Calculating the Inverse Kinematic (IK) equations is a complex problem due to the nonlinearity of these equations. Choosing the end effector orientation affects the reach of the target location. The Forward Kinematics (FK) of Humanoid Robotic Legs (HRL) is determined by using DenavitHartenberg (DH) method. The HRL has two legs with five Degrees of Freedom (DoF) each. The paper proposes using a Particle Swarm Optimization (PSO) algorithm to optimize the best orientation angle of the end effector of HRL. The selected orientation angle is used to solve the IK equations to reach the target location with minimum error. The performance of the proposed method is measured by six scenarios with different simulated positions of the legs. The proposed

Contents IJPAM: Volume 116, No. 3 (2017)

Rhizobium bacteria was isolated from the root nodules of Medicago sativa plants and, based on morphological and some biochemical properties, it was characterized as Sinorhizobium meliloti. We studied the ability of this isolate, as well as that of Agrobacterium rhizogenes R1601, to produce the auxin  indole acetic acid (IAA). For purposes of control, both isolates, in the absence of tryptophan-L, were similarly tested. The identification of IAA was achieved by checking the colour reactions with Salkowski’s reagent. Low amounts (23, 69 and 26,77 µɡ/ml) of IAA were produced by S.meliloti and A.rhizogenes after 24 and 72 hours of incubation, respectively. S.meliloti was

In every system of security, to keep important data confidential, we need a high degree of protection. Steganography can be defined as a way of sending confidential texts through a secure medium of communications as well as protecting the information during the process of transmission. Steganography is a technology that is used to protect users' security and privacy. Communication is majorly achieved using a network through SMS, e-mail, and so on. The presented work suggested a technology of text hiding for protecting secret texts with Unicode characters. The similarities of glyphs  provided invisibility and increased the hiding capacity. In conclusion, the proposed method succeeded in securing confidential data and achieving high p

In this paper the wind data that is measured for 12 months (January to December 2011) at Al-Hay district of Wasit province, southern IRAQ country has been analyzed statistically. The wind speed at heights of 10 m above ground level was measured for every 10 minutes interval. The statistical analysis of wind data was performed using WAsP software which is based on Weibull distributions. The Weibull shape and scale parameters is obtained and used in this paper statistics. The achieved results demonstrated that the study area has Annual Mean Energy Production (AMEP) about 219.002 MWh. The computations have been performed on 70m hub‟s height of the turbine and on Earth surface roughness length (0.0, 0.03, 0.1, 0.4, 1.5) m respectively.

In this paper we investigate the automatic recognition of emotion in text. We propose a new method for emotion recognition based on the PPM (PPM is short for Prediction by Partial Matching) character-based text compression scheme in order to recognize Ekman’s six basic emotions (Anger, Disgust, Fear, Happiness, Sadness, Surprise). Experimental results with three datasets show that the new method is very effective when compared with traditional word-based text classification methods. We have also found that our method works best if the sizes of text in all classes used for training are similar, and that performance significantly improves with increased data.

We try through this research to show the relationship between the crescent and the month in the Koran, and then their importance and their relationship to timing, and the timing of this relationship with people, and the significance of these timings, so we gathered verses that spoke about the family and the month, and we tried to study them in a detailed objective study, so this came The research of five subjects was the first topic introductory research and the time and month, while the remaining four detectives on the verses that talked about the timing of the month, and we have explained the relationship of this timing with people and the significance of these times.

The present study investigated the use of pretreated fish bone (PTFB) as a new surface, natural waste and low-cost adsorbent for the adsorption of Methyl green (MG, as model toxic basic dye) from aqueous solutions. The functional groups and surface morphology of the untreated fish bone (FB) and pretreated fish bone were characterized using Fourier transform infrared (FTIR), scanning electron microscopy (SEM) and Energy dispersive X-ray spectroscopy (EDS),respectively. The effect of operating parameters including contact time, pH, adsorbent dose, temperature, and inorganic salt was evaluated. Langmuir, Freundlich and Temkin adsorption isotherm models were studied and the results showed that the adsorption of basic dye followed Freundlich iso