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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
Sat Jun 15 2019
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Proteoytic Activity and Swarming Growth of Proteus spp. Isolates.
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Many clinical isolates of proteus spp. (30 isolates of P
mirabilis and 30 isolates of P. vulgaris) from patients with urinary
tract infections (UTIs) were examined for their ability to produce
proteolytic enzymes and their ability to form swarming growth. Most
(90%) of P. mirabilis and 60% of P. vulgaris isolates secreta
proteolytic enzymes. A strong correlation was found between the
ability of a strain to secreted proteases and it's ability to form
swarming growth. Non- swarming isolates invariably appeared to be
non- proteolytic. However, some isolates (12 isolates of P. vagaries)
were non- proteolytic even when they formed swarming growth

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Publication Date
Sun May 26 2024
Journal Name
Arab World English Journal For Translation And Literary Studies
Google and Legal Translation: The Case Study of Contracts
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In recent years, the need for Machine Translation (MT) has grown, especially for translating legal contracts between languages like Arabic and English. This study primarily investigates whether Google Translator can adequately replace human translation for legal documents. Utilizing a widely popular free web-based tool, Google Translate, the research method involved translating six segments from various legal contracts into Arabic and assessing the translations for lexical and syntactic accuracy. The findings show that although Google Translate can quickly produce English-Arabic translations, it falls short compared to professional translators, especially with complex legal terms and syntax. Errors can be categorized into: polysemy,

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Publication Date
Mon Dec 02 2013
Journal Name
International Journal Of Pharmacy And Pharmaceutical Sciences
Formulation and in vitro evaluation of rosuvastatin calcium niosomes
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Publication Date
Sun Sep 03 2017
Journal Name
Baghdad Science Journal
Preparation and Characterization some New of Naproxen Drug Derivatives
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In this research four steps of the new derivatives of Naproxen drug have been made which are known as a high medicinal effectiveness; the first step involved converting Naproxen into the corresponding ester (A) by reaction Naproxen with methanol absolute in presence H2SO4. While the second step involved treatment methyl Naproxen ester (A) with hydrazine hydrate 80% in presence of ethanol .The third reaction requires synthesis of Schiff bases (C1-C10) by condensation. of Naproxen hydrazide (B) with many substituted aromatic aldehydes . Finally, the fourth step synthesized new tetrazole derivatives ( D1- D10) by the reaction of the prepared Schiff bases (in the third step) with Sodium azide in THF as a solvent .The prepared compounds wer

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Publication Date
Thu Dec 29 2016
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Gas Sensitivity and Optical Detector of Indium Oxide films
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In this research, we studied the structural and optical properties of  In2O3 films which prepared by chemical spray pyrolysis method on the glass substrate heated 400  . The effect of annealing temperature 100 for one hour on theses properties are studied. The result of Xray diffraction showed the prepared films were polycrystalline and orientation was (222) before and after annealing, optical properties study for prepared films by using (UV-VIS-NIR) spectrophotometer in the wave length range (300-1100)nm, We found the transmission increases after annealing to 90%. Sensitivity measurement of In2O3 films for gas (CO) and optical detector showed that after annealing at temperature 100 .

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Publication Date
Mon Jul 01 2019
Journal Name
Journal Of Physics: Conference Series
Production and antibacterial activity of biosurfactant from Saccharomyces cerevisiae
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Abstract<p>A total of four types of instant dry yeast <italic>Saccharomyces cerevisiae</italic> which are Gloripan, Swan, Super Man (China) and Saf (Turkey), were obtained from the local market in Baghdad, Iraq. All the types were identified according to their morphological characteristics and screened for their ability to produce biosurfactant by oil spread method. Biosurfactant was extracted and partially purified by precipitation with ammonium sulfate at saturation ratio75%. Antibacterial activity of crude and partially purified biosurfactant was tested against twenty isolates of <italic>Pseudomonas aeruginosa</italic> and the results showed that crude biosurfactant has no</p> ... Show More
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Publication Date
Sun Jan 04 2015
Journal Name
Asian Journal Of Applied Science And Engineering
Fabrication and Characterization of Au/Si Heterojunction Solar Cell
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The n-type Au thin films of 500nm thickness was evaporated by thermal evaporation method on p-type silicon wafer of [111] direction to formed Au/Si heterojunction solar cell. The AC conductivity, C-V and I-V characteristics of fabricated c-Au/Si diffusion heterojunction-(HJ) solar cell, has been studied. The first methods demonstrated that the AC conductivity due to with diffusiontunneling mechanism, while the second show that, the heterojunction profile is abrupt, the heterojunction parameters have been played out, such as the depletion width, built-in voltage, and concentration. And finally the third one show that the c-Au/Si HJ has rectification properties, and the solar cell yielded an open circuit voltage of (Vic) 0.4V, short circuit c

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Publication Date
Wed Jun 30 2021
Journal Name
Scientific Review Engineering And Environmental Sciences
Mesoscale modeling of fracture in cement and asphalt concrete
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In this paper, mesoscale modeling is performed to simulate and understand fracture behavior of two concrete composites: cement and asphalt concrete using disk-shaped compact tension (DCT) tests. Mesoscale models are used as alternative to macroscale models to obtain better realistic behavior of composite and heterogeneous materials such as cement and asphalt concrete. In mesoscale models, aggregate and matrix are represented as distinct materials and each material has its characteristic properties. Disk-shaped compact tension test is used to obtain tensile strength and fracture energy of materials. This test can be used as a better alternative to other tests such as three points bending tests because it is more convenient for both field and

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Publication Date
Fri Nov 11 2022
Journal Name
Al-nisour Journal For Medical Sciences
Spectrophotometric determination of sulfamethoxazole in pure and pharmaceutical formulations
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New, easy, simple, and fast spectral method for estimation of sulfamethoxazole (SMZ) in pure and pharmaceutical forms. The proposed method is based on the azotization of the drug compound by sodium nitrite in an acidic medium and then coupling with 2,3dimethyl phenol reagent (DMP) in a basic medium to yield an orange-coloured dye which shows λmax at 402 nm. Different affection of the optimization reaction has been completed, following the classical univariate sequence. The concentration of sulfamethoxazole about (1-15) μg. mL-1 with molar absorptivity of (14943.461) L.mol1 .cm-1 that obeyed Beer’s law. The detection and quantification limits were (0.852, 2.583) μg. mL-1 respectively, while the value of Sandell’s sensitivity (

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Publication Date
Sun Dec 04 2011
Journal Name
Baghdad Science Journal
Purification and characterization of Streptococcus pyogenes superantigen (Spe-C)
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From 144 specimens of tonsillitis which were collected from patient, (children of 3 -12 year olds) there were 70 isolates beta hemolytic and 28 isolates were identified as S. pyogenes. Sensitivity of S. pyogenes isolates to antibiotics was tested, all isolates were sensitive to amoxicillin and cephaloxia while higher resistant were to erythromycin. One isolate whiche was 100 A had a stable characteristics and produce pyrogenic toxin was chosen for study and it was purified and characterized from the cell free supernatant of S. pyrogenes strain.

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