Humanoids or bipedal robots are other kinds of robots that have legs. The balance of humanoids is the general problem in these types when the other in the support phase and the leg in the swing phase. In this work, the walking pattern generation is studied by MATLAB for two types of degrees of freedom, 10 and 17 degrees of freedom. Besides, the KHR-2HV simulation model is used to simulate the experimental results by Webots. Similarly, Arduino and LOBOT LSC microcontrollers are used to program the bipedal robot. After the several methods for programming the bipedal robot by Arduino microcontroller, LOBOT LSC-32 driver model is the better than PCA 96685 Driver-16 channel servo driver for programming the bipedal walking rob

The study explores the use of ergative verbs in constructing clauses and their impact on the backgrounding of the agent's role in two selected short stories. Contrary to hypothesis No. 1, the research indicates that changes in sentence patterns don't affect the meaning of the process. Additionally, hypothesis No. 2 is refuted as the middle structure is found to highlight the agent's role in the science fiction short story, Terra Infirmum, rather than concealing it as hypothesized for "The Invisible Man." The analysis uncovers that writers utilize ergative processes to narrate stories in various ways, including transitive/active voice, intransitive/active voice, and transitive/passive voice. Furthermore, the findings suggest that writers emp

During the winter, in the industry region (Shaikh Omer) and by applying a passive radon detector (CR-39), lung cancer risk has been measured in twelve rooms of different workshops of two old factories in this site. The radon concentration is ranged from (123.345 Bq/m³) to (328.985 Bq/m³) with an average of (244.19±61.52 Bq/m³). Lung cancer risk ranged from 55.993 to 149.346 per million people and with an average of (110.855 per million people) which were lower than the recommended values (170-230 per million people), so there was no cancer risk on workers in these locations.

Cryptosporidium is a protozoan parasite of medical and veterinary significance that causes gastroenteritis in a number of vertebrate hosts. Several studies have recorded different degrees of pathogenicity and virulence among Cryptosporidium species and isolates of the same species as well as evidence of variation in host susceptibility to infection. Nevertheless, important progress has been made in determining Cryptosporidium's putative virulence factors. Since the publication of C parvum and C. Hominis this development has been accelerated genomes, identified by a range of immunological and molecular techniques with the characterization of over 25 putative virulence factors, which are proposed to be involved in aspects of host-pat

The method of heavy metals deposition which is based on cobalt in detection of Carbonic anhydrase enzyme in the Sulcus median in the hid brain (fourth ventricle) in the adult white rat (Rutts rutts). An essential amended in the method has been done by using cobalt chloride (CoCl2) instead of cobalt phosphate (Co3(PO4)2) in the reaction medium. Any efficacy of enzymic histochemical for carbonic anhydrase enzyme did not show in histological sections. The floor of the fourth ventricle of the brain is specific, clearly any histochemical reaction sediments have not been found in sulcus median of the floor of the fourth ventricle. The corresponding stain to green methyl which was observed clearly in sulcus median region. The ventral surface of

The Skyrme–Hartree–Fock (SHF) method with MSK7 Skyrme parameter has been used to investigate the ground-state properties for two-neutron halo nuclei 6He, 11Li, 12Be and 14Be. These ground-state properties include the proton, neutron and matter density distributions, the corresponding rms radii, the binding energy per nucleon and the charge form factors. These calculations clearly reveal the long tail characterizing the halo nuclei as a distinctive feature.

This study Achieved to search form the infections by Cholera and Diarrhea in two different areas from the side of Cultural, Social, Economical and Environmental field in Baghdad governorate, during a period from 3/10 – 3/12/2007.these were in Obiady city and Palestine street. This study included groups of patients who went to the Kindy Hospital lab. The researcher use a sample of (300) persons of different ages with range (150) persons in each city from the study city, in this study show a great different in the percentage of infection by parasites, helminthes, viruses, bacteria and vibrio cholera in the two city according to age groups, reach upper percentage by infection in age (1-10) years in Obiady city with percent (57.5 %) wh

 Five fish species were collected from Tigris river at Al-Adhamiyah region, Baghdad during the period from September to December 2011. These fishes were examined for ectoparasites. They were infected with 13 species of parasites which included one species of ciliated protozoans and 12 species of monogeneans. Among such parasites, Ligophorus imitans Euzet et Suriano, 1977 is reported for the first time in Iraq. In addition, eight new host records in Iraq were reported in the present study.