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).
Biosensor is defined as a device that transforms the interactions between bioreceptors and analytes into a logical signal proportional to the reactants' concentration. Biosensors have different applications that aim primarily to detect diseases, medicines, food safety, the proportion of toxins in water, and other applications that ensure the safety and health of the organism. The main challenge of biosensors is represented in the difficulty of obtaining sensors with accuracy, specific sensitivity, and repeatability for each use of the patient so that they give reliable results. The rapid diversification in biosensors is due to the accuracy of the techniques and materials used in the manufacturing process and the interrelationshi
... Show MoreIn this work, silver (Ag) self-metallization on a polyimide (PI) film was prepared through autocatalytic plating. PI films were prepared through the solution casting method, followed by etching with potassium hydroxide (KOH) solution, sensitization with tin chloride (SnCl2), and the use of palladium chloride (PdCl2) to activate the surface of PI. Energy-dispersive X-ray analysis (EDX) showed the highest peak in the (Ag) region and confirmed the presence of AgNPs. The diffraction peaks at 2θ = 38.2°, 44.5°, 64.6°, and 78.2° represented the 111, 200, 220, and 311 planes of Ag, respectively. The FT–IR an
... Show MoreThe research aims to identify the effect of applying administrative decentralization to an educational performance by assessing educational performance before and after the process of transferring powers from the federal government (the Iraqi Ministry of Education) to local governments (governorates) as well as identifying the appropriate central or decentralized administrative system to advance the educational reality and performance. To achieve the goal of the research, educational data was collected and analyzed, as well as the measurement of educational performance indicators and analysis during two phases, the first represents the stage of applying the central system and spanned between the academic year (2011-2012) and the
... Show MoreThe corrosion behavior and corrosion inhibition of α-brass (65.3% Cu, 34.4% Zn and others 0.3%) in 0.6 mol.dm-3 NaCl solution have been investigated using potentiostatic polarization technique, the main results obtained were expressed in terms of corrosion (Ec) and corrosion current (ic). The research was performed in neutral and slightly acidic media [pH=7 and pH=4] over the temperature range (288-318)K. It was found that the rate of corrosion increases with the increase of acidity and the increase of temperature. The rate of corrosion increased with the increase of temperature in conformity with Arrhenius equation. Values of activation energy (Ea*), pre-exponential factor (A) and entropy of activation (∆S*) have been derived f
... Show MoreIn this paper,a prey-predator model with infectious disease in predator population
is proposed and studied. Nonlinear incidence rate is used to describe the transition of
disease. The existence, uniqueness and boundedness of the solution are discussed.
The existences and the stability analysis of all possible equilibrium points are
studied. Numerical simulation is carried out to investigate the global dynamical
behavior of the system.
Background:Image guided transthoracic needle biopsy (TTNB) has great diagnostic value for the definitive characterization of lung lesions and is an established primary procedure to diagnose pulmonary nodules. It is traditionally performed as an outpatient procedure. It is safe, accurate, sensitive, and can obviate surgical procedure.
Objective: to assess the accuracy and safety of CT-guided TTNB in Baghdad Teaching Hospital
Patients & Methods: From December 2009 to September 2011, we conducted a prospective study of 43 consecutive outpatient and inpatient lung biopsies. An informed consent was obtained from the patients. No sedation is required. All biopsies were performed using CT guidance withou
Many clinical isolates of proteus spp. (30 isolates of P
mirabilis and 30 isolates of P. vulgaris) from patients with urinary
tract infections (UTIs) were examined for their ability to produce
proteolytic enzymes and their ability to form swarming growth. Most
(90%) of P. mirabilis and 60% of P. vulgaris isolates secreta
proteolytic enzymes. A strong correlation was found between the
ability of a strain to secreted proteases and it's ability to form
swarming growth. Non- swarming isolates invariably appeared to be
non- proteolytic. However, some isolates (12 isolates of P. vagaries)
were non- proteolytic even when they formed swarming growth
There are no single materials which can withstand all the extreme operating conditions in modern technology. Protection of the metals from hostile environments has therefore become a technical and economic necessity.
In this work, for enhancing their wear-resistance, boride layers were deposited on the surface of low carbon steel by a pack cementation method at 850 °C for (2, 4, and 6) h using vacuum furnace. The boronizing process was achieved using different concentration of boron source (20, 25, and 30) % wt. into coating mixture to optimize the best conditions which ensure the higher properties with lower time. The coating was characteristic by X ray diffraction (XRD), and it is confirmed t
... Show More