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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
Mon Jul 01 2024
Journal Name
Indian Journal Of Clinical Biochemistry
Evaluation of Bone Turnover Markers in Patients with Acute and Chronic Leukemia
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Publication Date
Sat Sep 30 2023
Journal Name
Al–bahith Al–a'alami
Satirical Television Programs and Their Impact on the Image of Iraqi Politicians
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This research delves into the role of satirical television programs in shaping the image of Iraqi politicians. The research problem is summarized in the main question: How does satire featured in television programs influence the portrayal of Iraqi politicians? This research adopts a descriptive approach and employs a survey methodology. The primary data collection tool is a questionnaire, complemented by observation and measurement techniques. The study draws upon the framework of cultural cultivation theory as a guiding theoretical foundation. A total of 430 questionnaires were disseminated among respondents who regularly watch satirical programs, selected through a multi-stage random sampling procedure.
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Publication Date
Thu Sep 01 2016
Journal Name
Iraqi Journal Of Physics
AC conductivity and dielectric properties of (PVA/PEO) blends doped with MWCNTs
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Publication Date
Sat Jan 01 2022
Journal Name
Journal Of Pharmaceutical Negative Results
Morphological and Anatomical Review of Some Veronica Species from the Plantaginaceae Family
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Publication Date
Sat Oct 12 2019
Journal Name
Journal Of The College Of Education For Women
Uncompleted Personality and it’s relation with Some Variables of the University Students
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Uncompleted Personality and it’s relation with Some Variables of the University Students

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Publication Date
Fri Apr 05 2019
Journal Name
International Journal Of Nanoelectronics And Materials
Characterization and Responsivity of Graphene Loaded Zinc Sulphide within Visible Light Spectrum
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In this study, the nanocrystal-ZnS-loaded graphene was synthesized by a facile coprecipitation route. The effect of graphene on the characterization of Zinc Sulphide (ZnS) was investigated. The X-ray Diffraction (XRD) results reveal that ZnS has cubic system while hexagonal structure which is observed by loading graphene during the preparation of ZnS. Energy Dispersive X-ray Spectroscopy (EDS) analysis proved the presence of all expected elements in the prepared materials. Nanosize of fabricated materials has been measured using Scanning Electron Microscopy (SEM) technique. This study also found that the graphene plays a critical role in lowering the optical energy gap of ZnS nanoparticles from 4 eV to 3.2 eV. The characterization of detec

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Publication Date
Tue Sep 24 2019
Journal Name
Journal Of Engineering
Flexural Performance of Laced Reinforced Concrete Beams under Static and Fatigue Loads
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This paper introduces experimental results of eighteen simply supported reinforced concrete beams of cross sections ( ) and length 3000 mm to study the effect of lacing reinforcement on the performance of such beams under static and fatigue loads. Twelve reinforced concrete beams (two of them are casted with vertical shear reinforcement used as control beams) are tested under four points bending loading with displacement control technique and six laced reinforced concrete beams were exposed to high frequency (10 Hz) by fixing the fatigue load in each cycle. Three parameters are used in the designed beams, which are: lacing bar diameter (4mm, 6mm, and 8mm), lacing bar inclination angle to horizontal , and lacing steel rat

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Publication Date
Thu Jan 11 2024
Journal Name
Научный Форум
Structural and semantic features of military metaphors in the modern Russian press
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Publication Date
Sat Dec 31 2022
Journal Name
Al-kindy College Medical Journal
Prevalence of Congenital Toxoplasmosis and Congenital Rubella among Suspected Infants in Baghdad
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Congenital toxoplasmosis (CT) and congenital rubella (CR) infections are well-known causes potentially leading to devastating consequences. This report aims to address the prevalence of each of these infections among suspected infants in a pediatric hospital in Baghdad.

The study sample includes 120 blood samples of suspected infants consulting Al-Alwyia pediatric teaching hospital over one year. This report represents an extension of a previous article published in Al-Kindy College Medical Journal KCMJ about cytomegalovirus infection (CMV). Using the enzyme-linked immunosorbent assay (ELISA) method, the results show that 5.8% and 5% were positive for specific IgM antibodies for rubella and toxoplasmosis respectively. Results also

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Publication Date
Wed Mar 23 2022
Journal Name
Journal Of Educational And Psychological Researches
Self-control and its relation to the work pressure of educational counselors
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1- The degree of self-control of the educational counselors.

2- The level of work pressures that educational counselors are exposed to from their point of view.

3- The significance of the differences in the degree of self-control and work pressures according to the gender variable (male / female).

4- The relationship between self-control and work stress for the sample as a whole.

The current research was limited to educational counselors of both sexes in Anbar Governorate, Ramadi District, affiliated to the Anbar Education Directorate. The researcher adopted the steps of the relational descriptive approach to achieve the research objectives. The current research community consists of (100) m

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