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
Sun Oct 30 2022
Journal Name
Iraqi Journal Of Science
Climatic Water Balance Comparison for Selected areas in The Middle of Iraq
...Show More Authors

     The climate parameters annual rainfall and average mean temperature are investigated from 2000 to 2019 for Kut, Hilla and Iskandaryia. Evidence of climate change is noticed by decreasing the mean annual rainfall and relative humidity with an increase in the annual mean temperature. The climate water balance has been calculated. Due to high temperature, increased evaporation, and low precipitation rates, there was a large water deficit. The total water surplus in the Kut area is 32.86 mm from November to February, and in  Hilla and Iskandaryia is 20.4 and 27.8 mm from December to February, respectively. The climate classification for the three stations was semi-dry to dry climates. The region has a significant water deficit of u

... Show More
View Publication
Scopus (4)
Scopus Crossref
Publication Date
Wed Sep 01 2021
Journal Name
Baghdad Science Journal
Concentrations and Radiation Hazard Indices of Naturally Radioactive Materials for Flour Samples in Baghdad Markets
...Show More Authors

In the present work, Uranium (238U), Thorium (232Th) and Potassium (40K) specific activity concentration in (Bq/kg) was measured in five different types for wheat flours that are available in the Iraqi markets. The gamma spectrometry method with an NaI (Tl) detector has been used for radiometric measurements. Calculations of radium equivalent activity, annual effective dose equivalent, external hazard index (Hex), internal hazard index (Hin), representing gamma index and gamma dose rate in all  flour samples were 17.98132 Bq/kg, 0.0100334, 0.04502, 0.04857, 0.06872, 0.125883 and 8.181244 respectively. It is found that the average of specific activity concentration of wheat flour sam

... Show More
View Publication Preview PDF
Scopus (4)
Scopus Clarivate Crossref
Publication Date
Fri Jan 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Preparation, Structural Characterization and Biological Activities of Curcumin-Metal(II)-L-3,4-dihydroxyphenylalanin (L-dopa) complexes
...Show More Authors

In the present work, a first-row divalent d-transition metal obtained from curcumin(Curc)  and L-3,4-dihydroxyphenylalanin(L-dopa)have been synthesized which their complexes and characterized by  C.H.N, conductance, spectral methods: FT-IR, Ultra–Visible. Magneto-chemical measurements, molar conductance ΛM (1×10−3 mol/L in DMSO):36- 0.84 ohm-1.cm2.mol-1 (non-electrolyte).

The data shows that the complexes have the structure [M((II))-(Curc)-(L-dopa)] system. Electronic and magnetic data suggest an octahedral geometry for all complexes in which the (L-dopa) and curcumin act as bidentate ligands.

Curcumin coordinated to the metal ions M (II) through the lone pair of el

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Sun Sep 03 2017
Journal Name
Baghdad Science Journal
Detection, purification and characterization of a bacteriocin produced by Bacillus subtilis NK16 exhibits a significant antimicrobial activity against clinical Staphylococcus spp.
...Show More Authors

Bacteriocin is an important antimicrobial peptide that can be used in industrial and medical fields due to its characteristics of antibacterial, food preservation and anticancer activities. Fifty isolates of Bacillus sp were collected from different soil samples which were already recognized via morphological and biochemical identification process. The isolates were screened for bacteriocin production effective against Staphylococcus spp in order to select the highest producing isolate. The isolate NK16 showed the maximum bacteriocin production (80 AU/ml) which was further characterized as Bacillus subtilis NK 16 through using API identification system (API 20E and API 50CHB). Then, next step was to detect the optimal conditions for maximum

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (2)
Scopus Crossref
Publication Date
Wed Mar 15 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Environmental Properties of Tigris River at Al- Kut Dam in Wassit Province
...Show More Authors

The physical and chemical parameters of Tigris River water in AL- Kut City have been studied. Three stations have been chosen. . The sampling of study was made monthly and for six months from September 2014 until February 2015.The result of turbidity values showed height mean in summer 84 NTU, The decrease of turbidity was one of the positive results to the effect of AL-Kut Dam on the Tigris River after the Dam and on the total suspended solids. The electrical conductivity was 1340 µs/cm in winter that may be due to the existence of the polluted elements. The river water was fresh (0.48‰ semiebrachish) with a good aerated water and the height of the dissolved oxygen mean value has been noticed 13.1mg/L at many times. Over satura

