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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
Tue Feb 13 2024
Journal Name
Iraqi Journal Of Science
Stability Analysis of A stage Structure Prey-Predator Model with Hollimg Type IV Functional Response
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In this paper a stage structure prey-predator model with Hollimg type IV functional response is proposed and analyzed. The local stability analysis of the system is carried out. The occurrence of a simple Hopf bifurcation and local bifurcation are investigated. The global dynamics of the system is investigated with the help of the Lyapunov function. Finally, the analytical obtained results are supported with numerical simulation and the effects of parameters system are discussed. It is observed that, the system has either stable point or periodic dynamics.

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Publication Date
Sun Sep 03 2017
Journal Name
Baghdad Science Journal
Scale-Invariant Feature Transform Algorithm with Fast Approximate Nearest Neighbor
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There is a great deal of systems dealing with image processing that are being used and developed on a daily basis. Those systems need the deployment of some basic operations such as detecting the Regions of Interest and matching those regions, in addition to the description of their properties. Those operations play a significant role in decision making which is necessary for the next operations depending on the assigned task. In order to accomplish those tasks, various algorithms have been introduced throughout years. One of the most popular algorithms is the Scale Invariant Feature Transform (SIFT). The efficiency of this algorithm is its performance in the process of detection and property description, and that is due to the fact that

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
The Study of Genetic Variations of GCG Gene and it's Relationship to Obese in Iraqi Population
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The present study conducted on 120 obese males and 50 healthy males, their age ranged from 20-50 years. The patients were divided into 3 groups based on Body Mass Index (BMI) and Central Obesity (CO), it has noticed that there is a significant relation between both indexes. The DNA was isolated from the blood of patients and applies for PCR by using designed primers for exons 1 and 3 of GCG gene. The results showed that there are mutants in exon 1 at locus 9573 (G/C) for 30 patients and locus 9864 (C/-) for 10 patients with X2 = 12.30, also it has fund mutants in exon 3 at locus 5397 (A/G) for 28 patients and locus 5434 (G/A) for 8 patients with X2 = 11.11. These mutants have a high significant effect P≤ 0.001 to cause pathogenicity.

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Publication Date
Tue Nov 01 2022
Journal Name
Aci Structural Journal
Stress at Ultimate in Internally Unbonded Steel Based on Genetic Expression Programming
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Publication Date
Sat Jul 01 2023
Journal Name
Iraqi Journal Of Veterinary Sciences
Genetic confirmation for morphological identification of Stilesia globipunctata in camel in Iraq
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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Genetic and Phenotypic Variations in Phenylthiocarbamide Bitter Taste Receptors in Iraqi Population
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     Bitter substances are identified by protein receptors located on surface of taste cell membranes. Mutational polymorphism of the bitter taste receptor (TAS2R38) is a significant determinant in phenylthiocarbamide (PTC) threshold perception. This research's objectives were to find TAS2R38 polymorphisms in Iraqi people and investigate any correlations between genotype and the PTC taste sensitivity. Bitterness sensitivity was determined by assessing the capacity to differentiate and the responsiveness to a representative strip of PTC. Cheek cells samples were collected for DNA extraction, PCR amplification and genotyping. PCR was performed to amplify the short region of the TAS2R38 gene containing the initial polymorphisms of inter

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Publication Date
Sun Jan 01 2023
Journal Name
Journal Of Biomechanical Science And Engineering
GENETIC ANALYSIS OF INTERLEUKIN 37GENE SINGLE NUCLEOTIDE POLYMORPHISMS IN ALOPECIA AREATA PATIENTS
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Background: Alopecia areata(AA) is a common autoimmune disease that causes hair loss without scarring. It occurs as a result of T-helper 1 (Th1) and Th17 cells attacking the anagen hair follicles. Genetic factors play a role in the occurrence of infection, which stimulates the production of pro and anti-inflammatory interleukins. Polymorphisms of IL-37 play a role in autoimmune diseases. However, IL37 single nucleotide polymorphisms(SNP) have not been identified in patients with AA. Therefore, this study aimed to reveal the IL37 gene SNP and its relationship to AA. Methods: Genotyping of IL-37 gene single nucleotide polymorphisms SNPs were detected using sequence-specific primer-polymerase chain reaction (SSP-PCR) method was done following

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Publication Date
Sun May 28 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
The Effect of Voltarin Drug on Some Genetic Indices in Albino Mice
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   The present study  is designed to reveal the  effect of  Voltarin drug   on some genetic indicators such as  mitotic index(MI) of bone marrow cells and chromosome  aberrations(CA) .The Voltarin is one of non Steroidal Anti-inflammation drug .Three concentrations of Voltarin  were used  1.6 , 2 , 2.5   mg/kg  Albino  mices  (Mus  musculus) were  injected  for 7 days then     mitotic index (MI) was counted and chromosomal aberrations of bone marrow cells  .  The  results  could be  summarized  as   follows :  1-The doses (1.6,2) mg/Kg  showed no  negative effects on&nbs

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Publication Date
Mon Nov 01 2021
Journal Name
Iop Conference Series: Earth And Environmental Science
Some Genetic Parameters and Path Coefficient of Three-Way Crosses in Maize
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Abstract<p>Correlation and path coefficient analysis were worked out for ten morphological traits in 30 three-way crosses of maize. Phenotypic and genotypic correlation analysis indicated that ear length; row numbers per ear, grain numbers per row, leaf area and leaves numbers had a positive significant correlation with grain yield per plant. Further partitioning of correlation coefficients into direct and indirect effects showed that traits days to silking, row numbers per row and leaves numbers had a positive direct effect on grain yield per plant. The traits ear length, grain numbers per row and leaf area had a maximum total effect on grain yield. Furthermore, PCA analysis has gave interested</p> ... Show More
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Publication Date
Fri Jan 01 2016
Journal Name
Journal Of Engineering
Enhanced Chain-Cluster Based Mixed Routing Algorithm for Wireless Sensor Networks
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Energy efficiency is a significant aspect in designing robust routing protocols for wireless sensor networks (WSNs). A reliable routing protocol has to be energy efficient and adaptive to the network size. To achieve high energy conservation and data aggregation, there are two major techniques, clusters and chains. In clustering technique, sensor networks are often divided into non-overlapping subsets called clusters. In chain technique, sensor nodes will be connected with the closest two neighbors, starting with the farthest node from the base station till the closest node to the base station. Each technique has its own advantages and disadvantages which motivate some researchers to come up with a hybrid routing algorit

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