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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
Fri Oct 14 2016
Journal Name
International Journal For Computational Methods In Engineering Science And Mechanics
Simultaneous determination of time-dependent coefficients and heat source
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Publication Date
Sun Dec 30 2012
Journal Name
College Of Islamic Sciences
Profiles of indignation and indiscretion in pre-Islamic poetry
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Profiles of indignation and indiscretion in pre-Islamic poetry

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Publication Date
Fri Feb 08 2019
Journal Name
Journal Of The College Of Education For Women
Dialectical perspective and treatment in poetry of Khalil Hawi
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Were not experience Khalil Hawi capillary module as presented or routine in the format
of the implications , but was saturated transitions quality that targeted built by visionary and
mechanisms expressive , Valgosaidp when the container is a clash between two worlds world
Nahdi to promote world on the ashes , and often strained poet himself to achieve an approach
between worlds , and in the midst of those caesarean section exhausted poet in touch his tools
and visions , and this is why the poetry Hawi toward westernization expressive as a result of
the conflict concepts chronic , be sure to researcher not engaged in the overall qualitative
changes in the structure and content, but the goal Acetknah level that qualit

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Publication Date
Sun Aug 06 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Ultrasonic and Viscosity Studies of Poly ( Acrylic Acid ) Solutions
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Ultrasonic absorption, velocity, viscosity, adiabatic compressibility, relaxation time and relaxation amplitude measurements are reported on different concentrations of poly(acrylic acid) solutions in common solvent water using pulsed ultrasonic apparatus technique operating at 26 kHz and 30 ºC. Results show an increase of velocity, viscosity, and absorption coefficient ،relaxation time and relaxation amplitude values with the increasing concentrations of the poly(acrylic acid) solutions, which might be the result of structural fluctuations of polymer molecules such as the segmental motions of the polymer chains. In contrast the compressibility decreases with the increasing concentration of this polymer. This study suggests there i

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Publication Date
Sun Feb 10 2019
Journal Name
Iraqi Journal Of Physics
Mechanical and thermal properties of cockles shell cementing material
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Mortar of ordinary Portland cement was blended with cockles shell
powder at different weight ratios to investigate the effect of powder
admixture on their strength and thermal conductivity. Results showed
that addition of cockles shell powder at 50% of mortar weight
improves hardness and compressive strength notably and reduces the
thermal conductivity of the end product. Results suggest the
possibility to incorporate cockles shell powders as constituents in
cement mortars for construction and plastering applications.

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Publication Date
Sun May 26 2024
Journal Name
Arab World English Journal For Translation And Literary Studies
Google and Legal Translation: The Case Study of Contracts
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In recent years, the need for Machine Translation (MT) has grown, especially for translating legal contracts between languages like Arabic and English. This study primarily investigates whether Google Translator can adequately replace human translation for legal documents. Utilizing a widely popular free web-based tool, Google Translate, the research method involved translating six segments from various legal contracts into Arabic and assessing the translations for lexical and syntactic accuracy. The findings show that although Google Translate can quickly produce English-Arabic translations, it falls short compared to professional translators, especially with complex legal terms and syntax. Errors can be categorized into: polysemy,

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Publication Date
Fri Dec 08 2023
Journal Name
Iraqi Journal Of Science
Extraction, purification and characterization of lipoxygenase from Pleurotus ostreatus.
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Lipoxygenase was extracted from the cup of Pleurotus ostreatus ( Jaq : Fr ) oyster mushroom for the first time in Iraq, and purified homogeneously through precipitation with 40% saturation of (NH4)2SO4 as a partial purification then loaded on DEAE-Cellulose (Diethyl amino ethyl Cellulose) ion-exchange chromatography column and then the highly active elution parts have been passed through gel filtration column with Sephacryl S-300 as a final purification with 804 (U/mg protein) specific activity, 11.32 fold of purification and 36.54% yield . The molecular weight of the enzyme was estimated to 74 KDa by gel filtration Sephacryl S-300 column and the isoelectric point for enzyme was 5.3. The optimal pH for lipoxygenase activity and stability

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Publication Date
Mon Jun 30 2003
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Extraction and Purification of Magnesium Sulphate from Iraqi Dolomite
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Publication Date
Sun Aug 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Temperature and Doping Dependencies Junction Of Polythiophene Schottky Barrier
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 The junction between  polythiophene,  a conducting  polymer formed by  electrochemical polymerization,  and n-type silicon was  studied the temperature and doping dependencies were observed in the junction characteristics. The increase of junction  temperature leads to increase the saturation current, the barrier height, and decrease of the ideality factor for  junction. While the reduction in doping concentration causes a decrease  in the forward current. The results were  explained  according to the conventional  Schottky diode theories. 

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Publication Date
Sat Dec 30 2023
Journal Name
Iraqi Journal Of Science
Review of Automatic Speaker Profiling: Features, Methods, and Challenges
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Automatic Speaker Profiling (ASP), is concerned with estimating the physical traits of a person from their voice. These traits include gender, age, ethnicity, and physical parameters. Reliable ASP has a wide range of applications such as mobile shopping, customer service, robotics, forensics, security, and surveillance systems.  Research in ASP has gained interest in the last decade, however, it was focused on different tasks individually, such as age, height, or gender. In this work, a review of existing studies on different tasks of speaker profiling is performed. These tasks include age estimation and classification, gender detection, height, and weight estimation This study aims to provide insight into the work of ASP, available dat

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