A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits:  creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends up

مشكلة البحث

       لقد حدا بالمهتمين في الميدان التربوي، والادارة التربوية بصورة خاصة، ان يجدوا علاقات ايجابية بين متغيرات الميدان التربوي عامة والاداري بصورة خاصة وقد تمخض هذا عن وجود علاقة ايجابية بين اداء المديرين ورؤساء الاقسام ودرجة التقويم، ومن هنا يتضح انه كلما كان التقويم عالياً في درجته، يتضح ان هناك اداءً فاعلاً ولكن ليس بالشكل الحقيقي لمعنى التقويم ما لم يكن هناك

Chapter One

First, the importance of research and the need for him

Highlight the status of the nation and occupies a decent position among nations by what they offer for the good of humanity and tender, which is based mainly on the human and material wealth owned by the nation.

The investment of this wealth investment scientifically accurate based on the strong foundation that qualifies them to heights of glory, so stand out necessary development of all energies Alepeshriaaly the limit can not be considered as these energies fortune unless all elements of effective elements characterized by the positive interaction in various spheres of life and in the in

      The holy city of Najaf is a vital space that helps to bring people together within a particular context, thus strengthening intellectual communication, community participation and increasing opportunities to learn about different cultures

يتناول هذا البحث اساسيات التعامل بين الرسول الأعظم r وبين المخالفين له في المعتقد، وضرورة التسامح الديني الذي أقره الاسلام وطبقه الرسول الكريم r في حياته، وعلمه لأصحابه الكرام t، وأصناف الناس الذين تعايش معهم الرسول r مدة سيرته العطرة، لاسيما الكفار وأهل الكتاب والمنافقين، مستندا إلى كتب التفسير والحديث النبوي الشريف، وقد جعل الباحث لكل منهم مبحثا مستقلا ، ثم انتهى إلى الخاتمة وأهم التوصيات .

Among the imams who honor the soil of Iraq by embracing their remains is Imam Al-Qasim Ibn al-Imam Musa Ibn Ja'far ibn Muhammad ibn Ali ibn al-Hussein ibn Ali ibn Ali ibn Abu Talib, Amir of the believers Al-Kadhim (may peace be upon him ), the mother of the sons and the mother of his brother Imam Ali ibn Musa al-Rida (may peace be upon him), buried in the Holy QOM (1)It is one of the doors of need for Shiite Muslims All the stories of imams are similar in terms of injustice

This study deals with the region of the Babylon governorate in Iraq during the Proto-Literate and Early Dynastic periods. It is the region of the well- known ancient capital Babylon. The earlier period includes Late Uruk, Jamdat nasr, and the first epoch of the Early Dynastic period. The latter includes the second and third epochs of the Early Dynastic period. The both periods had lasted more than one thousand years (3500-2334 BC

The study present a detailed description of the new violent situation that those women faced after 2003 in Iraqi society and the effect of such violence and security breaking down on minority women perception and feeling of bonding or adaptation with this society and how they look to the aaceptance of the society to them and their minority group as a whole. In addition to the impact of these social changes after 2003,on the women rights and personal freedom. One of the aims of the study is to provide data base to be used when efforts present to put a policies or programs for supporting the minority women. Another aim is to point out and define the violations commited on the rights of those women. The field survey included 2100 women from

العلوم السياسية في العراق بداياتها ، نشأتها ، تطورها ، ومفرداتها التدريسية

The development in manufacturing computers from both (Hardware and Software) sides, make complicated robust estimators became computable and gave us new way of dealing with the data, when classical discriminant methods failed in achieving its optimal properties especially when data contains a percentage of outliers. Thus, the inability to have the minimum probability of misclassification. The research aim to compare robust estimators which are resistant to outlier influence like robust H estimator, robust S estimator and robust MCD estimator, also robustify misclassification probability with showing outlier influence on the percentage of misclassification when using classical methods. ,the other