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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
Sat Mar 01 2014
Journal Name
Journal Of The College Of Languages (jcl)
Comparación entre los dos gigantes de la literatura universal "Miguel de Cervantes y William Shakespeare"
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The literature in general, such as the spanish literature as british literature presence lot of literary figures giant that managed its continuing work that leaves lasting impression and clear in all fields of literary world throughout history, among these writers giants can remind great writer spanish (Miguel de Cervantes) and the great british writer (William Shakespeare), this study is about them.

We can say that there are a lot of studies , works and gossip , whether literary or non- literary show how the close relationship that bound both Cervantes and William Shakespeare, although they did not meet personally never, it was not able to critics that the sweep of the differences and similarities that was between the two, becau

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Publication Date
Tue Aug 29 2023
Journal Name
حوليات اداب عين شمس
مقارنات اشتقاقية بين العبرية و العربية والارامية في عمل سعديا جاؤون
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Publication Date
Fri Jan 01 2010
Journal Name
Journal Of The College Of Languages (jcl)
El color como símbolo literario En (Cañas y Barro) de Vicente Blasco Ibáñez
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            El color es uno de los elementos novelísticos que ayudan los autores para desarrollar las acciones y llevarlas al desenlace adecuado. Y Blasco Ibáñez depende al color para pintar las escenas artísticas dentro sus novelas, especialmente, sus novelas que pertenecen al siglo de naturaleza. Él conocido con la abundancia de los colores para describir el ambiente y los personajes, como indica el autor catedrático José A. Balseiro:

  "su pluma no supo__ como el pincel de los primitivos__ del matiz logrado a toques mínimos, pacientes. ¿No era, a caso, coterráneo de Joaquín Sorolla, en cuya paleta mediterránea celebrábase, día tras día, el milagro del f

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Publication Date
Wed May 01 2019
Journal Name
مجلة ابحاث ميسان
واقع انتاج المياه و استهلاكها في محافظات الفرات الاوسط لعام 2016
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مايزال انتاج المياه في محافظات الفرات الاوسط بشكل خاص و العراق بشكل عام نواجه تحديات كبرىالتي ادت الى تردي انتاج المياه و استهلاكها

Publication Date
Sun Jan 01 2012
Journal Name
Journal Of The College Of Languages (jcl)
L`image du héros romantique dans: Un Barrage Contre Le Pacifique et L`Amant
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Dans le roman moderne, le type du héros est depuis longtemps devenu suspect.  Il risque même de disparaitre dans ce qu´on désigne le Nouveau Roman qui, se concentrant plutôt sur les objets, décrits minutieusement, refuse la fonction épistémologique traditionnelle de la littérature. Cette conception se manifeste, sur le plan formel, par certains traits typiques, comme la relativisation des points de vue, la décomposition de l´action, la destruction du temps, la décomposition de l´espace et la désintégration du personnage romanesque dont les liens avec la société sont coupés.

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Publication Date
Wed Dec 01 2021
Journal Name
مجلة جامعة الانبار للعلوم الانسانية
الوزن الاقتصادي لدولة الهند و الرؤية المستقبلية دراسة في الجغرافية السياسية
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يُعد الوزن الاقتصادي للهند من أبرز عناصر قوتها الجيوسياسية، إذ تُصنف الهند ضمن أكبر الاقتصادات عالميًا، مدعومة بحجم سكاني ضخم وسوق استهلاكي واسع ونمو متسارع في قطاعات الصناعة والخدمات والتكنولوجيا. حقق الاقتصاد الهندي نموًا قويًا خلال السنوات الأخيرة، مع استمرار معدل نمو الناتج المحلي ضمن نطاق مرتفع مقارنة بكبرى الاقتصادات العالمية، حيث تتوقع عدة مؤسسات دولية نموًا يقارب 6.3–7% خلال 2026–2027.

Publication Date
Sat Oct 28 2023
Journal Name
Baghdad Science Journal
Phenol Content and Peroxidase Enzyme Activity in Soybean Infected with Xanthomonas axonopodis pv glycines with the Application of Bacillus subtilis JB12 and Bacillus velezensis ST32
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Xanthomonas axonopodis pv glycines (Xag) is a pathogen that causes pustule disease in soybeans. Many
techniques for controlling this disease have been widely developed, one of which is the use of biological agents.
Bacillus sp. from the soybean phyllosphere is a biological agent that has the potential to suppress the
development of pustule disease. One of the biological control mechanisms is through biochemical induction
of plant resistance which includes the accumulation of phenols, salicylic acid compounds, and peroxidase
enzymes. Bacillus subtilis JB12 and Bacillus velezensis ST32 are two bacteria isolated from the soybean
phyllosphere which have previously been known to suppress Xag through an anti

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Publication Date
Sun May 28 2023
Journal Name
Brazilian Journal Of Physics
An Analysis of the Tensor Force and Pairing Correlation on the Disappearance of Nuclear Magicity at N = 28 Region
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The effect of the tensor term in the Skyrme interaction has been estimated in calculating the static and dynamic nuclear properties in sd and fp-shell model spaces nuclei. The nuclear shell gaps have been studied with different Skyrme parameterizations; Skxta and Skxtb with tensor interaction, SkX, SkM, and SLy4 without tensor interaction, and Skxcsb with consideration of the effect of charge symmetry breaking. We have examined the stability of N = 28 for 42Si and 48Ca. The results showed that the disappearance of the magicity occurs in the shell closure of 42Si. Furthermore, excitation energy, quadrupole deformation, neutron separation energy, pairing energy, and density profile have also been calculated. Quadrupole deformation indicates a

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Publication Date
Sun Jan 01 2023
Journal Name
Sport Tk - Revista Euro Americana De Ciencias Del Deporte
Analysis of the amount of lost fluids, some blood components and mineral salts in volleyball under hot weather conditions
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Publication Date
Tue Jul 11 2023
Journal Name
Sport Tk-revista Euroamericana De Ciencias Del Deporte
Analysis of the amount of lost fluids, some blood components and mineral salts in volleyball under hot weather conditions
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The research objective was to study the amount of lost fluids, some blood components and mineral salts in volleyball players under hot weather conditions. The sample of the present study was composed of 12 volleyball players of Al-Sinaa Club (Baghdad, Iraq) in the 2022/2023 season. The variables analyzed in this study were: Heart rate before and after exercise, internal and external body temperature before and after exertion, potassium ion, sodium ion, calcium ion, and the amount of fluid lost (the player's weight) before and after the exercise. The tests were conducted at a temperature between 42-47 degrees Celsius. The maximum anaerobic exercise was performed with volleyball. The results showed that to play volleybal

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