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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
Sun Jun 04 2017
Journal Name
Baghdad Science Journal
Meiobenthic Invertebrates Community Associated with Aquatic plant Ceratophyllum demersum Salamiyat irrigation canal / north Baghdad
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The aim of the present study is to study the meiobenthic invertebrate's community associated with the aquatic plant Ceratophyllum demersum in Al-Salamiyat irrigation canal / north Baghdad, with the chemical and physical parameters of the canal water, during the study period from September 2015 to May 2016. Two sites were chosen for sample collection, the first site (S1) at the beginning of the canal near it's connection with Tigris river, and the second site (S2) after 10 km from the first site. The chemico-physical analysis results revealed that the water temperature ranged from 10-30oC, and pH values ranged between 6.9-7.8, and the dissolved oxygen concentration and the BOD values from 7.2-9.2 mg/l, and 1.2-5.4 mg/l, respectively. The sal

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Publication Date
Sat Nov 27 2021
Journal Name
Lecture Notes In Civil Engineering
An Experimental Study on Concavely Curved Soffit Reinforced Concrete Beams Externally Bonded with FRP
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Publication Date
Fri Jun 01 2018
Journal Name
Nano Hybrids And Composites
OLED Hybrid Light Emitting Devices with ZnS QDs, TPBi and Alq3 Electron Transport Layers
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Semiconductor quantum dots (QDs) have attracted tremendous attentions for their unique characteristics for solid-state lighting and thin-film display applications. A simple chemical method was used to synthesis quantum dots (QDs) of zinc sulfide (ZnS) with low cost. The XRD) shows cubic phase of the prepared ZnS with an average particles size of (3-29) nm. In UV-Vis. spectra observed a large blue shift over 38 nm. The band gaps energy (Eg) was 3.8 eV and 3.37eV from the absorption and photoluminescence (PL) respectively which larger than the Eg for bulk. QDs-LED hybrid devices were fabricated using ITO/ PEDOT: PSS/ Poly-TPD/ ZnS-QDs/ with different electron transport layers and cathode of LiF/Al layers. The EL spectrum reveals a bro

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Publication Date
Mon Jul 04 2022
Journal Name
Indian Journal Of Forensic Medicine & Toxicology
The Correlation between Insulin Resistance and Urotensin II in Patients with Gestational Diabetes Mellitus
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Gestational diabetes mellitus is glucose intolerance of varying degree with onset or first detection duringpregnancy,it can causelong and short term morbidities in both the mother and the child, such as shoulder dystocia,preeclampsia, and high blood pressure. The most powerful endogenous vasoconstrictor peptide, urotensin II, andits receptor are involved in the etiology of gestational diabetes mellitus.Aim of the study: The study’s goal was to see if there is a link between Urotensin II levels and insulin resistancein pregnant women with gestational diabetes.Patients and method: A case-control study that was conducted in obstetrics and gynecology department atBaghdad Teaching hospital from the first of January 2019 to the end of D

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Publication Date
Sat Sep 03 2022
Journal Name
International Journal Of Health Sciences
Correlation between oxidative stress and clopidogrel drug in Iraqi patients with coronary artery disease
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Background: Coronary Artery Disease (CAD) is one of the largest causes of mortality worldwide. Clopidogrel, antiplatelet drug, has been widely used for management of CAD. The current study aimed to investigate the effect of clopidogrel on the oxidative stress in CAD patients. Methods: One hundred CAD patients, who were followed-up for 5 days after receiving clopidogrel, and 50 healthy volunteers were included in this study. Parameters include catalase (CAT), total antioxidant capacity (TAC), total oxidant capacity (TOC), total protein, albumin, and globulins were determined before and after treatment with clopidogrel. Results: CAT, TAC, and Tp were significantly decreased (P<0.0001) in CAD patients compared to healthy control and

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Publication Date
Thu Aug 31 2023
Journal Name
Journal Of Kufa For Mathematics And Computer
Four Points Block Method with Second Derivative for Solving First Order Ordinary Differential Equations
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Publication Date
Sun Jan 01 2017
Journal Name
Statistical Applications In Genetics And Molecular Biology
Mixture model-based association analysis with case-control data in genome wide association studies
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Abstract<p>Multilocus haplotype analysis of candidate variants with genome wide association studies (GWAS) data may provide evidence of association with disease, even when the individual loci themselves do not. Unfortunately, when a large number of candidate variants are investigated, identifying risk haplotypes can be very difficult. To meet the challenge, a number of approaches have been put forward in recent years. However, most of them are not directly linked to the disease-penetrances of haplotypes and thus may not be efficient. To fill this gap, we propose a mixture model-based approach for detecting risk haplotypes. Under the mixture model, haplotypes are clustered directly according to their estimated d</p> ... Show More
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Publication Date
Sun Mar 31 2024
Journal Name
Acta Microbiologica Bulgarica
Human Papillomavirus Genotyping among Women and its Relationship with Cervical Cancer in Diyala Province
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The study aimed to identify Human Papillomavirus (HPV) and its genotypes prevalent among Iraqi women. They collected 89 cervical swab samples from diagnosed patients at Baghdad Teaching Hospital's Early Detection Clinic. Using PCR technique on 19 samples, they found HPV16 (57.89%) and HPV6 (10.52%) genotypes, while HPV-11, 18, and 45 were absent. HPV 16 and HPV 6 were common in cervical cancer among Iraqi women. Sequencing revealed nucleic acid variants in HPV-6 (124A>C) and HPV-16 (225G>T) E6 genes, resulting in silent effects on the encoded protein. These changes didn't alter amino acid residues (p.74I= and p.L117=). Phylogenetic analysis showed substantial distances between their samples and other viral types, indicating di

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Publication Date
Mon Mar 01 2021
Journal Name
Journal Of Physics: Conference Series
Serum iron status in association with pregnancy outcomes in infertile women undergoing IVF/ICSI
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Abstract<p>Iron status can affect the outcome of <italic>in</italic> vitro-fertilization (IVF) in infertile women who undergoes this process. The aim of this study is to evaluate iron status, ceruloplasmin ferroxidase activity and their association with outcome of pregnancy prior to initiation of IVF/ICSI procedure. The participants were fertile women with male cause infertility (control; n=25), women with polycystic ovary syndrome (PCOS; n=21), women with low anti-Müllerian hormone level (AMH; n=26), and women with unexplained infertility (UI; n=27). Blood samples were obtained on the day of oocyte aspiration. Serum iron, ferritin, transferrin level, and ceruloplasmin ferroxidase act</p> ... Show More
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Publication Date
Mon Feb 16 2026
Journal Name
Journal Of Al-qadisiyah For Computer Science And Mathematics
Modified LASS Method Suggestion as an additional Penalty on Principal Components Estimation – with Application-
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This research deals with a shrinking method concernes with the principal components similar to that one which used in the multiple regression “Least Absolute Shrinkage and Selection: LASS”. The goal here is to make an uncorrelated linear combinations from only a subset of explanatory variables that may have a multicollinearity problem instead taking the whole number say, (K) of them. This shrinkage will force some coefficients to equal zero, after making some restriction on them by some "tuning parameter" say, (t) which balances the bias and variance amount from side, and doesn't exceed the acceptable percent explained variance of these components. This had been shown by MSE criterion in the regression case and the percent explained v

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