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.
The new azo dye was prepared from the reaction of the diazonium salt derived from 3-aminophenol with 2- hydroxyquinoline, then it was used to prepare a series of complexes with the chlorides of cobalt, chromium, copper, nickel, platinum, palladium and ammonium molybdate. The ligand was identified by a proton and carbon nuclear magnetic resonance spectroscopy, and the compounds were collected. The prepared materials were subjected to infrared, ultraviolet-visible, and mass spectrometry, as well as thermogravimetric analysis, differential calorimetry, and elemental analysis. Conductivity, magnetic susceptibility, metal content, and chlorine content of the complexes were also measured. The results showed that the ligand behaves in a trigonal b
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The curriculum is amodern science which reflects the social philosophy and
what it needs . It searches for amothod that limits the knowledge that the
indiridual gets in the society and the sorts of the culture that suits the enrironment
in which they live. It also clears for them their history and their great in heritance.
It has a great in flunce in their mental growth ,and it teacher the students new
roles in the thin king ,and training then on what they have learned . According to
there points the problem concentrats on the mostimpotant difficulties which facer
thestudents in studing Arabic langnage text-books
In spite of the great care that the text taker but it is full of subjects and studies
w
تعد الدبلوماسية متعددة الاطراف من اهم الطرق لحماية حقوق الانسان لا سيما في الوقت الراهن لما لديها من خيرات وطرق يمكن من خلالها ان يتم الوصول الى السلام الانساني
Irak Türkmen edebiyatının divan şiirlerinde büyük simalardan sayılan , ve
Irak Türklerinin en içli şairi olan Osman Mazlum .Şiirleri yalnızlık hem ve kederle
dolu olan şairin , her zaman büyük bir üzüntüye kablandığı için bunun tüm
şiirlerinde yansıtmıştır . Her zaman kaderden şikayetci olan şiirlerinde (Mazlum)
mahlasını kullanmıştır . Şairin klasik edebiyatında önemli bir yeri vardır . Hoyrat
yoluyla edebiyata giren mazlum'un gönül yarası bu aşıkla dolunca feyizlenmeye
ve türlü nağmelerle seslenmeğe başladı . İşte bu güne kadar yazmış olduğu şiirler
o sesler hep ahang , terennüm ve tesavırıdır . Bende bu araştırmada i
... Show MoreThe research studies the semantic generation structures of
commodity names in the Baghdad dialect of Arabic, specifically
those names that reflect popular taste. Through descriptive field
studies of the social use of these words
The aim of the research is to identify the imaginative thinking skills included in the content of the chemistry textbook for fifth-grade students in biological sciences at the preparatory stage, which is approved by the Ministry of Education, General Directorate of Curricula in the academic year 2020-2021. To achieve the objective of the study, the researcher depends on the previous studies in the field and content of imaginative thinking skills for preparing a list of skills that includes (3) essential skills and (11) sub-skills and (28) items related to all skills. The researcher adopted the analytical descriptive approach because of its appropriation of the goals of the research. Then the researcher analyzed the content of the book de
... Show MoreThe current research aims to identify the extent to which cognitive economics skills are included in the content of the chemistry textbook for the third intermediate grade, and the research sample was represented in the chemistry textbook for the third intermediate grade. A list of knowledge economy skills was prepared (6) main skills (basic skills, communication skills, thinking skills, work skills Group, information-gathering skill, behavioral skills (and (20) sub-skills) (reading, writing, operations, computer skills and employability, oral expression and written communication, dialogue, persuasion, influence and arousal, analysis, problem-solving, decision-making, suggestions and hypotheses and employing them. Controlling, directing
... Show Moreيهدف هذا البحث إلى تحليل محتوى كتابي الحاسوب للمرحلة المتوسطة في العراق وفقاً لعمليات العلم عن طريق الإجابة عن السؤال الآتي: ما نسبة توافر عمليات العلم في محتوى كتابي الحاسوب المقرران على طلبة المرحلة المتوسطة المعتمدان من وزارة التربية العراقية/ المديرية العامة للمناهج في العام الدراسي ( 2016-2017) م؟ اعتمد هذا البحث المنهج الوصفي التحليلي، وتضمن مجتمع البحث وعينته محتوى كتابي الحاسوب المقررين لطلبة الصفين
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