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

Provisions related to nails in Islamic Fiqh

The general  budget  is  the  state’s  annual financial program that manages public facilities   and   services   in  it، which  contains  public  earning  and  expenses. The general budget is   subject to several principles.  The most   important of these principles is the principle of generality، watch includes the proper management of the financial program through two basic principles the principle of allocating public expenditures and the principle of not allocating revenues.

In the domain of public law administration enjoys the privileges of public power, but it is in the field of administrative contracts is not free contract in any way you want, Valmushara intervenes to restrict the freedom of administration to follow a contracting methods set forth in, the most important of these methods is the public tender method, as a general principle of the contract, so Leaders are subject to a number of legal restrictions in the conclusion of their contracts do not meet like individuals in the conclusion of their contracts own, because they do not equated with individuals to freedom of expression of will to conclude contracts, and justification that the administration in its contract aims to achieve the public intere

يخضع القضاة عند ممارستهم لسلطتهم في الاجتهاد القضائي لجملة من القيود التي يتعين عليهم التقيد بها إذ ما أرادوا لاجتهادهم أن يحظى بالمقبولية والترحاب من قبل المشتغلين بالقانون بصورة عامة، وفقهاء القانون بشكل خاص، وبخلافه فإن سهام النقد والتجريح ستطال تلك الإجتهادت، وعندها سيتعين عليهم العدول عنها. ولعل أهم تلك القيود المفروضة على القضاة هي مُراعاتهم للعدالة بين أطراف الدعوى من خلال عدم تحيُزهم لأحد الأطراف

The almighty Al-Bari imposed on Muslims easy and accessible worshipers for every individual who is eligible to commission, so whoever performed it rightfully, God rewarded it with the best reward. From the Muslim, the Almighty made the Almighty to the types of acts of worship and acts of righteousness as a reason for the remission of sins that were advanced and late, so I chose a topic (from the hadiths of righteous deeds mentioned in the atonement of sins) as a research drawn from the master’s thesis called (the hadiths of the atoners of sins that were presented and delayed - An analytical study- ), And collect in this research kinds of acts of righteousness that bring the mercy of God Almighty to His servants and be a reason for the

Abstract:

This research aimed to shed light on the juristic rulings concerning those in debts. It adopted the inductive approach, the analytical approach and the comparative approach. It tackled the following issues: definition of Zakat, the channels of paying Zakat, definition of those in debts, types of those in debts, those in debts who are not entitled to take Zakat, their cases, spending money by those in debts if taken by those in debts and the poor, and when those in debts become rich before paying their debts, and the ruling on paying the debt of the dead indebted from the Zakat money.

The most important results of the research are as follows:

Muslim jurists

Summary

 Praise be to God, Lord of the Worlds, and prayers and peace be upon the Master of the Messengers, Muhammad, and upon all his family and companions.

      The circle of taboos in the Jewish Sharia is wider than other laws, as the Jews have severe and very complicated rituals in the matter of food, which may not be found among other people of other religions, as the dietary laws that specify foods and drinks forbidden in the Jewish Sharia include very diverse topics.  The Torah specified all these laws with several texts

This work falls into a two sections, and a conclusion. The first section
presents the problem of the study, its importance, methodology, and review of
literature. The poem of “?araaka ؟asiyya dam؟’ (I Found You a Tear-Refractory)
for Abi-Firaas Al-Hamdani, represents the main code of the study through which
the two researchers try to approach the stylistic and psychological studies. To
accomplish such an approach, they try to link between a group of the poet’s
psychological characteristics and another group of prominent stylistic phenomena
found in the poem. The conclusion contains the main results the two researchers
have arrived at.

The research includes a description of the controversial issues mentioned by Ibn Al-Anbari in his book between the Egyptians, Basra and Kufa. The reason for choosing the book is because it