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).
Background: Morganella morganii is one of the important nosocomial pathogens that may cause urinary tract infection and bacteremia.Methods: The above bacterium was identified from 250 bacterial strains which were isolated from 220 urine samples of patients with urinary tract infection. Antimicrobial susceptibility, by using disk diffusion method, of isolates was tested against some antibiotics.Results: Two M. moganii strains were isolated from female catheterized urinary tract patients, and identified by conventional biochemical tests and API20E system at the first time in Iraq. Both of them produced urease and hemolysin. Antimicrobial susceptibility test showed that these strains are resistant to, amoxicillin-clavulanate, cephalothin, g
... Show MoreA study is made about the size and dynamic activity of sunspot using automatically detecting Matlab code ''mySS .m'' written for this purpose which mainly finds a good estimate about Sunspot diameter (in km). Theory of the Sunspot size has been described using equations, where the growth and decay phases and the area of Sunspot could be calculated. Two types of images, namely H-alpha and HMI magnetograms, have been implemented. The results are divided into four main parts. The first part is sunspot size automatic detection by the Matlab program. The second part is numerical calculations of Sunspot growth and decay phases. The third part is the calculation of Sunspot area. The final part is to explain the Sunspot activit
... Show MoreThis investigation was carried out to examine the Processing and effect of addition of different spices on the sensory and microbial properties of the Crispy Chicken . The results revealed than that of treatments 1 (without spices control) , 3 (anise ) , 4 (Thyme) , 5 (curry) , 6 (black Pepper) , 7 ( ginger) and 10 ( garlic ) gined higher score of overall acceptance than treatment 8 ( carnation ) . Did not significant difference of overall acceptance , between treatments 1 , 2 ( black seed ) , 3 , 4 , 5 , 6 , 7 , 9 ( onion ) and 10 and between treatments 2 , 8 and 9 . In regards with microbial tests showed aerobic bacteria highest numbers than adding 2, which amounted to more than 300 the unit cell bacterial cfu / ml and less numbers tha
... Show MoreIn this paper we present a method to analyze five types with fifteen wavelet families for eighteen different EMG signals. A comparison study is also given to show performance of various families after modifying the results with back propagation Neural Network. This is actually will help the researchers with the first step of EMG analysis. Huge sets of results (more than 100 sets) are proposed and then classified to be discussed and reach the final.
Petrography and physicomechanical characteristics of Iyuku granite from southwestern Nigeria were investigated. Rock and aggregate samples were obtained from five different quarry sites for thin-sectioning and physical and mechanical tests. The rock slides were subjected to petrographic analysis, while the aggregates were tested for the parameters of specific gravity (S.G), water absorption, aggregate impact value (AIV), aggregate crushing value (ACV), Los Angeles abrasion value (LAAV), and flakiness and elongation indices in accordance with the British Standards (B.S), American Standards for Testing Materials (ASTM) and Federal Ministry of Works Standards (FMWS). The petrographic, physical, and mechanical characteristics were described
... Show MoreWater is crucial for all known forms of life without providing any calories or organic nutrients, while many people, especially in developing countries, may not be able to access pure and safe drinking water. They could lose their lives or become sick because waterborne diseases could contaminate the water, and when the chemical and/or physical properties of the water are not within the national and international standards. Thus, the present study aimed to evaluate water quality of the Halabja drinking water and Sirwan river. Halabja city is located to north of Iraq, north-east of the capital Baghdad. Every week of the year 2019, apart from official holidays, water samples were collected from each of river and several areas (4-10 section
... Show MoreIn this study, crop residues from rice husks were used to enhance the properties of the prepared
wood-plastic composites (W.P.C) are made from epoxy (EP) and unsaturated polyester (UPE) at
a ratio of (50:50) and reinforced with scales in different proportions, both types are fine
(300μm≤) and coarse (300μm>). These blends were undergoing (wear, impact, hardness,
differential scanning calorimetry (DSC), and thermal conductivity) tests and the results showed
the best weight fraction. is the fine particle weight fraction at 25% and coarse at 15%, depending
on the studied tribological characteristics. The results showed by thermal properties of glass
transition temperatures (Tg). For each of the (EP,
In this paper, a single-phase boost type ac-dc converter with power factor correction (PFC) technique is designed and implemented. A current mode control at a constant switching frequency is used as a control strategy for PFC converter. The PFC converter is a single-stage singleswitch boost converter that uses a current shaping technique to reshape the non-sinusoidal input current drawn by the bulky capacitor in the conventional rectifier. This technique should provide an input current with almost free-harmonics, comply with the IEC61000-3-2 limits, and a system operates with near unity power factor. The other function of the boost converter that should be
accomplished is to provide a regulated DC output voltage. The complete designed
The biosorption of Pb (II), Cd (II), and Hg (II) from simulated aqueous solutions using baker’s yeast biomass was investigated. Batch type experiments were carried out to find the equilibrium isotherm data for each component (single, binary, and ternary), and the adsorption rate constants. Kinetics pseudo-first and second order rate models applied to the adsorption data to estimate the rate constant for each solute, the results showed that the Cd (II), Pb (II), and Hg (II) uptake process followed the pseudo-second order rate model with (R2) 0.963, 0.979, and 0.960 respectively. The equilibrium isotherm data were fitted with five theoretical models. Langmuir model provides the best fitting for the experimental results with (R2) 0.992, 0
... Show MoreBackground: Joubert syndrome (JS) is a very rare autosomal recessive disorder characterized by agenesis of cerebellar vermis, abnormal eye movements, respiratory irregularities, and delayed generalized motor development. Retinal dystrophy and cystic kidneys may also be associated with this clinical syndrome. The importance of recognizing JS is related to the outcome and its potential complications. This syndrome is difficult to diagnose clinically because of its variable phenotype. Its neuroimaging hallmarks include the characteristic molar tooth sign and bat wing-shaped fourth ventricle