Abstract

Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each

The study deals with China's soft power and diplomacy in the Middle East, and it focuses specifically on the tools and foundations of China's soft diplomacy and how it achieves its goals in the region in addition to its challenges in the region. In this regard, the study also focuses on the Chinese Belt and Road Initiative and its soft foundations and how they serve China’s diplomacy and soft power in the region. The study ends with a set of conclusions, perhaps the most prominent of which is that diplomacy and soft power have become a fundamental pillar of China's foreign policy to achieve its foreign goals and to establish an international system compatible with China's principles. As for the Middle East, China has established a poli

The drought is a globally phenomenon, its influence will convert large parts of Middle East and North Africa (MENA) region into hot dry deserts under the expectations of the climate change scenarios. Climate limitations, soil erosion affected by weather properties such as unequally and limited rainfall; temperature changing and wind, unsuitable irrigation techniques, excessive grazing, agricultural expansion against to the natural habitats, extensively clearance of natural vegetation, and soil salinity had all contributed to land degradation, reduced water supplies, and limited agricultural production in Iraq. It is estimated that nearly 54.3 % of Iraq's area is threatened by desertification problems.
In this research, for Iraq the Cl

A field Experiment was carried out in Baghdad for the purpose of compare five horticulture machines during used two types of fuel deffirance in octane number, normal and super fuel which produced in Iraqi and measuring the vibrations transmitted of the three axes are longitudinal X , lateral Y and vertical Z from handlebar in (Mowers) to the operator which walks behind the mower, and the determine of the productivity practical of cutting, productivity passing and fuel consumption. Experiment Factorial used with two factors, The first factor was Five Mowers vary in width , types, weight and company manufacturer, The Second factor was the types of fuel used internal combination engine horticulture mowers were Normal fuel with Octane Number 82

The speaker identification is one of the fundamental problems in speech processing and voice modeling. The speaker identification applications include authentication in critical security systems and the accuracy of the selection. Large-scale voice recognition applications are a major challenge. Quick search in the speaker database requires fast, modern techniques and relies on artificial intelligence to achieve the desired results from the system. Many efforts are made to achieve this through the establishment of variable-based systems and the development of new methodologies for speaker identification. Speaker identification is the process of recognizing who is speaking using the characteristics extracted from the speech's waves like pi

The aim of this research was to indicate the opinion of the Iraqi consumer awareness of the risks associated with consuming canned food, the questionnaire was included 20 questions for label information, consumer culture, shopping, marketing, awareness and knowledge as a tool to survey the opinions of 300 consumers in Baghdad, the data was analyzed by using percentage, weighted mean, and weight percent, the results obtained showed that the Iraqi consumer need more information, training and guidance programs in food safety handling issue for canned food, especially in analysis of label information and growing of consumer culture for shopping, right marketing, awareness and knowledge.

Environmental controls, especially for temperature and humidity, are essential to maintain the safety, purity and effectiveness of drugs. The measurement of humidity can be particularly difficult and important in climatic and thermostatic chambers (warehouses, ovens, cold rooms, fridges, drying rooms, insulated boxes, etc.).
The old method of monitoring and qualification of climatic and thermostatic chambers requires placing a defined number of recorders, then programming and store them. After that, to examine the values recorded to revolve the status of the climatic and thermostatic chambers, if they are compliant or not-complaint at any time, so all that goes to waste time and efficiency of values.
We can do the monitoring and qu

    Saccharin is firstly synthesized in 1879. It is a very well-known as an inexpensive substitute for sugar as it is a non-caloric sweetener. The article shows the properties, use, metabolism and various synthesis and reactions of saccharine. Moreover, the toxicological reports explain that saccharin is mostly responsible for the bladder tumors observed in the male rats, the relationship between the consumption of saccharin and bladder cancer is afforded by epidemiological studies.  The benefit-risk evaluation for saccharin is hardly to indicate. Saccharin is a sugar substitute, frequently used either in food industry, or in pharmaceutical formulations and even in tobacco products. The chemistry of saccharin is inter

Investigating the strength and the relationship between the Self-organized learning strategies and self-competence among talented students was the aim of this study. To do this, the researcher employed the correlation descriptive approach, whereby a sample of (120) male and female student were selected from various Iraqi cities for the academic year 2015-2016.  the researcher setup two scales based on the previous studies: one to measure  the Self-organized learning strategies which consist of (47) item and the other to measure the self-competence that composed of (50) item. Both of these scales were applied on the targeted sample to collect the required data

Background:Oriental sore occurs mostly in the
mediteranian region , North Africa ,and the Middle East .
Rodents are the main reservoir for the parasite . The wet
type caused by L. major is rural and the dry type caused by
L. tropica is urban and humans are presumably the only
reservoir. Sand fly vectors are involved in all forms.
Objectives: This study aimed to show the most
important bacterial infections concomitant with cutaneous
leishmaniasis .
Methods; The study was performed on 75 patients (ages
1-50 years ) from both sexes were attending Skin Diseases
Department of Ramadi General Hospital during the period
extended from January to June 2000. These patients were
clinically diagnosed as patients