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 upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.
ABSTRACT This paper has a three-pronged objective: offering a unitary set of semantic distinctive features to the analysis of nominal “hatred synonyms” in the lexicon of both English and Standard Arabic (SA), applying it procedurally to test its scope of functionality crosslinguistically, and singling out the closest noun synonymous equivalents among the membership of the two sets in this particular lexical semantic field in both languages. The componential analysis and the matching procedures carried have been functional in identifying ten totally matching equivalents (i.e. at 55.6%), and eight partially matching ones (i.e. at %44.4%). This result shows that while total matching equivalences do exist in the translation of certain Eng
... Show MorePre-breakdown phenomenon was investigated within the two, non-mixed dielectric liquids; transformation oil and cresol. Finite element technique was used to follow the initiation and growth of plasma channels (streamer discharge) within pin-plane configuration. That was done for different spacing between the pin-electrode and the liquid-liquid interface. Streamer growth model assumed that, the streamer initiation occurs at the region of the highest value of electric field. Our study shows that the streamer initiates at the tip of the pin and growths toward the other electrode. The study shows, too, that the streamer path controlled by the difference of permittivity of the two liquids and spacing distance of the liquid-liquid interface fro
... Show Moreتحليل الأخطاء الصوتية في بعض كتب اللغة الروسية الدراسية
Wielands Hauptwerk die Geschichte des Agathon (1766/73,1794) ist
der wichtigste Roman der Aufklärungsepoche (1720-1785). Die Verlegung der
Handlung in die Antike widerspiegelt die kulturelle Blüte der vorbildhaften Zeit
zwischen 5. und 4. Jhd. v. Chr.
Beim Lesen des Romans findet man unzählige (über 70) Namen aus der
Antike; von Herrschern, Strategen, Philosophen, Dichtern, Künstlern . . . etc,
woüber man unbedingt informiert werden muss, um deren Zusammenhang in der
Geschichte zu verstehen. Vorübergehend erwähnte Personennamen gibt Wieland
meistens als Beispiel für eine Situation oder ein Verhalten. Dies gab mir den
Anstoß, die wichtigsten Figuren
... Show Moreبكل تواضع، نقدم لكم هذا الكتاب بعنوان "الصحة النفسية في عصر التكنولوجيا: تحليل للتحديات والفرص المتاحة". يسعى الكتاب إلى إلقاء الضوء على العلاقة المعقدة بين عالمنا الرقمي المتنامي وصحة عقولنا وقلوبنا. نعيش في زمن يشهد تغييرات كبيرة نتيجة التقدم التكنولوجي، حيث أصبحت الأدوات الرقمية جزءًا أساسيًا من حياتنا اليومية، تؤثر في أساليب تواصلنا، تعلمنا، وتفاعلنا مع محيطنا. لذا، يصبح من الضروري فهم تأثير هذه التقنيا
... Show MoreThe trading banks in Iraq invest their funds according to regulations imposed by the Central Bank in Iraq in different financial fields like stock exchanges, acquire stocks as assets that could be sold at any time as well as make loans and contributing in corporations establishment also magnitude foreign capital through direct contacts with foreign exchange markets.
We can summarize the problem of this paper as shortage in mathematical models that used in studying and analyzing these investments and according to this problem we used (a constructed mathematical model ) consists of three major indicators: profitability of total investment assets which is divided into three sub-indicators: owners equity risk indicator, debits risk i
... Show MoreFind a study in the relationship between geography and medicine and a variety of sources, this study multiple. Valjgraveh is the image of the earth recipe haunted them and which of the seven regions and seas and mountains, prairies, rivers and cities geographical study of the Earth as the abode of the person or is the study of the natural environment of the human race and the geographical that analyzes the different factors that make up the natural environment and examines the impact of each factor separately and then the effects of all factors combined to human life and health and activity.
من المؤسف حقا ان نجد أنفسنا نعيش في ظروف عصيبة لم تشاهده أعيننا ولم تطرأ على مسامعنا من قبل، وجاء الاحتلال البغيض بكل تبعاته السلبية افرز عنه اليوم تفرقاً ملحوظا وصراعا اليماً وتناحراً أضر بمكانتنا ووحدتنا، ولنا في كل يوم مصيبة وعويل، حتى صارت عبارة عن مذاهب وطوائف وأشخاص، تتنازعهم الأهواء والخرافات والتقليد والتعصب وأمراض أخرى، وباتت تلك الأشلاء يلعن بعضها بعضاً وينفي أحدها الآخر.
وص
... Show MoreProvisions and controls on the disposal of public funds between Sharia and law
Research Summary
That money is the foundation of life and one of the most important reasons for the reconstruction of the land, and God is the owner
The real value of this money, God has borrowed some individuals on public money, and people
They are charged with preserving it, since it is beneficial to them all, without anyone taking it
To himself, and the guardian is charged by God to protect this money and aggression
Because of its power, authority, various organs and public servants of the province
Upon him; Because the assault on public money by employees and others in the organs of the state
And exploitation of their jobs and this
In this paper, a theoretical study of the energy spectra and the heat capacity of one electron quantum dot with Gaussian Confinement in an external magnetic field are presented. Using the exact diagonalization technique, the Hamiltonian of the Gaussian Quantum Dot (GQD) including the electron spin is solved. All the elements in the energy matrix are found in closed form. The eigenenergies of the electron were displayed as a function of magnetic field, Gaussian confinement potential depth and quantum dot size. Explanations to the behavior of the quantum dot heat capacity curve, as a function of external applied magnetic field and temperature, are presented.