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 rob

Recent studies agree that the democratic system in a country can only be established in an atmosphere of political and religious freedom. However, the term democracy and the term freedom have become controversial because their concepts remain multiple and different. Karl Popper is one of the most prominent philosophers in modern Western political thought, and one of the defenders of democracy as opposite to dictatorship. It has defined its function by its ability to restrain the ruling elite and to enforce it to prevent their tendency to tyranny. This can be achieved only in the context of the close relationship between democracy and freedom, so, if there is democracy in the absence of absolute freedom, democracy is a gateway to expandin

The current study focuses on the assessment of pollution indicators and health risks of heavy elements in the surface soil of Samarra City. Twelve soil sample collected from different sites in Samarra City, analysis of soil sample to find the heavy metals concentrations  which As, Br, Co, Cr, Cu, Mn, Mo, Ni, Pb, Sn, V, Zn, Zr, U, B, Cd, Hg, Th, Ce, La, Th, B, Ba .The results are compared with limit of world standard (12). The higher values which refer to pollution in heavy metal are  Cr, Cu, Ni, Zn, Zr, Cd due to industry activity and Hg higher concentration because of Pharmaceutical Industries and Medical Waste . The high concentration in V, Br, Mo, Se, As  because of agriculture activity. The enrichment factor calculated

Background: human paillomavirus infections (genital warts) are the most frequent sexually transmitted viral infections. a wide range of treatment options is available with different efficacy.

Objective: To evaluate the efficacy of podophyllin, trichloracetic acid (TCA) in the treatment of genital warts and side effects of them.

Subjects and methods: a total of sixty patients with genital warts were randomly selected, 30 in each group, in the Department of Dermatology, medical city for a Duration of 11 months from January 2009 to December 2009 treated with 35 % podophyllin in the tincture of benzoin or 50%  TCA) .Forty-eight patients were followed up for three months.

Results: wart

This research paper is about synoptic climate specifically with in the upper air layers
using upper air layers maps analysis which are maps of thickness for the level 1000 – 500
MB, that their high average ranges between 100 – 5600 M above surface. This research paper
focuses on studying special and temporal variations of the atmosphere thickness above Iraqaccording
to this study, it is concluded that atmosphere thickness above Iraq increases
towards south with an average of 100 M as compared with north of Iraq. Regarding the
temporal variations, it is concluded that atmosphere thickness during hot months. In July, for
example, the atmosphere thickness becomes thicker than in January with an average of
(250)M

     In this paper, a Monte Carlo Simulation technique is used to compare the performance of MLE and the standard Bayes estimators of the reliability function of the one parameter exponential distribution.Two types of loss functions are adopted, namely, squared error  loss function (SELF) and modified square error loss function (MSELF) with informative and non- informative prior. The criterion integrated mean square error (IMSE) is employed to assess the performance of such estimators .

In the present work, a series of new bis cyclic imides (pyromellit imides) linked to different nitrogen heterocycles namely (pyridine, pyrimidine, phenazone and quinoline) was synthesized.
Synthesis of the new imides was performed via two steps in the first one a series of bis amic acids (pyromellit amic acids) was synthesized via reaction of pyromellitic anhydride with variety of nitrogen heterocyclic primary amines while in the second step the prepared bis amic acids were dehydrated via treatment with acetic anhydride and anhydrous sodium acetate affording the desired imides.
The prepared bis Imides were screened for their antimicrobial activity against many types of bacteria and fungi and the results indicated that they possess

This present work adopts the analytic and descriptive methodology to  recognize and analyze the major challenges faced by the Iraqi government. The study focuses on the press and national partiers’ cabipility of changing and unifying the opinions of the public in a way that serves the Iraqi interest, taking into account the fact that the press is the fourth authority after the three major authorities, (Executive, Legislation and Judicial). The researcher has concluded that the Iraqi press and parties initiated a national front with the Iraqi people against the government’s signature of the treaty of (1930). The national front illustrated that signing the treaty strengthens the authority of the British occupation u