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Creeping Gait Analysis and Simulation of a Quadruped Robot
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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.

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Publication Date
Sun Jan 27 2019
Journal Name
Civil Engineering Journal
Effect of Size and Location of Square Web Openings on the Entire Behavior of Reinforced Concrete Deep Beams
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This paper presents an experimental and numerical study which was carried out to examine the influence of the size and the layout of the web openings on the load carrying capacity and the serviceability of reinforced concrete deep beams. Five full-scale simply supported reinforced concrete deep beams with two large web openings created in shear regions were tested up to failure. The shear span to overall depth ratio was (1.1). Square openings were located symmetrically relative to the midspan section either at the midpoint or at the interior boundaries of the shear span. Two different side dimensions for the square openings were considered, mainly, (200) mm and (230) mm. The strength results proved that the shear capacity of the dee

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
The Impact of climatic fluctuations in the production of citrus in the province of Karbala
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The relationship between the elements of the climate and the productivity of citrus (kg
/ tree) in the province of Karbala has been determined through the use of simple correlation
coefficient of Pearson (rp) and (t) test. The result for each of oranges, limes and tangerine had
all shown moral and relevant statistical indications; except for relative humidity, which were
not linked to a moral relationship with productivity of tangerine, oranges and limes.As for the
relationship between climatic factors and yield of bitter orange were all not significant
statistically and very weak.
In order to determine the strength of the correlation between fluctuations in the
climatic elements and fluctuations in the productivi

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Publication Date
Wed Jul 01 2020
Journal Name
Materials Science Forum
Synthesis, Characterization and Reactivity Ratios of Poly Phenyl Acrylamide-Co-Methyl Methacrylate
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The monomer phenyl acrylamide was synthesized by reacting acrylamide with chloro benzene in the presence of pyridine. Copolymer of phenyl acrylamide (PAM) with methyl methacrylate (MMA) was synthesized by free radical technique using dimethylsulfoxide (DMSO) as solvent and benzoyl peroxide (BPO) as initiator. The overall conversion was kept low (≤ 15% wt/wt) for all studies copolymers samples. The synthesized copolymers were characterized using fourier transform infrared spectroscopy (FT-IR), and their thermal properties were studied by thermogravimetric analysis (TGA) and differential scanning calorimetry (DSC). The copolymers compositions were determined by elemental analysis. The monomer reactivity ratios have been calculated b

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Publication Date
Sun Mar 01 2020
Journal Name
Materials Research Express
Spray pyrolysis of graphene oxide based composite for optical and wettability applications
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Abstract<p>In this study, silica-graphene oxide nano–composites were prepared by sol-gel technique and deposited by spray pyrolysis method on glass substrate. The effect of changing the graphene/silica ratio on the optical properties and wetting of these nano–structures has been investigated. The structural and morphological properties of the thin films have been studied by x-ray diffraction spectroscopy (XRD), field emission scanning electron microscope (FESEM), energy dispersive x-ray spectroscopy (EDS) and atomic force microscope (AFM). XRD results show that silica structures present in the synthesized films exhibit amorphous character and there is a poor arrangement in graphene plates al</p> ... Show More
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Publication Date
Thu Jan 31 2019
Journal Name
Journal Of Engineering
Design of New Hybrid Neural Structure for Modeling and Controlling Nonlinear Systems
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This paper proposes a new structure of the hybrid neural controller based on the identification model for nonlinear systems. The goal of this work is to employ the structure of the Modified Elman Neural Network (MENN) model into the NARMA-L2 structure instead of Multi-Layer Perceptron (MLP) model in order to construct a new hybrid neural structure that can be used as an identifier model and a nonlinear controller for the SISO linear or nonlinear systems. Weight parameters of the hybrid neural structure with its serial-parallel configuration are adapted by using the Back propagation learning algorithm. The ability of the proposed hybrid neural structure for nonlinear system has achieved a fast learning with minimum number

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Publication Date
Sat May 01 2021
Journal Name
Iop Conference Series: Earth And Environmental Science
Isolation and Identification of Alkaline Protease Producing Aspergills niger from Iraqi Soils
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Abstract<p>Twenty purified isolates were obtained by using different soil sources, only twelve isolates belonging to Aspergillus genera depending on cultural and morphological characterization. The isolates were used as alkaline protease producer. The highest proteolytic, enzymatic activity (95.83U/ml) was obtained from <italic>Aspergillus</italic> sp. ZE isolate. This isolate was identified by 5.8 rRNA gene sequencing as <italic>Aspergills niger</italic> (accuracy of 99%), which was matched with the sequence of <italic>Aspergills niger</italic> strain GM775228 recorded in Gene bank under the ID: GM 775228.1.</p>
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Publication Date
Sat Dec 01 2012
Journal Name
European Journal Of Scientific Research
Evaluation of Progesterone and Estrogen Hormonal Levels in Pregnant Women with Toxoplasmosis
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In this study the prevalence of acute, sub-acute and chronic toxoplasmosis were monitored in a group of Iraqi pregnant women according to the anti-T.gondii antibodies (IgG and IgM), as well as the levels of both progesterone and estrogen hormones were measured using mini-VIDAS®technique. This study demonstrated that there was high prevalence of chronic toxoplasmosis (31.70%) when it compared with acute and sub-acute type, results also showed that the acute toxoplasmosis always related with low concentration of both progesterone and estrogen which were (5.35 ± 7.15 ng/ml) and (70.66 ± 51.08 pg/ml) respectively

Publication Date
Thu Jul 02 2020
Journal Name
International Journal Of Pharmaceutical Research
Synthesis of Liquid Crystal Mesogenes Derived From Isophthalic Acid and Terephthalic Acid
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Publication Date
Tue Mar 01 2022
Journal Name
Full Text Book Of Minar Congress4
RELATIONSHIP OF ESSENTIALLY SEMISMALL QUASI-DEDEKIND MODULES WITH SCALAR AND MULTIPLICATION MODULES
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Let R be a ring with 1 and W is a left Module over R. A Submodule D of an R-Module W is small in W(D ≪ W) if whenever a Submodule V of W s.t W = D + V then V = W. A proper Submodule Y of an R-Module W is semismall in W(Y ≪_S W) if Y = 0 or Y/F ≪ W/F ∀ nonzero Submodules F of Y. A Submodule U of an R-Module E is essentially semismall(U ≪es E), if for every non zero semismall Submodule V of E, V∩U ≠ 0. An R-Module E is essentially semismall quasi-Dedekind(ESSQD) if Hom(E/W, E) = 0 ∀ W ≪es E. A ring R is ESSQD if R is an ESSQD R-Module. An R-Module E is a scalar R-Module if, ∀ , ∃ s.t V(e) = ze ∀ . In this paper, we study the relationship between ESSQD Modules with scalar and multiplication Modules. We show that

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Publication Date
Fri Sep 30 2016
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Experimental Study and Mathematical Modelling of Zinc Removal by Reverse Osmosis Membranes
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In this study, aromatic polyamide reverse osmosis membranes were used to remove zinc ions from electroplating wastewater. Influence of different operating conditions such as time, zinc concentration and pressure on reverse osmosis process efficiency was studied.  The experimental results showed, concentration of zinc in permeate increase with increases of time from 0 to 70 min, and flux of water through membrane decline with time. While, the concentrations of zinc in permeate increase with the increase in feed zinc concentration (10–300 mg/l), flux decrease with the increment of feed concentration. The raise of pressure from 1 to 4 bar, the zinc concentration decreases and the flux increase. The highest recovery percentage was fou

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