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

This research highlights one of the most important issues that have been controversial between Islamic schools, which is the duality of Intellect  and Revelation and the nature of their relationship, in two core points:

The first point: Could there be a real conflict between Intellect  and revelation? While the school of hadith view that this assumption is a rational assumption that does not real as long as the revelation is correct and the Intellect  is clear, and that what is claimed are due to other Intellect s, we find that the Ash’ari school adopts the saying that the real conflict may occur, but rather confirms its occurrence.

The second point: For whom is the priority, for the Intellect  or th

An interpretive (structural and stratigraphic) study of the two,-dimensional seismic, data of East Nasiriya area (30 km to the south east of Nasiriya oil field within Thi-Qar province, southeastern Iraq) was carried out using Petrel 2017 program. The study area has an importance due to its location between many oil fields, but still without exploration of oil wells. Twenty five seismic lines were used, date back to different types of seismic surveys conducted in the region at different time periods.  Also, the seismic velocity surveys of the nearest wells to oil fields, such as Nasiriya-1 and Subba-8, in addition to their sonic and density logs were used. A synthetic seismogram with a good matching with the seismic section was achie

Translation is a vital process that needs much more understanding and mutual background knowledge on the part of ESL or EFL learners in terms of grammar , meaning and context of both the SL and TL . Thus , the main aim of the current research paper is to identify and figure out the techniques used by ESL or EFL learners when translating English barnyard verbs into Arabic . The main problem of this study is attributed to the fact that ESL or EFL learners may not be able to identify and understand the connotative meaning of barnyard verbs since these verbs are onomatopoeic (i.e,) a word that phonetically imitates, or suggests the source of sound that it describes. Therefore they may be unable to translate these verbs appropriately and accura

Iraq is one of the Arabian area countries, which considered from the drier areas
on the earth, though it has two main rivers that pass through(Tigris and Euphrates);
it suffers the same problem as them (drought), only the rivers' nearby regions make
use of their water for (domestic, agricultural, and industrial purposes(.
One of the usable solutions is to utilize the groundwater (especially in the desert
regions). Using the Remote Sensing and geographic information system is a rapid
and coast effective techniques, they provide information of large and inaccessible
area within short span for assessing, monitoring, and management of groundwater
resources. In this study, an adaptive algorithm based on Canny edge dete

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

This study came to discuss the subject of industries dependent on petrochemical industries in Iraq (plastic as a model) during the period 2005–2020, and the study concluded that the plastic industries contribute to areas of advancement and progress and opportunities to deal efficiently with the challenges posed by the new variables, the most important of which is the information revolution. communications and trade liberalization, and this is what contributes to the competitiveness of these industries. And because the petrochemical industry in Iraq has an active role in establishing plastic industrial clusters and clusters of micro, small, and medium industries by providing the necessary feedstock for these industries in various fields

Background: Coronavirus pandemic (COVID-19) has enormously affected various healthcare services including the one of community pharmacy. The ramifications of these effects on Iraqi community pharmacies and the measures they have taken to tackle the spread of COVID-19  is yet to be explored. In this cross sectional survey, infection control measures by community pharmacies in Sulaimani city/Iraq has been investigated.        

Methods: Community pharmacists were randomly allocated  to participate in a cross-sectional survey via visiting their pharmacies and filling up the questionnaire form.

Results and discussion:

In this paper we introduced a new class of - called - and study their basic properties in nano topological spaces. We also introduce -closure and -interior and study some of their fundamental properties.

Simulation  of  the  Linguistic  Fuzzy Trust  Model  (LFTM)  over  oscillating  Wireless  Sensor Networks (WSNs) where the goodness of the servers belonging to them could change along the time is presented in this paper, and the comparison between the outcomes achieved with LFTM model over oscillating WSNs with the outcomes obtained by applying the model over static WSNs where the servers maintaining always the same goodness, in terms of the selection percentage of trustworthy servers (the accuracy of the model) and the average path length are also presented here. Also in this paper the comparison between the LFTM and the Bio-inspired Trust and Reputation Model for Wireless Sensor Network