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

This study observed the genetic diversity and relationships among 4 species belonging to genus Gladiolus L. , by using the Random  Amplified Polymorphic DNA (RAPD) technique , the study  includes extraction of genomic DNA from the dray leaves by using commercial kit . 4 random primers  used the produced of many polymorphic bands among the 4 species , it was also possible to fined the DNA fingerprint of all studied species.Through the appearance of a number of bands that were unique to each species.Genetic distances ranged from 0.10 to 0.86, and used cluster  analysis were performed to construct dendrogram.Cluster analysis grouped the 4 species Into tow main clusters depending on their ancestor and their morphological

Manipulation is a discursive concept which plays a key role in political discourse by which politicians can impose some impact on their recipients through using linguistic features, most prominent of which are personal pronouns (Van Dijk, 1995). The aim of this study is to investigate how politicians utilize the personal pronouns, namely; We and I and their possessive forms as a tool of manipulating the audience's mind based on Van Dijk's  "ideological square" which shows positive-self representation and negative-other representation (Van Dijk,1998:p.69). To this end, American President Donald Trump's 2020 State of the Union speech was chosen to be the data of analysis. Only (8)

Abstract

The research aims to demonstrate the commitment of the Federal Financial Supervisory Bureau to meet the requirements of the International Organization of Supreme Audit Institutions (INTOSAI) 3000, the general and private supervision of performance as the highest supervisory authority in Iraq, which is the only authorized to carry out the process of monitoring the performance of government work and activities. To analyze and present the results of the survey questionnaire prepared for the compliance of the Bureau with the requirements of the general and specific criteria related to the performance control process. The researcher reached a number of conclusions, the most important of which is the commitment of the

Furosemide drug determination in pharmaceutical and biological urine samples using a novel continuous flow-injection analysis technique that is simple, rapid, sensitive and economical. The complex formed by the reaction of furosemide and O-phenylenediamine with oxidative agent K₃[Fe(CN)₆] to produce an orange-yellow colored product at 460 nm was the basis for the proposed method.  The proposed method’s linearity ranges (3-100) μg.mL^-1and (1-50) μg.mL^-1 for CFIA/merging zone methods and batch .The detection limit and Limit of quantification values were 2.7502 μg.mL^-1  and 9.1697 μg.mL^-1 the relative standard deviation was 0.7143 %, and the average recovery is 98.80%

Humans knew writing and to blog motivated by the need for registration and documentation, and tried from the very beginning of research to find the most suitable material for this purpose, he used many different materials in form, nature, and composition, so it is written on the mud by the ancient Sumerian people in different forms and when the text is long Numbered as the pages of the book at the present time, this research will deal with the damage to manuscripts and then find ways to address them.

  Powder Silica (SiO2) was added to epoxy polymer with different weight percentages  (3.75,7.5,11.25 and 15 wt%) for particle size ï‚£ 63 µm. Hand lay-up method it is used to prepared (Epoxy-Silica) composite, and cutting appropriate specimens for testing. Electrical strength varies nonlinearly with specimens thickness, also decreasing with average time for the rise of voltage decreases due to electro thermal effects. Clearly, electrical strength decreases with the increase of the proportion of added silica. The hardness, tensile strength and young modulus increased with the added silica increases due to changing in material characteristics from ductility to brittle. Microscopic cracks and irregularity deformation were a

Abstract

     This research deals with Building A probabilistic Linear programming model  representing, the operation of production in the Middle Refinery Company (Dura, Semawa, Najaif) Considering the demand of each product (Gasoline, Kerosene,Gas Oil, Fuel Oil ).are random variables ,follows certain probability distribution, which are testing by using Statistical programme (Easy fit), thes distribution are found to be Cauchy distribution ,Erlang distribution ,Pareto distribution ,Normal distribution ,and General Extreme value distribution .              &

This study deals with the concepts of Colonialism and Civilization in Aimé Cesaire’s A Tempest. The concern of this study is to discuss how postcolonial writers are continually re-writing the Western canonical works as a reaction to the European cultural hegemony. The Western representations of the black are products of specific moments and developments in history and culture. A Tempest reflects a certain historical moment in the decolonization process.

A Tempest is analysed to reveal the counter literary strategy used by Aimé Cesaire, and to disclose the reasons why re-writing and writing back are considered as vital and inescapable tasks. Shakespeare’s The Tempest, which deals with the

This present work is concerned with one of the syntactic issues that has been researched by many linguists, grammarians, and specialists in Islamic studies, the estimated answer to a condition. However, this topic is researched this time by examining Imam Al-Qurtbi’s opinions in interpreting related ayas from the holly Quraan in his book (Collector of Quranic Rules) or its transliteration (Al-Jami’ Li Ahkam Al-Quran). Such a step involves commenting on, tracking what Al-Qurtbi said in this regard, discussing it from the points of view of other grammarians, and judging  it accordingly, taking into account the apparent surface structures of the examples collected. To achieve this objective, the inductive analytical approach has be