fauqi Oil Field, Southern Iraq
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The work presented in this paper is a case study of the southeastern Iraqi Fauqi Oil Field to evaluate both the petrophysical properties and lithology of the Jeribe–Euphrates Formations. Reservoir characterization was performed using well log data, including Gamma Ray (GR), Density (RHOB), Neutron (NPHI), Sonic (DT), Spontaneous Potential (SP), and resistivity logs. Data processing, correction, and interpretation were conducted using Interactive Petrophysics (IP) software. The Gamma Ray method was used to estimate shale volume (Vsh), while porosity was calculated using various methods, with the neutron–density combination providing reliable results. To determine water saturation (Sw), the Archie equation was applied using common

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Publication Date
Sun Jul 09 2023
Journal Name
Journal Of Engineering
Improving the Performance of Construction Project Information and Communication Management Using Web-Based Project Management Systems (WPMSs)
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This paper presents a brief study undertaken for improving the performance of information and communication management of construction projects through investing in information and communication technologies (ICT). The work aims at first to investigate and diagnose the problems, challenges, weaknesses, and inefficiencies related to information and communication management in projects in the construction industry of Iraq. Studying the diagnosed matters and the different solutions of ICT to improve project management performance is following the investigation process. The research presents a technological system suggested to process a lot of the diagnosed problems, challenges, weakness, and inefficiencies of the construction projects and t

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Publication Date
Sun Jul 07 2013
Journal Name
Journal Of Educational And Psychological Researches
Effect of Using Computer in Getting and Remaining Information at Students of First Stage in Biology Subject
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Effect of Using Computer in Getting and Remaining Information at Students of First Stage in Biology Subject MIAAD NATHIM RASHEED LECTURER Abstract The recent research goal is to know the influence of computer use to earn and fulfillment information for students of first class in biology material and to achieve that put many of the zeroing hypothesis by researcher as follow: There were no differences between statistical signs at level (0,05) between the average students' marks who they were study by using computer and between the average student ' marks who they were study in classical method of earning and fulfillment. The researcher chose the intentional of the medical technical institute that included of two branches the first class (A

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Publication Date
Sun Mar 01 2015
Journal Name
Baghdad Science Journal
Spectrophotometric determination of Phenylephrine hydrochloride and Salbutamol sulphate drugs in pharmaceutical preparations using diazotized Metoclopramide hydrochloride
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A spectrophotometric method has been proposed for the determination of two drugs containing phenol group [phenylephrine hydrochloride (PHP) and salbutamol sulphate (SLB)] in pharmaceutical dosage forms. The method is based on the diazotization reaction of metoclopramide hydrochloride (MCP) and coupling of the diazotized reagent with drugs in alkaline medium to give intense orange colored product (?max at 470 nm for each of PHP and SLB). Variable parameters such as temperature, reaction time and concentration of the reactants have been analyzed and optimized. Under the proposed optimum condition, Beer’s law was obeyed in the concentration range of 1-32 and 1-14 ?g mL-1 for PHP and SLB, respectively. The limit of detection (LOD) and l

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Publication Date
Tue Jun 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
دراسة مقارنة بين بعض الطرائق الحصينة في تقدير معلمات انموذج الانحدار الخطي باستخدام اسلوب المحاكاة التجريبي في حالة وجود بيانات تتضمن مشاهدات شاذة
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In linear regression, an outlier is an observation with large residual.  In other words, it is an observation whose dependent-variable value is unusual given its values on the predictor variables. An outlier observation may indicate a data entry error or other problem.

An observation with an extreme value on a predictor variable is a point with high leverage. Leverage is a measure of how far an independent variable deviates from its mean. These leverage points can have an effect on the estimate of regression coefficients.

Robust estimation for regression parameters deals with cases that have very high leverage, and cases that are outliers. Robust estimation is essentially a

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