... Show More
View Publication Preview PDF
Publication Date
Wed Mar 15 2023
Journal Name
Journal Of Baghdad College Of Dentistry
Salivary protein carbonyl and selected antioxidants in relation to dental caries among pregnant women
...Show More Authors

Background: Pregnancy is a physiological condition that affects the general and oral health.It is also associated with an increase in oxidative stress, which may presispose to oral diseases including dental caries. Aim of the study: This study aimed to measure salivary protein carbonyl, glutathione peroxidase and selenium levels of women who are pregnant and their association with dental caries in comparison to non-pregnant women, and to find out the mostly affected biomarker of oxidative stress during pregnancy. Subjects, materials and methods: A cross-sectional research was performed for a samples of 30 pregnant and 30 non-pregnant women who were chosen from city of Baghdad's Primary Healthcare Centers. Both groups aged 25-30 years. In

... Show More
View Publication Preview PDF
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Fri Apr 01 2016
Journal Name
Journal Of Engineering
Adding Cellulosic Ash to Composting Mix as a Soil Amendment
...Show More Authors

Solid waste generation and composition in Baghdad is typically affected by population growth, urbanization, improved economic conditions, changes in lifestyles and social and cultural habits.

A burning chamber was installed to burn cellulosic waste only. It was found that combustion reduced the original volume and weight of cellulosic waste by 97.4% and 85% respectively.

A batch composting study was performed to evaluate the feasibility of co-composting organic food waste with the cellulosic bottom ash in three different weight ratios (w/w) [95/5, 75/25, 50/50].

The composters were kept in controlled aerobic conditions for 7 days. Temperature, moisture, and pH were measured hourly as process succe

... Show More
View Publication Preview PDF
Publication Date
Sun Nov 25 2018
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Cu doping on the electrical Properties of ZnTe by Vacuum Thermal Evaporation
...Show More Authors

In this study, the ZnTe thin films were deposited on a glass substrate at a thickness of 400nm using vacuum evaporation technique (2×10-5mbar) at RT. Electrical conductivity and Hall effect measurements have been investigated as a function of variation of the doping ratios (3,5,7%) of the Cu element on the thin ZnTe films. The temperature range of (25-200°C) is to record the electrical conductivity values. The results of the films have two types of transport mechanisms of free carriers with two values of activation energy (Ea1, Ea2), expect 3% Cu. The activation energy (Ea1) increased from 29meV to 157meV before and after doping (Cu at 5%) respectively. The results of Hal

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Tue Oct 02 2018
Journal Name
Iraqi Journal Of Physics
Sensitivity of gold nanoparticles doped in porous silicon
...Show More Authors

In this work gold nanoparticles (AuNPs), were prepared. Chemical method (Seed-Growth) was used to prepare it, then doping AuNPs with porous silicon (PS), used silicon wafer p-type to produce (PS) the processes doping achieved by electrochemical etching, the solution etching consist of HF, ethanol and AuNPs suspension, the result UV-visible absorption for AuNPs suspension showed the single peak located at ~(530 – 521) nm that related to SPR, the single peak is confirmed that the NPs present in the suspension is spherical shape and non-aggregated. X-ray diffraction analysis indicated growth AuNPs with PS. compare the PS layer without AuNPs and with AuNPs doped for electrical properties and sensitivity properties we found AuNPs:PS is more

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Jan 18 2022
Journal Name
Iraqi Journal Of Science
Image Encryption Based on Intelligent Session Mask Keys
...Show More Authors

The revolution of multimedia has been a driving force behind fast and secured data transmission techniques. The security of image information from unapproved access is imperative. Encryptions technique is used to transfer data, where each kind of data has its own special elements; thus various methods should to be used to conserve distributing the image. This paper produces image encryption improvements based on proposed an approach to generate efficient intelligent session (mask keys) based on investigates from the combination between robust feature for ECC algebra and construction level in Greedy Randomized Adaptive Search Procedure (GRASP) to produce durable symmetric session mask keys consist of ECC points. Symmetric behavior for ECC

... Show More
View Publication Preview PDF