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
Iraqi Journal Of Physics
Wettability, Thermal Stability, and Antibacterial Properties of Polycaprolactone /ZnO Nanocomposites in Packaging
...Show More Authors

Polycaprolactone is one of the natural biodegradable polymers mainly used in bioplastics production for packaging, usually composed of non-toxic compounds and biodegradable. The aim was to examine the role of zinc oxide (ZnO) nanopowder on the,wettability , thermal and anti-bacterial effect nanocomposites.  Pure PCL and PCL-based bio- nanocomposites doped with various ratios of ZnO nanoparticles from 0% to 5wt% were prepared through the arrangement of throwing procedure.  The results show that wettability properties in relation to ideal PCL and that they were increasingly hydrophobic from 57º.8 to 69º.53 because add ZnO  nanocomposites,the thermal stability between 300 and 400 ° C makes them perfect for the application

... Show More
View Publication Preview PDF
Crossref (3)
Crossref
Publication Date
Sun Jan 16 2022
Journal Name
Iraqi Journal Of Science
A Multi-Objective Evolutionary Algorithm based Feature Selection for Intrusion Detection
...Show More Authors

Nowad ays, with the development of internet communication that provides many facilities to the user leads in turn to growing unauthorized access. As a result, intrusion detection system (IDS) becomes necessary to provide a high level of security for huge amount of information transferred in the network to protect them from threats. One of the main challenges for IDS is the high dimensionality of the feature space and how the relevant features to distinguish the normal network traffic from attack network are selected. In this paper, multi-objective evolutionary algorithm with decomposition (MOEA/D) and MOEA/D with the injection of a proposed local search operator are adopted to solve the Multi-objective optimization (MOO) followed by Naï

... Show More
View Publication Preview PDF
Publication Date
Sun Sep 01 2019
Journal Name
Al-khwarizmi Engineering Journal
Study the Effects of Machining Parameters on Surface Roughness for Free Form Surface Using Taguchi Method
...Show More Authors

The surface finish of the machining part is the mostly important characteristics of products quality and its indispensable customers’ requirement. Taguchi robust parameters designs for optimizing for surface finish in turning of 7025 AL-Alloy using carbide cutting tool has been utilized in this paper. Three machining variables namely; the machining speeds (1600, 1900, and 2200) rpm, depth of cut (0.25, 0.50, 0.75) mm and the feed rates (0.12, 0.18, 0.24) mm/min utilized in the experiments. The other variables were considered as constants. The mean surface finish was utilized as a measuring of surface quality. The results clarified that increasing the speeds reduce the surface roughness, while it rises with increasing the depths and fee

... Show More
View Publication Preview PDF
Publication Date
Thu Feb 01 2024
Journal Name
Baghdad Science Journal
Study the Quality of Nasopharyngeal plans Using Evaluation Indexes of IMRT and VMAT Treatment planning Techniques
...Show More Authors

Radiation treatment has long been the conventional approach for treating nasopharyngeal cancer (NPC) tumors due to its anatomic features, biological characteristics, and radiosensitivity. The most common treatment for nasopharyngeal carcinoma is radiotherapy. This study aimed to assess the better quality of radiotherapy treatment techniques using intensity-modulated radiotherapy (IMRT) and volumetric-modulated arc therapy (VMAT). The VMAT and IMRT are comparative techniques. Forty patients with nasopharyngeal carcinoma and forwarded for radiotherapy were treated with both advanced techniques, IMRT and VMAT, using eclipse software from Varian. The x-ray energy was set at 6 MV. The total prescribed dose was 70 Gy. The results show that the

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Tue Mar 14 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Genetic Diversity of Iraqi Barley Species Differing in Their Tolerance to Drought by RAPD Analysis
...Show More Authors

