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.
Land forms are result from interaction between lithosphere, atmosphere, hydrosphere and biosphere. Lithosphere composed of lithologic units and the main units of the study area are: limestone, marl, marley limestone, sandstone, pebbly sandstone, mudstone, claystone and secondary gypsum in addition to Quaternary sediments. Landforms of the study area can be subdivided according to their origin into many units: 1- Structural- denudational: plateau, mesas, hills, cliffs and wadis; 2- Denudational: desert pavement and mushroom rock; 3-Mass movements; 4- Solution: lake, salt marsh, piping caves; 5- Springs; 6- Fluvial: terraces, alluvial fan, infilled wadi, flood plain; 7- Drainage units; 8-Evaporational: sabkha, secondary
... Show MoreIn the present study, mixed ligand compounds of Mn(II), Ni(II), Co(II), Cu(II), Cd(II) and Hg(II) were synthesized using new Ligand N1,N4-bis (pyrimidin-2-ylcarbamothioyl) succinimide (NPS) derived from [Butanedioyl diisothiocyanate with 2- aminipyridine] as first ligand, proline (pro) as second ligand and evaluation of their antioxidant activities for ligand, nickel and cobalt complex towards 1.1-Di-phenyl-2picrylhydrazyl (DPPH) will be compared to the standard anti-oxidants (i.e. the ascorbic acid). Those materials that have been prepared provided results are a result of exhibiting different activities of the radical scavenging for all of the compounds. Compounds were observed then confirmed through the Fourier-tra
... Show MoreIn the current research, an eco-biosynthesis method for synthesizing silver nanoparticles (AgNPs) is reported using thymus vulgaris leaves (T. vulgaris) extracts. The optical and structural properties of the nanoparticles is determined using UV-visible, x-ray diffraction (XRD) and field emission scanning electron microscope (FESEM). In addition, the synthesis factors such as the temperature, the molar ratio of silver nitride and thymus vulgaris leaves extract have been investigated. The XRD pattern presented higher intensity for the five characteristic peaks of silver. FESEM images for same samples indicated that the particle size was distributed between 24-56 nm. In addition, it’s observed the formation of some aggregated Ag particles
... Show MoreObjective: this search aims to test the correlation between job complexity and psychological detachment then stats how the burnout can affect in this relationship and dose the burnout can contribute in development of this relationship. Theoretical framework: the research adopted some questions like how can psychological detachment can make the employee keeping away from work and isolates himself from work environment and how can the job complexity enhance this behavior for employee ,and how can the burnout increase the correlation between job complexity and psychological detachment ?, then trying to extraction some of recommendations may contributes in enhancing practicing and adopting these three variables (job complexity, psych
... Show MoreBackground: Infection with sexually
transmitted diseases is broad and includes
bacterial, viral and protozoa infection.
Large number of infected people goes
untreated because of symptomatic or
unrecognized infections.
Patients and methods: Forty five
patients was complaining from infertility
(primary or secondary), consulting
Kammal El-Sammari Hospital for
infertility from May - 2008 to February -
2009. Control group consisted of twenty
fertile women that consulting private clinic
for checking. Four swabs were taken from
each woman in two groups. Two swabs
were taken from posterior fornix of the
vagina (High vaginal swab) and the last
two were taken from endocervical canal.
First swab
Emergency contraceptives (ECs) are indicated for preventing the chance of unintended pregnancy that follows unprotected sexual intercourse in cases of incorrectly used regular contraceptives and in sexual assault. It is considered a safe choice to prevent pregnancy than abortion which is considered life threating. The aim of this study was to assess knowledge, attitude, and practices (KAP) of community pharmacists towards emergency contraceptives and their association with sociodemographic variables. This study was a cross sectional study conducted between August and September 2021 on a convenient sample of community pharmacists from Iraq. The survey tool was an online, self-administered questionnaire, in English language and a paper-bas
... Show MoreIn this work, copper substituted cobalt ferrite nanoparticles with
chemical formula Co1-xCuxFe2O4 (x=0, 0.3, and 0.7), has been
synthesized via hydrothermal preparation method. The structure of
the prepared materials was characterized by X-ray diffraction (XRD).
The (XRD) patterns showed single phase spinel ferrite structure.
Average crystallite size (D), lattice constant (a), and crystal density
(dx) have been calculated from the most intense peak (311).
Comparative standardization also performed using smaller average
particle size (D) on the XRD patterns of as-prepared ferrite samples
in order to select most convenient hydrothermal synthesis conditions
to get ferrite materials with smallest average particl
The plants of genus Heliotropium L. (Boraginaceae) are well-known for containing the toxic metabolites called pyrrolizidine alkaloids (PAs) in addition to the other secondary metabolites. Its spread in the Mediterranean area northwards to central and southern Europe, Asia, South Russia, Caucasia, Afghanistan, Iran, Pakistan, and India, Saudi Arabia, Turkey, and over lower Iraq, Western desert. The present study includes the preparation of various extracts from aerial parts of the Iraqi plant. Fractionation, screening the active constituent, and identification by chromatographic techniques were carried out.Heliotropium europaeum
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