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.
the sera levels of luteninizing hormone were investgaited prior tq surgery in 10 postmenopaisal women with benign and 10 postmenopausal women with maliganant healthy
The objective of this study was to isolate and identify the asparaginase-producing bacteria, then purify and characterize the enzyme in order to investigate their properties in the future. Fifteen local bacterial isolates were isolated from various sites in the city of Baghdad, identified by conventional morphological and biochemical procedures, and confirmed using vitek 2 methods, and submitted to primary screening processes for asparaginase production. For secondary screening, eight isolates with the greatest yellow zone ability on a specific solid medium were chosen. Bacillus sp. was reported to have the highest enzyme production (7.5 U/mg proteins). After 24 hours of incubation, submerged fermentation yielded optimal conditi
... Show MoreThe focus of this work is on systematically understanding the effects of packing density of the sand grains on both the internal and bulk mechanical properties for strip footing interacting with granular soil. The studies are based on particle image velocimetry (PIV) method, coupled with a high resolution imaging camera. This provides valuable new insights on the evolution of slip planes at grain-scale under different fractions of the ultimate load. Furthermore, the PIV based results are compared with finite element method simulations in which the experimentally characterised parameters and constitutive behaviour are fed as an input, and a good level of agreements are obtained. The reported results would serve to the practicing engineers, r
... Show MoreThe concept of entransy dissipation was determined for new type of heat exchanger (shell and double concentric tubes heat exchanger). Three parameters, hot oil flow rate, temperature of inlet hot oil and pressure drop of system were investigated with this concept (entransy dissipation). The results showed that the value of entransy dissipation of oil and of system which represents the summation of entransy dissipation of both oil and water increased with increasing the flow rate of hot oil and these values were larger when cold water flow rate was doubled. Also they were increased with increasing the hot oil inlet temperature at a certain flow rate of hot oil. Furthermore, the pressure drops for hot oil in both shell side and inner tubes
... Show MoreThe present work deals with the performance of screw piles constructed in gypseous soil of medium relative density; such piles are extensively used in piles foundations supported structures subjected to axial forces. The carrying capacity and settlement of a single screw pile model of several diameters (20, 30, and 40) mm inserted in gypseous soil is investigated in the present study. The gypsum content of soil used in tests was 40%. The bedding soil used in tests was prepared by raining technique with a relative density of 40%. A physical model was manufactured to demonstrate the tests in the laboratory. The model of screw pile has been manufactured of steel with a total length of 50
The antibacterial activity of some extracts of A. eupatoria (aqueous and ethanolic) against some pathogenic bacteria (Staphylococcus aureus, Pseudomonas aeruginosa and Escherichia coli ) and their activity on wound healing in rats , also the presence of some active compounds in both extracts were detected . The results showed that the ethanolic extract was more effective on inhibiting tested bacteria than the aqueous extract . P.aeruginosa was the most resistant bacteria, while highest inhibition zone appeared on E.coli (20 mm) .There was a moderate activity against S.aureus with inhibition zone 15 mm. by using ethanolic extract (10 mg/ml) . The phytochemical analysis for detection of active compounds revealed the presence of Carbohydrate
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