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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 Feb 05 2020
Journal Name
Political Sciences Journal
The Future of Palestinian identity under occupation and resistance
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Summary

The conflict between Arab and Zionist movement before 1948 was not normal dispute about certain issue or quarrel on borders, it is comprehensive conflict, this research intraduce analytical and outlook future reading about Palestine identity in time of occupation and resistance in the first studying we take the concept of identity and the fundamental relationship identity history and geography. Our research treated the contents of palest Iain and Isralian identsunder. The political, cultural and military conflict between Israil and Palestine. The research introduce analytic study of research introduce analytic study of intellectual orientation of Zionist state in order to determine the exact meaning of this identity, beca

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Publication Date
Thu Apr 18 2019
Journal Name
Iraqi Journal Of Science
Theoretical Study and Modeling of Porous Silicon Gas Sensors
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In this work ,porous silicon(PS) substrate has been used to fabricate a sensor of structures(Al/n PSi/n-Si/Al) using infrared laser in a assisting Etching process at several times (8,16,and24 min) and current density(J) of about(25mA/cm2) on silicon(Si) substrates type of n and tested for CO2 gas molecules and then modulated using MATLAB program. J-V characteristic was analyzed. Different parameter determine such as, Porosity (%), Layer thickness (%) and relative permittivity of the fabricated PS substrate. Several shape and sizes of pores were obtained from the scanning electron microscope device such as pore, rectangular and cylindrical structure for infrared illuminated (IR). The Porosity (%) and Layer thickness (%) take control on se

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Publication Date
Sun Jul 09 2023
Journal Name
Journal Of Engineering
PAPR Reduction of OFDM Signals Using Clipping and Coding
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The problem of the high peak to average ratio (PAPR) in OFDM signals is investigated with a brief presentation of the various methods used to reduce the PAPR with special attention to the clipping method. An alternative approach of clipping is presented, where the clipping is performed right after the IFFT stage unlike the conventional clipping that is performed in the power amplifier stage, which causes undesirable out of signal band spectral growth. In the proposed method, there is clipping of samples not clipping of wave, therefore, the spectral distortion is avoided. Coding is required to correct the errors introduced by the clipping and the overall system is tested for two types of modulations, the QPSK as a constant amplitude modul

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Publication Date
Sat Jun 19 2021
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Synthesis, Characterization and Antibacterial Evaluation of Some Coumarin Derivatives
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Coumarin derivatives have shown different biological activities, such as antifungal, antibacterial   antiinflammatory, and antioxidant activities, besides antibiotic resistance modulating effects, and anti-HIV, hepatoprotective, and antitumor effect. So, new coumarin derivatives (hydrazones and an amide) were synthesized through multisteps reactions. All the synthesized target compounds were characterized by FT-IR spectroscopy, 1HNMR analysis. The compounds then evaluated for their anti-bacterial activity by means of well-diffusion method against two gram-positive bacteria (Staphylococcus aureus, Streptococcus pneumoniae) and two gram-negative bacteria  (E.coli and Pseudomonas aeruginosa). The highest activity was demonstr

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Publication Date
Sun Aug 13 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Numerical Solutions of Fractional Integral and Fractional Integrodifferential Equations
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 In this paper, we introduce and discuss an algorithm for the numerical solution of some kinds of fractional integral and fractional integrodifferential equations. The algorithm for the numerical solution of these equations is based on iterative approach. The stability and convergence of the fractional order numerical method are described. Finally, some numerical examples are provided to show that the numerical method for solving the fractional integral and fractional integrodifferential equations is an effective solution method.

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Publication Date
Fri Aug 28 2020
Journal Name
Iraqi Journal Of Science
Geology and Structural Description of Shakrok Anticline; Northern Iraq
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The studied area is a part of the Arabian plate located within the High Folded Zone of the Zagros Fold-Thrust Belt in northeastern Iraq (Kurdistan Region). The Study area deals with the Shakrok Anticlines is located between Safin Mountain and Sork Mountain. These structures are formed during the Alpine Orogeny in Cretaceous-Tertiary period. Generally, the folded structures are trending NW-SE direction which is parallel to the main Zagros Orogenic trends.

The exposed stratigraphic succession of the studied area that represented by 4 formations deposited from the Early Cretaceous which are Shiranish, Aqrah, Bekhme and Qamchuqa formations. Shakrok Anticline are asymmetrical, double plunging and verging toward northeast. This establi

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Publication Date
Mon Feb 13 2023
Journal Name
Journal Of Educational And Psychological Researches
Empathy of University Students with Gender and Specialization Variables
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Abstract

This study aims to identify the empathy of University Students, as well as the significant differences in sympathy in terms of gender and specialization. To achieve the aims of the study, a scale of empathy was administered to a sample of (450) students collected randomly from Baghdad university. The results showed that the study sample has a level of empathy. There is a significant difference between males and females in empathy, in favor of the female students. There is no significant difference in empathy in terms of specialization (scientific, humanities), and the interaction between males and females. The study came out with a number of recommendations and suggestions. 

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Publication Date
Thu Jun 25 2020
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Formulation and In-vitro Evaluation of Itraconazole Floating Microparticles
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Itraconazole (ITZ) is an antifungal drug (BCSII) used for the treatment of local and systemic fungal infections. Furthermore, ITZ used as an antifungal prophylaxis for immunocompromised patients.

The objective of the study is to overcome the two problems of low and pH dependent solubility of ITZ by its preparation as floating microparticles.

Firstly, pH-dependent floating microparticles were prepared using oil in water solvent evaporation method, from which the best one (F7) selected as a best pH-dependent formula with composition of   ITZ (200mg),EC (800mg), HPMC 15cps (200mg) and safflower oil (2ml) .Then, F7 was compared with the selected Relatively pH-independent ITZ floating microparticles formula  wit

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Publication Date
Mon Oct 01 2012
Journal Name
Iraqi Journal Of Physics
Structural and electrical properties of CdO/porous-Si heterojunction
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The electrical properties of CdO/porous Si/c-Si heterojunction prepared by deposition of CdO layer on porous silicon synthesized by electrochemical etching were studied. The structural, optical, and electrical properties of CdO (50:50) thin film prepared by rapid thermal oxidation were examined. X-ray diffraction (XRD) results confirmed formation of nanostructured silicon layer the full width half maximum (FWHM) was increased after etching. The dark J-V characteristics of the heterojunction showed strong dependence on etching current density and etching time. The ideality factor and saturation current of the heterojunction were calculated from J-V under forward bias. C-V measurements confirmed that the prepared heterojunctions are abrupt

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Publication Date
Wed Apr 20 2022
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Study of Fuzzy σ-Ring  and Some Related Concepts
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This paper introduces the concept of fuzzy σ-ring as a generalization of fuzzy σ-algebra and basic properties; examples of this concept have been given.  As the first result, it has been proved that every  σ-algebra over a fuzzy set x*  is a  fuzzy σ-ring-over a fuzzy set x*  and construct their converse by example. Furthermore, the fuzzy ring  concept has been studied to generalize fuzzy algebra and its relation. Investigating  that the concept of fuzzy  σ-Ring is a stronger form of a fuzzy ring  that is every fuzzy σ-Ring over a fuzzy set x* is a fuzzy ring over a fuzzy set x* and construct their converse by example. In addition, the idea of the smallest, as an important property in the study of real analysis, is studied

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