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Grasping Stability of a Robotic Gripper with Frictional Self-Locking Mechanism
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The grasping stability of robotic manipulators is crucial to enable autonomous manipulation in an environment where robots are facing obstacles in their route, where abrupt changes in the robot’s speed are induced. These speed variations will produce forces affecting the robotic manipulator, hence its grasping stability. In this research, the grasping stability of a robotic manipulator that functions according to a frictional self-locking mechanism is investigated statically and dynamically. Both theoretical and experimental results showed that the grasped object size, weight, and its orientation inside the gripper have a great effect on grasping stability. Both the theoretical and experimental results indicated that the grasping object parameters (diameter 25.5 mm–72 mm, weight 25 N–40 N) as well as its orientation inside the gripper influence the grasping stability. The configuration achieved which loaded 40 N, grasped an object of diameter 25.5 mm, and used an initial torque of 0.5N-m with rubber tube material showed optimal grasping stability of 98%. The dynamic test revealed that pulse disturbances (5 mm amplitude, 1.0 s duration) were stable without exceeding two degrees of vertical angular deviation.

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Publication Date
Wed Jan 01 2020
Journal Name
Iraqi Journal Of Applied Physics
Preparation and Characterization of Anatase Titanium Dioxide Nanostructures as Smart and Self-Cleaned Surfaces
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Publication Date
Mon Jan 01 2024
Journal Name
International Journal Of Advanced Community Medicine
Knowledge and attitude of breast self-examination toward breast cancer among nonmedical female students at Diyala University
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Abstract Background: Women in developed and poor nations more often get breast cancer. BSE involves women frequently checking their breasts for lumps or swelling to seek medical assistance. BSE lets women know how their breasts appear and feel so they can notify their doctors of any changes. Objectives: To determine the knowledge and attitude of breast self-examination among nonmedical female student. Method: A descriptive cross-sectional research was conducted at Diyala University/Governorate-Iraq on fourth-grade non-medical female students. A 700-student online questionnaire was employed. We got official agreements. Fisher's exact or chi-square test was employed. Statistical significance was set at p<0.05. Results: The mean age of partici

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Publication Date
Mon Feb 04 2019
Journal Name
Journal Of The College Of Education For Women
Expectations of self-efficiency and its relation to life skills at teachers of secondary schools
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Research aims
1. Measuring expectations of self-efficiency at teachers of secondary schools.
2. Measuring biological skills at teachers of secondary schools.
3. There is no sole or gathering forecasting of forecasting expectations of self-efficiency , may forecasts about biological skills at teachers of secondary schools.
To fulfill aims of the research, the researcher managed measuring of expectations of self-efficiency according to point of view of Bandura for this concept in this research, arranging measure of biological skills according to view of global health, the researcher has made to investigate of truth , constant these two measurements, analyzing statistically their two paragraphs on a sample (460) teachers (males

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Publication Date
Tue Apr 02 2024
Journal Name
Engineering, Technology &amp; Applied Science Research
Effect of Fire Exposure on the Properties of Self-Compacting Concrete reinforced by Glass Fibers
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The optimal design of any structural elements requires examining all environmental risks, emergency accidents, and standard load cases. Exposure to fire is one of the most common safety threats. Nowadays wide developments are achieved in the field of concrete technology, therefore, experimental and theoretical investigations should be performed on the characteristics of such developed materials under different loading conditions. This study investigates the impact of fire exposure on the mechanical characteristics of self-compacting concrete, specifically compressive and tensile strength, modulus of elasticity, and stress-strain relation. The adopted fire exposure consisted of six steady-state temperatures (300, 400, 500, 600, 700,

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Publication Date
Thu Aug 08 2024
Journal Name
Journal Of Inorganic And Organometallic Polymers And Materials
Schiff-Base System of Glutaraldehyde Crosslinked Chitosan-Algae-Montmorillonite Clay K10 Biocomposite: Adsorption Mechanism and Optimized Removal for Methyl Violet 2B Dye
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Publication Date
Sat Feb 07 2026
Journal Name
Sensing And Imaging
Manufacturing and Improving Reduced Graphene Oxide (rGO) Membranes for Use as Highly Sensitive Humidity Sensors Based on the Mechanism of Proton Conductivity
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Publication Date
Thu Apr 20 2017
Journal Name
International Journal Of Science And Research (ijsr)
Learning Styles according to the Model of Felder & Silverman and its Relationship with Mathematical Self-perceived Efficacy to Students of the College of Education for Pure Sciences-Ibn Al-Haitham
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This research aims toknow the learning styles according to the model of Felder and Silverman and its relationship to effectively self- perceived mathematicalamong students of the Faculty of Education Pure Sciences - Ibn al-Haytham. By answering the following questions: 1. What are the preferred methods of learning among students in the mathematics department according to the model Felder and Silverman? 2. What is the mathematicalself-perceived levelof the students at the Department of Mathematics effectiveness level? 3. What is the relationship between learning styles according to the Felder model and Silverman and the effectiveness of mathematical self-perceived of the students of the Department of Mathematics? The research sample consiste

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Publication Date
Wed Mar 30 2022
Journal Name
Journal Of Educational And Psychological Researches
Environmental Stress and their relationship to self-rebellion for Preparatory Stage Students
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The Present research aimed at identifying:   

1- The level of environmental stress among preparatory students

2- The level of self-rebellion  among preparatory students

3- The correlation between the two variables of research (environmental stress and self-rebellion) and the extent to which the independent variable contributes to the variable of the middle school students. 

The current research has determined the students of the fifth stage of the preparatory stage and all the branches in the departments of education in Baghdad province the morning study for the academic

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Publication Date
Sat Sep 30 2023
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The effect of operational efficiency on some financial indicators according to the CAMEL model of banking financial stability: An applied research on a sample of Iraqi private banks for the period 2010-2020
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Abstract

          The research aims to determine the nature of the Iraqi market in terms of banking financial stability and the extent impact of the operational efficiency on it, Accordingly, chosen 15 relational banks were chosen as an intentional sample that could represent the Iraqi banking system for the period 2010-2020. The operational efficiency variable was measured according to the data envelope model, and banking financial stability used  CAMELS model which includes five indicators (capital adequacy, asset quality, management quality, profitability, and liquidity), so for testing the research hypotheses used the random regression model by adopting the S

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Publication Date
Sat Dec 28 2024
Journal Name
Dental Hypotheses
Assessment of Color Change of Artificial White Spot Lesions after Sandblasting with Bioactive Glass, Resin Infiltration, or Microabrasion Followed by Color Stability Test by pH Cycling: An in Vitro Study
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Introduction: This study aimed to assess the color change of human teeth with artificial enamel white spot lesions (WSLs) after sandblasting with bioactive glass, resin infiltration, and microabrasion and to test color stability after pH cycling. Methods: Fifty extracted human mandibular first molars were randomly assigned into five groups: Sound, WSLs (untreated), and WSLs sandblasted with bioactive glass (Sylc), WSLs treated by resin infiltration (ICON), and WSLs treated by microabrasion (Opalustre), respectively. All specimens underwent a pH cycling procedure. The color parameters for each specimen were assessed using an Easyshade dental spectrophotometer at different time stages then the color changes (ΔE) were calculated. Results: The

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