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Simulation and Experimental Walking Pattern Generation for Two Types of Degrees of Freedom Bipedal Locomotion Robot
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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 robot. The results showed that this driver confirms the faster response than the Arduino microcontroller in walking the bipedal robot. The walking pattern generation results showed that the step height for 17 degrees of freedom bipedal robot increases approximately (20%) than 10 degrees of freedom bipedal robot, which decreases the step period by about (7%). Also, the time interval of the double support phase for 17 degrees of freedom bipedal robot increases approximately (11%) with decreases step length approximately (33% on X-axis) and (16% on Z-axis).  

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Effect of Gamma Rays on Some Aspects of BiologicalPerformance of Callosobrchus maculatus (Fabricius)and Trogoderma granarium (Everts).
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The effect of gamma rays on males and females ofCallasobruchus maculatus and Trogoderma granarium which were irradiated as 1-3 days old adults was investigated. The results revealed that the percent egg hatch for both pests was zero ,and average number of egg (34.2,21.5) for both pests respectively where their males where irradiated with 0.18 kGy and mated with unirradiated females. While the percent of egg hatch and the average number of egg (zero,21,3) respectively when the females where irradiated with 0.18 and 0.15 kGy and mated to unirradiated males for C. maculatus and T. granarium respectively. Furthermore, the results showed that the percent of eggs hatch and average number of egg was ( zero,22.7) for C. maculatus when both sexes i

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Publication Date
Wed Nov 28 2018
Journal Name
Iraqi Journal Of Science
Study the of effect of micro and nanoCadmium Oxide on the hardness test of (epoxy-polyurethane) blend
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This research includes using epoxy resin and polyurethane resin to form a blend (EP+PU)  with different resin ratios (90 – 10)%, (80 – 20)%, (70 – 30)%, and (60 – 40)% to achieve best ratio for impact strength as a function of better toughness; then reinforced with micro and nano (CdO) with weight fraction (0.02, 0.04, 0.06, 0.08). Mechanical properties were studied including hardness before and after exposure to UV irradiation. Results showed that the composite (nano CdO+ blend) had better properties compared with (micro CdO+ blend) composite. Also hardness show increases with increasing the weight fraction for all samples.

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Publication Date
Sun Sep 30 2007
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Removal of Emulsified Paraffine from Water: Effect of Bubble Size and Particle Size on Kinetic of Flotation
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This paper  studied  kinetics  of flotation   of  emulsified  paraffine  in  water  in  bubble  column  with  sodium .dodecylsulphate as a collector agent. The effects of oil drops and air bubble diameters on the flotation rate constant were studied. The removal rate for each oil drop size was first order with respect to oil drop concentration. An experimental procedure permitting determination of the first order rate constants for  removal due to bubble/drop interaction was developed, decreasing bubble diameter by adding NaCl and increasing oil drop diameter increased the rate constants. A comparison between the experimental and theoretical rate constants showed

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Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
Determination of Oil Biodegradation Activity of Pseudomonas aeruginosa Isolated from Soil and Molecular Detection of Responsible Genes
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This study concerns the isolation of oil degraded bacterial samples from oil polluted soil in Al-Dora refinery/ Baghdad – Iraq. Soil samples (15) were on mineral salt agar medium (MSM) used to screen the oil degrading bacteria by forming clear zones around the colonies. To confirm the degradation of oil by these bacteria, the isolates were inoculated in mineral salt broth, 15 isolates of Pseudomonas spp. was detected from which two isolates identified as P. aeruginosa by morphological, physical and biochemical characteristics that confirmed by using Vitick identification system. Growth was estimated in terms of whole cell by measuring optical density at 620 nm and free extract protein was estimated by protein measurement with Folin phe

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Publication Date
Thu Dec 31 2020
Journal Name
Political Sciences Journal
Saudi foreign policy towards the countries of the Horn of Africa Case studies of Somalia and Ethiopia
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Since the beginning of the second decade of the twenty-first century, Saudi Arabia tried to pursue an open foreign policy towards many countries in the Horn of Africa, especially with Ethiopia and Somalia, due to the geostrategic qualities that these two countries possess.Despite the development of Saudi foreign policy towards Ethiopia and Somalia, it was soon affected by the tension after the events that the Gulf states went through, that is, the Qatari crisis with Saudi Arabia,especially after most of the countries of the Horn of Africa adhered to a policy of neutrality towards the Gulf-Gulf crisis.

