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.
Analysis 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
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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 MoreEnglish 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 MoreTurkman literature is regarded as a branch of the general Turkish literarure. The title Turman literature began to be used after 1918, and this remained under the influence of classical Turkishliterature till the beginning of the twentieth century. The best poets who repreesented this type are Hijri Dada, Khidir Lütfi, Mohammad Sadiq, Othman Mathloom and others…
In this study I followed the method of Professor Doctor Mohammad Kaplan (Ph.D) and Professor Doctor Nurullah Çetin(Ph.D) in analysing the poetical design. In this study I tried to analyse the poem entitled Taliim (My Fate) by the poet Khidir Lütfi and the poet Othman mathloom who wrote a poem wi
... Show Moreتتمثل الأبعاد الجيوبوليتكية لميناء مبارك الكويتي على العراق في تأثيره على الموقع البحري والمصالح الاقتصادية والاستراتيجية للعراق. فالميناء يقع قرب الممرات البحرية العراقية، مما يثير مخاوف بشأن حرية الملاحة والوصول إلى الخليج العربي. كما قد يؤثر اقتصاديًا في حركة التجارة وكفاءة الموانئ العراقية، خاصة مشروع ميناء الفاو الكبير. سياسيًا، أثار المشروع نقاشات حول الحدود البحرية والعلاقات العراقية–الكويتية،
... Show Moreيهدف هذا البحث إلى تحليل محتوى كتابي الحاسوب للمرحلة الإعدادية في جمهورية العراق وفقاً للتفكير المنطقي، واتبعت الباحثة منهج البحث الوصفي التحليلي، وتم توظيف أداة تحليل المحتوى، التي صُمِّمت وفقاً للعمليات العقلية المتضمنة في التفكير المنطقي بحسب العالم بياجيه ( Piaget )، واعتماد وحدة الفكرة (الصريحة) في عملية التحليل. تبين من نتائج هذا البحث أنَّ نسبة تضمين مهارات التفكير المنطقي في محتوى كتابي الحاسوب للمرحل
... Show Moreيهدف البحث الى دراسة وتحليل التمويل الأخضر كأحد المفاهيم الاساسية والحديثة في عالم الاعمال والاقتصاد العالمي وخاصة بعد الازمات والتحديات التي توالت على العالم نتيجة الكوارث الطبيعة وتغييرات المناخ والضغوطات على الموارد الطبيعية والتي أدت الى احداث اثرا كبيرا في اقتصاديات الكثير من الدول ، مما اضطرت الى إعادة النظر في مشاريعها وانشطتها الاستثمارية بما يوائم وطبيعة البيئة ومتغيراتها ، لذا تحتم اختيار لمثل
... Show MoreThe present paper describes a static model of malware detection and employs a tri-class prevention policy that operates on the EMBER 2024 Win64 partition. A LightGBM classifier trained on 1,040,000 samples and 804 static PE features achieves AUC-ROC = 0.9979, precision = 98.7%, recall = 97.4%, and F1 = 0.9805 on the temporally-split 240,000-sample test set. An innovative Tri-class Threshold Scheme (BLOCK/SUSPICIOUS/ALLOW) obtained by constrained F2-score optimisation on a separate validation set obtains 97.9% malware detection with 98.1% benign pass rate. Efficient model scoring is verified by mean per-sample model inference latency of 2.30 ms (P99: 2.70 ms) measured on pre-extracted EMBER features, future work is characterized by a complet
... Show MoreThe importance of media coverage in the war remains dependent on many indicators for its success, the most important is to have qualified reporters who carry the war news professionally. The idea of this research is to determine the role played by war correspondents working on Iraqi satellite channels during the war against ISIS.
The researcher has chosen ( 40 ) reporters those who was able to contact them and prepared a questionnaire for them to study their situations. Also, he chose an intentional sample from Baghdad audience on condition they should be informed by the performance of the reporters in the satellite channels applying the hypotheses of the theory of depending upon media.
The most important results reached by the re