Abstract

Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each

This research highlights one of the most important issues that have been controversial between Islamic schools, which is the duality of Intellect  and Revelation and the nature of their relationship, in two core points:

The first point: Could there be a real conflict between Intellect  and revelation? While the school of hadith view that this assumption is a rational assumption that does not real as long as the revelation is correct and the Intellect  is clear, and that what is claimed are due to other Intellect s, we find that the Ash’ari school adopts the saying that the real conflict may occur, but rather confirms its occurrence.

The second point: For whom is the priority, for the Intellect  or th

      This study aims to classify the critical points of functions with 4 variables and 8 parameters, we found the caustic for the certain function with the spreading of the critical points. Finally, as an application, we found the bifurcation solutions for the equation of sixth order with boundary conditions using the Lyapunov-Schmidt method in the variational case.

In this study, the thermal buckling behavior of composite laminate plates cross-ply and angle-ply all edged simply supported subjected to a uniform temperature field is investigated, using a simple trigonometric shear deformation theory. Four unknown variables are involved in the theory, and satisfied the zero traction boundary condition on the surface without using shear correction factors, Hamilton's principle is used to derive equations of  motion depending on a Simple Four Variable Plate Theory for cross-ply and angle-ply, and then solved through Navier's double trigonometric sequence, to obtain critical buckling temperature for laminated composite plates. Effect of changing some design parameters such as, ortho

   Asphaltenes are a solubility class described as a component of crude oil with undesired characteristics. In this study, Sharqy Baghdad heavy oil upgrading was achieved utilizing the solvent deasphalting approach as asphaltenes are insoluble in paraffinic solvents; they may be removed from heavy crude oil by adding N-Hexane as a solvent to create deasphalted oil (DAO)of higher quality. This method is known as Solvent De-asphalting (SDA). Different effects have been assessed for the SDA process, such as solvent to oil ratio (4-16/1 ml/g), the extraction temperature (23 ºC) room temperature and (68 ºC) reflux temperature at (0.5 h mixing time with 400 rpm mixing speed). The best solvent deasphalting results were obtained at room temp

There are many factors effect on the spread of infectious disease or control it,
some of these factors are (immigration and vaccination). The main objective of this
paper is to study the effect of those factors on the dynamical behavior of an SVIR
model. It is assumed that the disease is spread by contact between members of
populations individuals. While the recovered individuals gain permanent immunity
against the disease. The existence, uniqueness and boundedness of the solution of
this model are investigated. The local and global dynamical behaviors of the model
are studied. The local bifurcations and Hopf bifurcation of the model are
investigated. Finally, in order to confirm our obtained results and specify t

Background:Oriental sore occurs mostly in the
mediteranian region , North Africa ,and the Middle East .
Rodents are the main reservoir for the parasite . The wet
type caused by L. major is rural and the dry type caused by
L. tropica is urban and humans are presumably the only
reservoir. Sand fly vectors are involved in all forms.
Objectives: This study aimed to show the most
important bacterial infections concomitant with cutaneous
leishmaniasis .
Methods; The study was performed on 75 patients (ages
1-50 years ) from both sexes were attending Skin Diseases
Department of Ramadi General Hospital during the period
extended from January to June 2000. These patients were
clinically diagnosed as patients

            Spectrophotometric method was developed for the determination of copper(II) ion. Synthesized (2,2[O-Tolidine-4,4-bis azo]bis[4,5-diphenyl imidazole]) (MBBAI) was used as chromogenic reagent at pH=5. Various factors affecting complex formation, such as, pH effect, reagent concentration, time effect and temperature effect, have been considered and studied. Under optimum conditions concentration ranged from (5.00-80.00) µg/mL of copper(II) obeyed Beer`s Low. Maximum absorption of the complex was 409nm with molar absorpitivity 0.127x10⁴ L mol^-1 cm^-1. Limit of detection(LOD) and Limit of quantification were 1.924 and 6.42 μg/mL, respectively.

In this paper we introduced a new class of - called - and study their basic properties in nano topological spaces. We also introduce -closure and -interior and study some of their fundamental properties.

In this paper, we proposed a new class of weighted Rayleigh distribution based on two parameters, scale and shape parameters which are introduced in Rayleigh distribution. The main properties of this class are investigated and derived.