Thus it is expected that despite the geographical proximity and the historical, economic and political relations between Saudi Ara

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Publication Date
Sat Feb 09 2019
Journal Name
Journal Of The College Of Education For Women
The Impact of Polia Strategy in the Achievement and Retention of the Grammar of the Arabic Language
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ABSTRACT
Threw this research to the following:
1 - Know the impact of strategy Puglia in the collection of the rules of the Arabic language
students at the Institute of preparation parameters .
2 - Know the impact of the retention strategy in Puglia collection rules Arabic language
students at the Institute of preparation parameters .
To verify the status Mmermaa Find researcher Elsafreeten following two hypotheses :
1 - There is no statistically significant difference between the average score for the collection
of the fourth grade students at the Institute for the preparation of material parameters who
were studying grammar strategy Puglia and average grades collectible fourth grade
students at the Institu

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Publication Date
Mon Mar 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
The importance of measuring and accounting disclosure of intellectual capital To maximize the value of the company
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Most of the big companies and especially the intillictual ones become a ware of an important fact, and That is, The intillictual capital in new global economy, is a new source for Them & This Valuable source exceed in importance. The other company's sources.

The Traditional disclouser systemes are unable to supply the decisions makers with the Fundimental information require to handel the on going operations which are based on Knowledge and intangible source. But the measuring of this source and the disclose for it in the financial Statements will lead to gain features Statements which will benefit all the parties and lead to make the value of the company great.

And as a resul

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Publication Date
Fri Sep 01 2023
Journal Name
Iraqi Journal Of Physics
Study of the Structural, Optical, and Morphological Properties of SnO2 Nanofilms under the Influence of Gamma Rays
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This study reports the fabrication of tin oxide (SnO2) thin films using pulsed laser deposition (PLD). The effect of 60Co (300, 900, and 1200 Gy) gamma radiation on the structural, morphological, and optical features is systematically demonstrated using X-ray diffraction (XRD), field emission scanning electron microscopy (FE-SEM), atomic force microscopy (AFM), and ultraviolet-visible light analysis (UV-Vis), respectively In XRD tests, the size of the crystallites decreased from 45.5 to 40.8 nm for the control samples and from 1200 Gy to 60Co for the irradiated samples. Using FESEM analysis, the particle diameter revealed a similar trend to that attained using XRD; in particular, the average diameters were 93.8 and

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Publication Date
Fri Jun 15 2018
Journal Name
Journal Of Baghdad College Of Dentistry
Histological and histomorphometric studies of the effects of hyaluronic acid on osseointegration of titanium implant in rabbits
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Background: One of the unique prosthesis for tooth or teeth replacement is the dental implant. Our attempt is using a biomaterial system that is easily obtained and applicable and has the ability to provoke osteoinductive growth factor to enhance bone formation at the site of application. One of these natural polymers is hyaluronic acid. Material and methods: Sixty machined surface implants from commercially pure titanium rod inserted in thirty NewZealand rabbits. Two implants placed in both tibia of each rabbit. The animals scarified at 1, 2 and 4 weeks after implantation (10 rabbits for each interval). For all of animals the right tibia’s implant was control (uncoated) and the left one was experimental (coated with 0.1ml Hyaluro

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Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
Evaluation of Radiological Activity Levels and the Radiation Doses of Soil of Babylon Batteries Plant in Waziriya
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In this research measuring the radioactivity of the soil batteries plant in Waziriya in Baghdad city ,where the collection of 60 samples from different locations and depth between(10cm-50cm)by using γ-ray spectrometer technique and sodium iodide detector to measure the activityof radiation of elements radiation ,where the results showed that there are aradioctivety of natural isotopes refers to the chains of U-238and Th-232and K-40and Cs-137the results show that ahigh concentration of Pb-214,Pb-212 within the permissible internationally values ,also the valuable parameters of radium and the external and internal hazard and the dose effect where its found to be permissible internationally.

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