Preferred Language
Articles
/
alkej-264
Hexapod Robot Static Stability Enhancement using Genetic Algorithm
...Show More Authors

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.

View Publication Preview PDF
Quick Preview PDF
Publication Date
Tue Dec 01 2020
Journal Name
Propulsion And Power Research
Heat transfer enhancement from heat sources using optimal design of combined fins heat-sinks
...Show More Authors

View Publication
Scopus (6)
Crossref (6)
Scopus Clarivate Crossref
Publication Date
Wed Dec 28 2022
Journal Name
Structural Concrete
Enhancement of RC T‐beams toughness using laced stirrups reinforcement for blast response predictions
...Show More Authors

Crossref (2)
Clarivate Crossref
Publication Date
Fri Jan 10 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Enhancement of tooth eruption by using amniotic stem cells (Immunohistochemical study of VEGF marker)
...Show More Authors

Background: Tooth eruption is a localized process in the jaws which exhibits precise timing and bilateral symmetry. Develop within the jaws and their eruption is a complex infancy process during which they move through bone to their functional positions within the oral cavity. For species with more than one set of teeth, eruption of the second set also accomplishes. The key to the successful clinical management of tooth eruption consists of understanding that this process consists largely of the local regulation of alveolar bone metabolism to produce bone resorption in the direction of eruption and shift and formation of bone at the opposite side.The amniotic sac contains a considerable quantity of stem cells. These amniotic stem cells are

... Show More
View Publication Preview PDF
Publication Date
Thu Jun 01 2017
Journal Name
International Journal Of Heat And Mass Transfer
Melting enhancement in triplex-tube latent thermal energy storage system using nanoparticles-fins combination
...Show More Authors

View Publication
Scopus (176)
Crossref (169)
Scopus Clarivate Crossref
Publication Date
Tue May 16 2023
Journal Name
Journal Of Engineering
Experimental Investigation Utilizing Thermal Image Technique to the Heat Transfer Enhancement Using Oscillated Fins
...Show More Authors

Heat transfer around a flat plate fin integrated with piezoelectric actuator used as oscillated fin in laminar flow has been studied experimentally utilizing thermal image camera. This study is performed
for fixed and oscillated single and triple fins. Different substrate-fin models have been tested, using fins of (35mm and 50mm) height, two sets of triple fins of (3mm and 6mm) spacing and three frequencies
applied to piezoelectric actuator (5, 30 and 50HZ). All tests are carried out for (0.5 m/s and 3m/s) in subsonic open type wind tunnel to evaluate temperature distribution, local and average Nusselt number (Nu) along the fin. It is observed, that the heat transfer enhancement with oscillation is significant compared to without o

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Feb 08 2019
Journal Name
Iraqi Journal Of Laser
Enhancement of Episiotomy Healing Using (790-805) nm Diode Laser as a Supplementary Treatment
...Show More Authors

To show the impact of 790-805 nm diode laser irradiations on wound healing as a supplementary treatment in women underwent episiotomies, and to assess the laser parameters that were used .Material and methods: Eighteen female patients were included in this study; all of them underwent mediolateral episiotomy. Ten patients received laser therapy- diode laser (K Laser) (790-805) nm in CW mode of operation (and eight patients were the control group. Spot size of 8mm, time for exposure for each spot was 30 seconds. The power used was 0.6 W .The power density for each spot of treatment was 1.19 W/cm2 per session (non contact mode of application of laser therapy).The group studied received 2 sessions of laser radiation, day 4, and day 8 after

... Show More
View Publication Preview PDF
Publication Date
Tue Sep 29 2020
Journal Name
Iraqi Journal Of Science
Enhancement of Wheat Leaf Images Using Fuzzy-Logic Based Histogram Equalization to Recognize Diseases
...Show More Authors

The detection of diseases affecting wheat is very important as it relates to the issue of food security, which poses a serious threat to human life. Recently, farmers have heavily relied on modern systems and techniques for the control of the vast agricultural areas. Computer vision and data processing play a key role in detecting diseases that affect plants, depending on the images of their leaves. In this article, Fuzzy- logic based Histogram Equalization (FHE) is proposed to enhance the contrast of images. The fuzzy histogram is applied to divide the histograms into two subparts of histograms, based on the average value of the original image, then equalize them freely and independently to conserve the brightness of the image. The prop

... Show More
View Publication Preview PDF
Scopus (4)
Crossref (2)
Scopus Crossref
Publication Date
Mon Nov 01 2021
Journal Name
Energies
Solidification Enhancement in a Triple-Tube Latent Heat Energy Storage System Using Twisted Fins
...Show More Authors

This work evaluates the influence of combining twisted fins in a triple-tube heat exchanger utilised for latent heat thermal energy storage (LHTES) in three-dimensional numerical simulation and comparing the outcome with the cases of the straight fins and no fins. The phase change material (PCM) is in the annulus between the inner and the outer tube, these tubes include a cold fluid that flows in the counter current path, to solidify the PCM and release the heat storage energy. The performance of the unit was assessed based on the liquid fraction and temperature profiles as well as solidification and the energy storage rate. This study aims to find suitable and efficient fins number and the optimum values of the Re and the inlet tem

... Show More
View Publication
Scopus (32)
Crossref (32)
Scopus Clarivate Crossref
Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Detection of Genetic Modified Feed Component
...Show More Authors

There are growing concerns over the possibility of transfer genetically modified
sequences from genetically modified feed component (GM feed) to animals and
their products, moreover, affect these sequences on animal and human health. This
study was implemented to detect P35S in modified feed by using PCR technique by
detecting presence P35S promoter, which responsible for the regulation of gene
expression for most of the transgenic genes. Thirty eight feed samples were
collected from different sources of Baghdad markets, which have been used for
feeding livestock, comprise 21 coarse mixes feed, 13 pelleted feed, and 4 expanded
feed. Genomic DNA was extracted by using two methods, CTAB method and
Wizard kit. In

... Show More
View Publication Preview PDF
Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Detection of Genetic Modified Feed Component
...Show More Authors

There are growing concerns over the possibility of transfer genetically modified sequences from genetically modified feed component (GM feed) to animals and their products, moreover, affect these sequences on animal and human health. This study was implemented to detect P35S in modified feed by using PCR technique by detecting presence P35S promoter, which responsible for the regulation of gene expression for most of the transgenic genes. Thirty eight feed samples were collected from different sources of Baghdad markets, which have been used for feeding livestock, comprise 21 coarse mixes feed, 13 pelleted feed, and 4 expanded feed. Genomic DNA was extracted by using two methods, CTAB method and Wizard kit. In order to verify the presenc

... Show More
View Publication Preview PDF