Abstract

Hexapod robot is a flexible mechanical robot with six legs. It has the ability to walk over terrain. The hexapod robot look likes the insect so it has the same gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to stay statically stable at all the times during each gait in order not to fall with three or more legs continuously contacts with the ground. The safety static stability walking is called (the stability margin). In this paper, the forward and inverse kinematics are derived for each hexapod’s leg in order to simulate the hexapod robot model walking using MATLAB R2010a for all gaits and the geometry in order to derive the equations of the sub-constraint workspaces for each

استخدام الضمائر انت وانتم في الآدب الروسي الكلاسيكي

أرادة الذات بين الأستلاب والأسترداد في قصيدة البياتي

It is known that the distinguished scholar and writers in any kind of science leave an important impact on those who come after them, so they are an indispensable source in that science that draws from them who is later in time than them, and this is what we have seen in this research; The scholar Muhammad bin Shuraih al-Ra’ini (d.476 AH) and his book          (Al-Kafi in the Seven Readings) were admired by everyone who wrote about the readings after him. The great scholars of the readings, such as Ibn al-Bathish (d. 540 AH), Ibn al-Jazari (d. 833 AH), and Ibn al-Banna’ did not dispense with him. (d.1117 AH) in terms of reading, isnad, and the way of narration, their books were full of men

       يهدف هذا البحث الموسوم بـ (المنهج النقدي في كتاب الرجال للنجاشي(ت 450هـ )إلى تسليط الضوء على حياة النجاشي ومكانته العلمية والكشف عن منهجه النقدي في كتابه المذكور. 

التجليات الاقتصادية والثقافية والاعلامية للعولمة في العالم الثالث

 The Problem of the research  is Limited with the ambguity of environmental work Characterstics role and among them the natural Working Conditions: Temproture, Lighting, Noise, Colours,and Smells, in the Decisions that rule the Planning and Designing work of the industrial Location and it 's targets are Limited with discovering the effect of environmental work Characterstics in planning and designing the industrial Companies and to reach to the most important properties that distinguish the industrial Location Within the frame of dealing with the nature Conditions in the dry, hot regions and the dfining of the relationship between them on the assumption that the Characterstics of environmental work have agreat effect in

The role of the Abbasid Caliphate in strengthening the business with the Indian subcontinent and development. Came upon Baghdad and the shift of succession to Iraq in the forefront of efforts made by the Abbasids to revive the trade with Eastern countries, given that the commercial was targeted among other factors,'s location in Iraq amid the ancient world among the countries of Turk

The Research examines the transmission advantage from Floor Trading (FT) to the Electronic Trading (ET) in the Iraqi Stock Exchange (ISE). Testing three hypothesis, first, test the significant different of market depth before and after period of ET used, second, test the significant different of market liquidity also before and after period of ET used. And third test the impact of market depth and liquidity on the performance of ISE. AnEvent Study is depended with 74 observing distributed equality on research period which is extent among 2006 to 2012, Note that the event window is 5-7-2009.The Result of hypothesis testing explore that the all three null main hypothesis is refusing and accept the alternative of it's because the ET

Abstract  

This research aims to study and improve the passivating specifications of rubber resistant to  vibration. In this paper, seven different rubber recipes were prepared based on mixtures of natural rubber(NR)  as an essential part in addition to the synthetic rubber (IIR, BR_cis, SBR, CR)with different rates. Mechanical tests such as tensile strength, hardness, friction, resistance to compression, fatigue and creep testing in addition to the rheological test were performed. Furthermore, scanning electron microscopy (SEM)test was used to examine the structure morphology of rubber. After studying and analyzing the results, we found that, recipe containing (BRcis) of 40% from th