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Creeping Gait Analysis and Simulation of a Quadruped Robot
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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.

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Publication Date
Sun Jan 01 2017
Journal Name
Kufa Journal For Nursing Sciences
Effectiveness of Simulation Techniques on the Nursing Students Knowledge toward Cardiopulmonary Resuscitation for Adults at College of Nursing/University of Baghdad
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MM Abdulwahhab, kufa Journal for Nursing sciences, 2017 - Cited by 1

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Publication Date
Wed Sep 01 2010
Journal Name
Journal Of Economics And Administrative Sciences
التحليل الاحصائي لتجارب القياسات المكررة للبيانات المصنفة في حالة معالجتين وثلاث معالجات
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من اهداف بعض التجارب هي معرفة تاثير التسلسلات المختلفة لبعض الادوية او التغذية او تجارب التعلم. وفي بعض الاحيان قد تكون الوحدات التجريبية نادرة لهذا نقوم باستخدام الوحدات التجريبية على نحو متكرر. او بسبب الميزانية المحدودة فان صاحب التجربة يخضع كل وحدة تجريبية لاختبارات عديدة ويطلق على هذا النوع من التجارب التي يتم فيها استخدام الوحدات التجريبية (الاشخاص) Subject على نحو متكرر

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Publication Date
Mon Dec 01 2014
Journal Name
Journal Of Economics And Administrative Sciences
Using Earned Value Method in Project Control Applied research
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   There is no doubt that the project control function is very important for administration, so the project Management depends on to monitor and control the project. The project control integrated to the planning which is the base of the administration functions; planning, organizing, directing, and controlling. Without project control cannot be insure to fulfill the plan of the project by the budget and specified time. The project management apply many methods of control to achieve the goals of project which are cost, time, and required specifications. Earned Value Management one of control methods that used in the project by international companies.

Earned Value Method is used in the project o

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Publication Date
Sat Oct 27 2018
Journal Name
Journal Of Planner And Development
دور سهولة الوصول في تعزيز ابعاد التنمية الحضرية شارع الرشيد حالة دراسية
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Publication Date
Fri Jan 04 2019
Journal Name
Journal Of Planner And Development
(الاستدامة في الحصول على الخدمات الحضرية (حالة تطبيقية على مدينة النجف الأشرف
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Publication Date
Fri Apr 01 2016
Journal Name
Journal Of Economics And Administrative Sciences
Application Tools Lean Six Sigma Definition and measurement phases in new product development. In the Electrical Industries State Company. case Study.
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methodology six sigma Help  to reduce defects by solving problems effectively, and works Lean to reduce losses through the flow of the manufacturing process and when integrating these two methodologies (Lean and six sigma), the methodology of Lean six sigma will form the entrance to the organizers of the optimization process and increase the quality and reduce lead times and costs . by focusing on the needs of the customer. this process uses statistical tools and techniques to analyze and improve processes.

 We have conducted this research in the General Company for Electrical Industries and adopted its product (machine cooling water three taps) as a sample for research. In order to determine t

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Publication Date
Sun Apr 01 2007
Journal Name
Journal Of Educational And Psychological Researches
العنف السيكولوجية و العلاج
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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.

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Publication Date
Tue Dec 11 2018
Journal Name
Arab Science Heritage Journal
الجغرافية الجغرافية و الطب
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Find 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.

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Publication Date
Mon Jan 28 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The role of local tax revenues in financing local development: Case Study of Tebessa State for the Period[2010-2014[
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Local communities are in need of self-resources so that they can perform their multiple functions which serve the objectives of the local development, and tax revenues are considered as important sources of their funding. However, despite the efforts of the state to reform the fiscal system and to improve the management in the local administration, tax collection can increase when the state adopts a more effective policy to combat tax evasion and tax fraud. Accordingly, this research aims to shed light on the role of local tax revenues in the local development. A set of conclusions are drawn; the most important one is that Algeria, in order to achieve local development, has taken a set of reforms, which are still valid until now. The mos

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Publication Date
Mon Mar 23 2020
Journal Name
Baghdad Science Journal
A Assessment of long distance chasing photometer (NAG-ADF-300-2) by estimating the drug atenolol with ammonium molybdate via continuous flow injection analysis: drug atenolol a
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     Atenolol was used with ammonium molybdate to prove the efficiency, reliability and repeatability of the long distance chasing photometer (NAG-ADF-300-2) using continuous flow injection analysis. The method is based on reaction between atenolol and ammonium molybdate in an aqueous medium to obtain a dark brown precipitate. Optimum parameters was studied to increase the sensitivity for developed method. A linear range for calibration graph was 0.1-3.5 mmol/L for cell A and 0.3-3.5 mmol/L for cell B, and LOD 133.1680 ng/100 µL and 532.6720 ng/100 µL for cell A and cell B respectively with correlation coefficient (r) 0.9910 for cell A and 0.9901 for cell B, RSD% was lower than 1%, (n=8) for the determination of ate

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