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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
Wed Dec 01 2021
Journal Name
Baghdad Science Journal
Some Results on Normalized Duality Mappings and Approximating Fixed Points in Convex Real Modular Spaces
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  In this paper, the concept of normalized duality mapping has introduced in real convex modular spaces. Then, some of its properties have shown which allow dealing with results related to the concept of uniformly smooth convex real modular spaces. For multivalued mappings defined on these spaces, the convergence of a two-step type iterative sequence to a fixed point is proved

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Scopus (5)
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Publication Date
Sun Oct 31 2021
Journal Name
مجلة علوم الرياضة الدولية
تأثير تدريبات خاصة وفق جهاز الكتروني مصنع في التحكم بتوازن القوة للرجل الأمامية و الخلفية أثناء التقدم و الرجوع في رياضة المبارزة
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Publication Date
Sun Jul 31 2022
Journal Name
جامعة بغداد مركز الدراسات الدولية
الحكم في أفغانستان بين المصالح و القانون الدولي الإنساني
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كان لسياسات االحتالل دور بارز في فشل مشروع إعادة بناء الدولة في افغانستان، وفي الوقت نفسه تتحمل دول االحتالل المسؤ و لية الكاملة عن بعض هذه ً كبي ارً السياسات مثل عدم التخطيط الجيد لمرحلة االحتالل وإعادة بناء الدول ة، ثم إن جزءا من فشل هذه السياسات يرجع الى البيئتين المحلية واإلقليمية ، كذلك كان للخبرة السياسية والدستورية وللواقع االجتماعي الثقافي األفغاني تأثيرهما المهم في قدرة المجتمع األفغاني ً على قبول

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Publication Date
Wed Dec 20 2023
Journal Name
Arab Science Heritage Journal
التحليل الداللي للكلمات المستبدلة في سورتي المؤمنون و النور
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The words in the Holy Qur’an are distinguished by the
accuracy of expression, their elegance, the lightness of their
performance, the harmony of their timbre, as well as the ease of
their pronunciation. We find the coarse words in which the
movement of sounds and the hesitation of the soul are mixed, as
it was distinguished by the abundance of its words indicating the
same meaning without a phenomenon that the reader or the
listener notices

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Publication Date
Wed Jan 01 2014
Journal Name
Journal Of The College Of Languages (jcl)
La Visión Filosófica en las Célebres Obras Literarias y Dramáticas de Unamuno
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Desde la Salamanca de doradas piedras que tantas veces cantara, don Miguel de Unamuno dio a la literatura y al pensamiento españoles unas obras que, a pesar de muchos pesares, perdura viva, como viva fue su agónica existencia.  

   El bilbaíno Miguel de Unamuno (1864-1936) es autor de al menos, doce obras teatrales. Su costumbre de mezclar géneros literarios, sin distinguir claramente el drama de la novela dialogada, le llevó a preferir el teatro leído. De ahí que sus estrenos fuesen, frecuentemente, muy posteriores a las ediciones impresas.

Abstract:

   The Bilbao Miguel de Unamuno (1864-1936) is the author of at least twelve plays. His habit of mixing genres,

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Publication Date
Thu Dec 27 2018
Journal Name
Arab Science Heritage Journal
دراسة في ضرائب الارض عند ابي يوسف و الماوردي
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تتراوح ضريبة الارض ما بين 10%من المحصول (الشعير ) و 40 -50 من الخراج 

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Publication Date
Sun Jun 01 2014
Journal Name
Baghdad Science Journal
Simulation Study on Optically Designed Refractive Beam Expander for Nd: YAG Laser Harmonics for 7 Km Detection Range
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The simulation study has been conducted for the harmonics of Nd: YAG laser, namely the second harmonic generation SHG, the third harmonic generation THG, and the fourth harmonic generation FHG. Determination of beam expander's expansion ratio for specific wavelength and given detection range is the key in beam expander design for determining minimum laser spot size at the target. Knowing optimum expansion ratio decreases receiving unit dimensions and increases its performance efficiency. Simulation of the above mentioned parameters is conducted for the two types of refractive beam expander, Keplerian and Galilean. Ideal refractive indices for the lenses are chosen adequately for Nd: YAG laser harmonics wavelengths, so that increasing transm

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Crossref
Publication Date
Mon Sep 01 2008
Journal Name
Journal Of Economics And Administrative Sciences
العلاقة بين موقف الحساب الجاري وسعر الصرف (حالة الولايات المتحدة)
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خضعت العلاقة بين موقف الحساب الجاري, سواء اكان بحالة عجز ام فائض, وسعر الصرف, اكان بحالة انخفاض او ارتفاع, لجدل واسع بين اوساط الاقتصاديين بشأن هذه العلاقة واتجاهاتها.

الا ان الاعتماد المتزايد لبعض الدول على المستثمرين الاجانب لتمويل العجز في حساباتها الجارية قد يصطدم بعدم رغبة هولاء المستثمرون في الاستمرار باقتناء موجودات معينة مقوِِِِِِِِمة بعملات تلك الدول. وتنشأ الطامة الكبرى لاقتصاد

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Publication Date
Thu Mar 01 2012
Journal Name
Journal Of Economics And Administrative Sciences
Indicative supervision on the monetary business organizations (Banks) Case study: Iraq
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Indicative supervision represents the comparison between direct intervention (acquisition, nationalism) and participation through rules.

The last financial crisis reflected our needs for different approaches of supervision consist with our goals, but the crisis reveals also number of sounds requested and pressured toward direct control (Intervention via forces) through government acquisition and nationalization.

This study attempts to deal with crisis lessons, in the field of choice between indicative and direct supervision which government authorities used to reduce the bad effect on the monetary firms.

Iraqi banks suffered from high levels of direct co

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Publication Date
Mon Feb 28 2022
Journal Name
Journal Of Educational And Psychological Researches
Neurological Perfectionism in Talented Individuals with Disabilities “Case Study”
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The study aims to identify the neurological perfectionism of talented girls with disabilities and do a case study for one of these girls. The sample of the study consisted of (11) female students at the university level, 5 females with disability and (6) normal female-students. The sample also included (19) secondary school female students in Tabuk region, including 10 students with visual disability and (9) normal students. The case study was limited to one case of mentally superior girls (talented) with kinetic disability. The researcher adopted the descriptive methodology (case study), he used neurological perfectionism scale, Salah Mekhemar interview, Stanford interfacial intelligence scale fifth picture, case study form. The re

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