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.
English ابحث عن مقالات و مجلات ... تحليل علاقة ثقافة المنظمة بلازمة من منظور الفردبة - الجماعية أ.د زكـريا مطلك الدوري، أ.د سـعـد علي العـنزي، أ. يعرب عدنان السعيدي مجلة كلية بغداد للعلوم الاقتصادية الجامعة 2009, المجلد 2, العدد 20, الصفحات 107-122 الخلاصة تتعدد وجهات النظر بشأن الاسباب والمعالجات الممكنة للازمات، وان هذا الاختلاف يرجع بالاصل إلى تنوع المداخل التي يعتمد عليها الباحثين في تناول الظاهرة أو الموضوع. وضمن هذا
... Show MoreAnalysis of Covariance consider to be quite important procedure to reduce the effect of some independents factors before going through the experiment.
By this procedure we can compare variances causes from the difference between treatments and error term variance of they are equals or less than consider to be not significant, otherwise if is significant.
We carry on with this comparison until we find the greatest covser for the significant variance flam the treatments.
There are methods can be used like least significant difference method, Duncan method and Turkeys' w-procedure and Student Newman.
Key Word: Analysis of variatio
... Show MoreAbstract
This study dealt with " The Strategic analysis of Operating Income". The study Concerned with two main variables, they are: Strategic analysis and operating income and used one of the total strategic analysis tools, it is "resources analysis method" through analysing the change in operating income in the years that taken in comparing in three components: growth, price recovery and productivity.
To achieve the goal of the research, the study depended upon a hypothesis, "The strategic analysis of operating income leads to supply the appropriate information for the management to make sure of executing its definite strategies".
There is agroup o
... Show Moreيهدف هذا البحث إلى تحليل محتوى كتابي الحاسوب للمرحلة المتوسطة في العراق وفقاً لعمليات العلم عن طريق الإجابة عن السؤال الآتي: ما نسبة توافر عمليات العلم في محتوى كتابي الحاسوب المقرران على طلبة المرحلة المتوسطة المعتمدان من وزارة التربية العراقية/ المديرية العامة للمناهج في العام الدراسي ( 2016-2017) م؟ اعتمد هذا البحث المنهج الوصفي التحليلي، وتضمن مجتمع البحث وعينته محتوى كتابي الحاسوب المقررين لطلبة الصفين
... Show Moreتهدف الدراسة إلى معالجة مشكلة تداعيات الأزمة المالية العالمية على أداء الاستثمار الأجنبي المباشر لكل من تونس والجزائر، ومن خلال ما يفرضه النظام العالمي المعولم فانه من المؤكد أن الاستثمارات الأجنبية المباشرة لدول الدراسة ستتأثر سلبا بهذه الأزمة لكن بدراجات متفاوتة نظرا لخصوصية كل اقتصاد ودرجة ارتباطه بالاقتصاد العالمي . وقد خلصت الدراسة إلى أن الأزمة المالية العالمية غيرت خارطة توزيع الاستثمارات الأجنب
... Show Moreالسياسة الخارجية الاسرائيلية تجاه افريقيا بعد انتهاء الحرب الباردة (دراسة حالة اثيوبيا)
The research deals with the concept of rationalization of consumption, which is legitimately legitimized, by indicating the permissibility of consumption and its limits in Islam, the legitimate aspects of spending and its controls, and the concept of development in the Islamic economy. The researcher followed the descriptive method by presenting the legal texts and jurisprudential opinions and linking them to contemporary economic problems.The research has reached several conclusions, the most important of which is that the goal of Islam in relation to consumption is to inform the Muslim of the amount of economic maturity, and the truth of alms is good in money and religion. It is necessary for achieving maturity that both means
... Show MoreThe current study is concerned with the analysis of spatial and temporal to death the elderly population in the city of Baghdad and at the level of administrative units Minor (districts and the areas) depending on the general population census of the province of Baghdad, data for 1997 and data from the Ministry of Health Department of Health and Vital Statistics for 2013.
The study showed differing age and quality of mortality rates at the level of administrative units of the study area, and notes the high mortality rates of elderly people of all age groups in 2013 compared to 1997, and this is due to security conditions after the USA occupation, and the accompanying conditions have affected the increase in mortality rates.
Abstract\
The value chain analysis is main tools to achieve effective and efficient cost management; it requires a depth and comprehensive understanding for all internal and external activities associated with creating value. Supply chain as apart of value chain, that means managing it in active and efficient can achieve great results when adopting a comprehensive and integrated performance for these two chains activities. The research aims to identify possible ways to integrate the performance of value and supply chains of the sample" Kufa-cement plant" and determine the effect of this integration in enhancing customer value. The research arrival that logical and integrated analysis of value and supply chains helps
... Show MoreXanthomonas axonopodis pv glycines (Xag) is a pathogen that causes pustule disease in soybeans. Many
techniques for controlling this disease have been widely developed, one of which is the use of biological agents.
Bacillus sp. from the soybean phyllosphere is a biological agent that has the potential to suppress the
development of pustule disease. One of the biological control mechanisms is through biochemical induction
of plant resistance which includes the accumulation of phenols, salicylic acid compounds, and peroxidase
enzymes. Bacillus subtilis JB12 and Bacillus velezensis ST32 are two bacteria isolated from the soybean
phyllosphere which have previously been known to suppress Xag through an anti