The genetic diversity was studied in sixteen barley Hordeum vulgar L. species cultivated in Iraq , which are differ in their ability to drought stress tolerance by using random amplified polymorphic DNA polymerase chain reaction (RAPD - PCR ) .Barley species was evaluated to drought stress  after treatment the plant seedling at germination stages to different concentration of polyethylene glycol (PEDG6000) . The results showed that the Broaq and Arefat species have the highest tolerance to drought stress in contrast the rest of Barly species like Alkhair, Alwarkaa, Ebaa99, Shoaa, Alrafidain,Sameer Rehana 3 , forat9 , jazeral ,and ebaa7 revealed sensitivity to drought stress .      The primes which used RAPD technique

... Show More
View Publication Preview PDF
Publication Date
Mon Jun 01 2020
Journal Name
Journal Of Planner And Development
Mapping Paddy Rice Fields Using Landsat and Sentinel Radar Images in Urban Areas for Agriculture Planning
...Show More Authors

     This research develops a new method based on spectral indices and random forest classifier to detect paddy rice areas and then assess their distributions regarding to urban areas. The classification will be conducted on Landsat OLI images and Landsat OLI/Sentinel 1 SAR data. Consequently, developing a new spectral index by analyzing the relative importance of Landsat bands will be calculated by the random forest. The new spectral index has improved depending on the most three important bands, then two additional indices including the normalized difference vegetation index (NDVI), and standardized difference built-up index (NDBI) have been used to extract paddy rice fields from the data. Several experiments being

... Show More
View Publication Preview PDF
Publication Date
Fri Nov 24 2023
Journal Name
Iraqi Journal Of Science
Modeling and Stability of Lotka-Volterra Prey-Predator System Involving Infectious Disease in Each Population
...Show More Authors

In this paper, a mathematical model consisting of the prey- predator model with disease in both the population is proposed and analyzed. The existence, uniqueness and boundedness of the solution are discussed. The existences and the stability analysis of all possible equilibrium points are studied. Numerical simulation is carried out to investigate the global dynamical behavior of the system.

View Publication Preview PDF
Publication Date
Sun May 30 2021
Journal Name
Iraqi Journal Of Science
In Vivo and In Vitro Study of the Genetic Effects of Cabergoline Drug
...Show More Authors

This study aimed to stand on genetic effects important of cabergoline drug. This toxic effect was evaluated for three different doses (0.05, 0.1, 0.5 mg/ml) in comparison with control (PBS/ phosphate buffer saline) both in vivo and in vitro. In vivo study involved the cytogenetic evaluation of cabergoline in mice by examination of mitotic index percentage (MI), micronucleus formation (MN) and chromosomal aberrations. Result indicated that all the tested doses cause significant reduction in MI percentage, while significant rise was seen with both MN formation and all studied chromosomal aberrations. While in vitro study involved measuring the effect of cabergoline on normal cell line (REF/ Rat embryonic

... Show More
View Publication Preview PDF
Scopus (5)
Scopus Crossref
Publication Date
Sun Apr 30 2023
Journal Name
Iraqi Journal Of Science
Genetic Polymorphism of TLR5 and TLP6 in Iraqi Patients with Heart Failure Disease
...Show More Authors

       In spite of the high rate of morbidity and mortality heart failure (HF) is common, and none of the medications are now entirely available for HF treatment. In addition to many environmental influences and clinical diseases, genetic factors may also contribute to the progression and development of HF.  In the current study, samples of blood were collected from 150 heart failure patients and 130 healthy controls. We evaluated the association of four single nucleotide polymorphisms (snps) of Toll-like receptors (TLR6 and TLR5) with (HF) susceptibility in the Iraqi population. In this work, (SNP) called Toll-like receptor 5 (rs5744168, rs2072493) and Toll-like receptor 6 (rs1039559, rs5743810) were employed. (PCR-RFLP) for snps

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (2)
Scopus Crossref
Publication Date
Sat Mar 01 2014
Journal Name
Glob. J. Mol. Evol. Genom
Genetic diversity and relationships among Verbascum species in Iraq by RAPD-PCR technique
...Show More Authors