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Inverse Kinematics Optimization for Humanoid Robotic Legs Based on Particle Swarm Optimization
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Calculating the Inverse Kinematic (IK) equations is a complex problem due to the nonlinearity of these equations. Choosing the end effector orientation affects the reach of the target location. The Forward Kinematics (FK) of Humanoid Robotic Legs (HRL) is determined by using DenavitHartenberg (DH) method. The HRL has two legs with five Degrees of Freedom (DoF) each. The paper proposes using a Particle Swarm Optimization (PSO) algorithm to optimize the best orientation angle of the end effector of HRL. The selected orientation angle is used to solve the IK equations to reach the target location with minimum error. The performance of the proposed method is measured by six scenarios with different simulated positions of the legs. The proposed method is compared with procedures that used different optimization algorithms such as Genetic Algorithm (GA), Differential Evolution (DE), and Invasive Weed Optimization (IWO). The Root Mean Square Error (RMSE) and computation time are used as comparison measures. The proposed method gives the best results among others, and it reaches the target location with an average RMSE of 10-12 with 2.5 seconds average computation time.

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Publication Date
Fri Dec 30 2011
Journal Name
Al-kindy College Medical Journal
The Role of Some Medicinal Plants in the Management of Peptic Ulcer
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Background: Plants used in folk medicine for
the treatment of peptic ulcer diseases is a very
promising approach to overcome the limitations of
classical medicines.
Aim: To explore the efficacy of medicinal
plants, namely turmeric, garlic and marshmallow,
in eradication of H. pylori.
Methods: This prospective study was carried out
on 225 of well-known dyspeptic patients who were
divided into four groups; a control group (received
classical medical therapy) and three other groups
that received one of the three medicinal plants,
plus the same therapy used in the control group.
The follow up was done by using a questionnaire
form, endoscopic examination, and determination
of serum levels of anti

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Publication Date
Thu Feb 01 2018
Journal Name
Journal Of Economics And Administrative Sciences
مقارنة الانحدار الشرائحي المعكوس مع المركبات الرئيسة في اختزال البيانات ذات الابعاد العالية بأستعمال المحاكاة
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 يدرس هذا البحث طرائق اختزال الابعاد التي تعمل على تجاوز مشكلة البعدية عندما تفشل الطرائق التقليدية في ايجاد تقدير جيد للمعلمات، لذلك يتوجب التعامل مع هذه المشكلة بشكل مباشر. ومن اجل ذلك، يجب التخلص من هذه المشكلة لذا تم استعمال اسلوبين لحل مشكلة البيانات ذات الابعاد العالية الاسلوب الاول طريقة الانحدار الشرائحي المعكوس SIR ) ) والتي تعتبر طريقة غير كلاسيكية  وكذلك طريقة ( WSIR ) المقترحة والاسلوب الثاني طري

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Publication Date
Thu May 13 2021
Journal Name
Al-kindy College Medical Journal
Vitamin D deficiency/ insufficiency and some of its related factors in a sample of Iraqi pregnant women and their neonates at Al-Elwiya Maternity Teaching Hospital during 2019
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Background: Vitamin D deficiency/ insufficiency is common in different age groups in both genders especially among pregnant women and neonates where it is associated with several adverse outcomes including preeclampsia and preterm delivery.  

Objectives: To assess the extent of vitamin D deficiency/ insufficiency among mothers and their neonates and some factors related to it and identify some adverse outcomes of the deficiency/ insufficiency on neonates (preterm birth and low birth weight).

Subject and Methods: A cross-sectional study was conducted on 88 Iraqi pregnant women and neonates admitted to “Al-Elwiya teaching hospital for maternity” in Baghdad- Al

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Publication Date
Wed Dec 30 2020
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Levothyroxine Therapy Adequacy, Dose Estimation and Vitamin D Effect Assessment in a Sample of Iraqi Female Patients with Different Causes of Hypothyroidism
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Exogenous levothyroxine dose modulation and euthyroidism achievement is a persistent challenge in clinical settings. This study strives to assess the adequacy of treatment and identify the patients’ factors that can be used to estimate the euthyroid levothyroxine dose. A secondary objective was to assess vitamin D supplementation impact on thyroid status.

