A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits: creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.
Background: Polycystic ovary syndrome (PCOS) is the most common endocrinopathy affecting women, at reproductive age. PCOS is a chronic hyperandrogenic state that has many significant short-term and long-term implications for patients such as oligomenorrhea, amenorrhea, infertility, diabetes mellitus, cardiovascular disease, increased risk of endometrial cancer, and hirsutism. Objectives: To evaluate the obesity and glycemic criteria among women with polycystic ovary syndrome. Method: A case control designed study was carried out at the National Diabetes Center (NDC) / Al-Mustansiryia University; on 50 participants formed the PCOS group and 50 healthy control participants. Data collected about age, age at menarche and BMI. Also, blood sam
... Show MoreThis study included isolation and identification of the fungi associated with Aloe vera (L.) in nurseries and plant gardens. The results showed that the fungi Alternaria alternata, Fusarium oxysporum, Fusarium solani, Nigrospora oryzae, Cladosporium herbarum, Stemphylium botryosum, Aspergillus niger, Penicillium sp. were isolated from the diseased leaves of Aloe vera showing spots and blight symptoms. The percentages of disease incidence in March, Jun and August were found to be 5, 50 and 60 %, respectively. Pathogenicity test of Alternaria alternata, Fusarium oxysporum, Nigrospora oryzae and Cladosporium herbarum showed that disease index were 50, 25,25and 12.5 %,
... Show MoreInternational Journal on Technical and Physical Problems of Engineering
Anise and thyme crude extract were used to prepare a lotion for topical application due to their antimicrobial, germicidal and antifungal effects. Two formulas were prepared using the mentioned natural plants, formula 2 (selected lotion) was the most acceptable one which contained veegum and xanthan gum as suspending agents in addition to other exceipients providing it good properties with high physical stability because of its flocculating, pouring, resuspending easily with sedimentation volume (F) 0.96. In addition to unchangeable odor and color with expiration date of one year. While the Preliminary clinical study was done using this lotion on 10 patients with infecious viral skin diseases, it was found that this lotion was successful
... Show MoreAnimal fats are a good, promising and ethical alternative source for biodiesel production, but they need more complex treatments than vegetable oils. Iraqi butchery plants waste fats (sheep fat) which are suggested as feedstock to produce biodiesel. This type of fat contains a large quantity of free fatty acids (FFAs) (acid number 49.13 mg KOH/g of fat). The direct transesterification of such fats produce high amount of soap instead of desired biodiesel, so a pre-treatment step (to reduce FFAs) is necessary before transesterification. This step was done by esterification of the free fatty acids in the fat by adding ethanol and using 1% acid catalyst (H2SO4) for 30 minutes. The results showed that the acid number of sheep fat after pre-tr
... Show MoreIn this research work, the novel polymer base on acrylamide N-methylene lactic and glycolic acid was synthesized and its structural performances were identified by the IR, 1H NMR and 13C NMR spectroscopic investigations. The influencing factors and kinetics of polymerization, viscosity performance were studied and quantum chemical calculations were used to identify the correlation between the structure and properties. It was determined that the polymerization rate of the examined monomers in an aqueous solution, in the presence of DAA, adheres to the standard rules for radical polymerization of acrylamide monomers in solution. An investigation into the pH solution's impact on the kinetics of radical polymerization of acrylamido-N-methyle
... Show MoreAfrican Journal of Advanced Pure and Applied Sciences (AJAPAS)