A review of a prospectively collected information from 142 female patients from Baghdad Center of Nuclear Medicine from June 2019 until March 2020 who were receiving levothyroxine for different causes was done. After a follow-up period, the patients’ thyroid tests were assessed and the euthyroid doses for each cause category were statistically analyzed. Thyroid function was

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Publication Date
Sat Jun 18 2022
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Some Pro and Anti-Inflammatory Cytokines in Children with Tonsillitis and their Correlations with Vitamin D Deficiency
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Inflammation of the tonsils could be described as acute tonsillitis, mainly due to infection. Recurrent tonsillitis could be defined as 3-7 episodes during the first 3 years of age. Vitamin D, which is a neuro-hormone with pleiotropic biological activities may modulate the immune response by alleviation, and stimulation of Th1 and Th2 cell proliferation, respectively, that influence the stimulation, synthesis, and secretion of both pro and anti-inflammatory cytokines. In this study we aimed to shed light on the levels of vitamin D in children with different episodes of tonsillitis in association with levels of interleukins (TNFα, IL-2, IL-4, IL-10). Blood samples were collected from 48 participants in 3 groups: control, acute tonsilliti

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Publication Date
Wed Dec 30 2020
Journal Name
Al-kindy College Medical Journal
Measurement of plasma fibrinogen and D-dimer in a sample of Iraqi patients with solid malignant tumors
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Background: Multifactor affect the pathogenesis of thrombosis in solid malignancy; however, a significant role is attributed to the cancer cells ability to interact with and activate the host hemostatic system. [1] 

Hemostasis is highly correlated to tumor growth, angiogenesis and metastasis, modulation of these pathways reflects interesting and promising treatment options in the future. [1]

Most patients with cancer frequently suffer from chronic compensated DIC and have abnormal laboratory coagulation tests without clinical manifestations of thrombosis, which is a subclinical hypercoagulable state that can be detected by varying degrees of activation of blood clotting. The results of laboratory tests in th

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Publication Date
Thu Dec 28 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Effect of Carthamus Tinctorius Safflower Aqueous Extract Against Nickel Chloride Induces Hematotoxicity and Immunotoxicity in Adult Male Rabbits
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  This study was designed to show, the role of Carthamus tinctorius safflower aqueous extract against toxicity of nickel chloride (NiCl2). Twenty male, rabbits were used and divided into four groups (with 5 rabbits in each group); group (control group) received normal diet, group II received orally 100mg/kg NiCl2 for six weeks, group III received 100mg/kg NiCl2 and 100mg/kg extract six weeks, group IV received 100mg/kg NiCl2 and 200mg/ kg extract six weeks. Hematological parameters showed (RBC (Red blood cells), Hb (Hemoglobin), PCV (Packed cells volume) decreased and WBC (White blood cells) increased) significant changes (P < 0.05) compared with control group. Immunological parameters (IgG, IgA and IgM increased) and oxidative s

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Publication Date
Fri Aug 28 2020
Journal Name
Iraqi Journal Of Science
An application of Barnacle Mating Optimizer in Infectious Disease Prediction: A Dengue Outbreak Cases
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Meta-heuristic algorithms have been significantly applied in addressing various real-world prediction problem, including in disease prediction. Having a reliable disease prediction model benefits many parties in providing proper preparation for prevention purposes. Hence, the number of cases can be reduced. In this study, a relatively new meta-heuristic algorithm namely Barnacle Mating Optimizer (BMO) is proposed for short term dengue outbreak prediction. The BMO prediction model is realized over real dengue cases data recorded in weekly frequency from Malaysia. In addition, meteorological data sets were also been employed as input. For evaluation purposes, error analysis relative to Mean Absolute Percentage Error (MAPE), Mean Square Err

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Publication Date
Sat Jan 20 2024
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Simultaneous Quantitative Determination of Ciprofloxacin and Hydrocortisone by H-Point Standard Addition Method
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Ciprofloxacin (Cip) and hydrocortisone (Hyd) were simultaneously measured as hydrochloride and sodium succinate, respectively, using the H-point standard addition method (HPSAM). The approach can precisely identify Cip in the presence of Hyd with various analyte-to-interference ratios (5:5, 5:10, 10:5, 10:10) µg.mL-1, in mixed samples containing (1-5µg.ml-1) of Cip, at the wavelengths of (236 and 257) nm. In the same way, Hyd was analyzed in the presence of Cip in different analytes with an interference ratio of (5:5, 5:10, 10:5, 10:10) µg.mL-1, in mixed samples containing (1-5 µg.mL-1) of Hyd, at wavelengths of (266 and 278) nm. The satisfactory results show good reproducibility of the dev

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Publication Date
Fri Jun 16 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Treatment of Helicobacter Pylori Infections Using Moxifloxacin-Triple Therapy Compared to Standard Triple and Quadruple Therapies
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Helicobacter pylori (H. Pylori) is one of the most common infectious human pathogens. H. pylori could induce inflammation, that causes illnesses and disorders of upper gastrointestinal which including peptic ulcer diseases, dyspepsia, gastroesophageal reflux disease and gastric mucosa-associated lymphoid tissue (MALT) lymphoma. It is important to use a better tolerated and greatly effective eradication regimen. In this study, 75 newly diagnosed adult patients with H. pylori infection were included and completed the study, they were allocated into three groups with three different treatment regimens for H. pylori eradications; Group A (25 patients) received oral standard clarithromycin-based tr

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