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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
Thu Sep 01 2016
Journal Name
Journal Of Saudi Chemical Society
Synthesis and investigation of thermal properties of vanadyl complexes with azo-containing Schiff-base dyes
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Azo-Schiff base compounds (L1 and L2) have been synthesized from the reaction of m-hydroxy benzoic acid with 1,5-dimethyl-3-[2-(5-methyl-1H-indol-3-yl)-ethylimino]-2-phenyl-2,3- dihydro-1H-pyrazol-4-ylamine and with 3-[2-(1H-indol-3-yl)-ethylimino]-1,5-dimethyl-2-phenyl- 2,3-dihydro-1H-pyrazol-4-ylamine. The free ligands and their complexes were characterized based on elemental analysis, determination of metal, molar conductivity, (1H, 13C) NMR, UV–vis, FT-IR, mass spectra and thermal analysis (TGA). The molar conductance data revealed that all the complexes are non-electrolytes. The study of complex formation via molar ratio in DMF solution has been investigated and results were consistent to those found in the solid complexes with a rat

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Publication Date
Mon Dec 05 2022
Journal Name
Baghdad Science Journal
Cluster Analysis of Biochemical Markers as Predictor of COVID-19 Severity
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Numerous blood biomarkers are altered in COVID-19 patients; however, no early biochemical markers are currently being used in clinical practice to predict COVID-19 severity. COVID-19, the most recent pandemic, is caused by the SRS-CoV-2 coronavirus.  The study was aimed to identify patient groups with a high and low risk of developing COVID-19 using a cluster analysis of several biomarkers. 137 women with confirmed SARS CoV-2 RNA testing were collected and analyzed for biochemical profiles. Two-dimensional automated hierarchy clustering of all biomarkers was applied, and patients were sorted into classes. Biochemistry marker variations (Ferritin, lactate dehydrogenase LDH, D-dimer, and C- reactive protein CRP) have split COVID-19 patien

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Publication Date
Wed Jul 17 2019
Journal Name
Iraqi Journal Of Science
Induced callus from seedlings of Peganum harmala L. and studying harmine compound concentration in vitro and in vivo by GC analysis
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Plant tissue culture considers a benefit biotechnological technique for scientific research especially the production of undifferentiation callus cells and regeneration through suspension or static media. The seedlings of Peganum harmala was used as a source to produce callus mass in vitro in static media through different tissue culture media supplemented by varying combinations of plant growth regulators (PGR). The result illustrates that 2 mg/l of Kinitine with 0.5 mg/l of 2, 4-D was efficient to stimulate callus induction with percent 100% in stem and root of P. harmala and this combination gave a high fresh weight, 1954 mg in root and 1170
mg in stem and high dry weight in root and stem was 74.6

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Publication Date
Sat Apr 29 2023
Journal Name
Research Journal Of Pharmacy And Technology
Assessment of Serum Neopterin Levels in patients hospitalized with severe COVID-19
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Background: COVID-19 has caused a considerable number of hospital admissions in China since December 2019. Many COVID-19 patients experience signs of acute respiratory distress syndrome, and some are even in danger of dying. Objective: to measure the serum levels of D-dimer, Neutrophil-Lymphocyte count ratio (NLR), and neopterin in patients hospitalized with severe COVID-19 in Baghdad, Iraq. And to determine the cut-off values (critical values) of these markers for the distinction between the severe patients diagnosed with COVID‐19 and the controls. Materials and methods: In this case-control study, we collect blood from 89 subjects, 45 were severe patients hospitalized in many Baghdad medical centers who were diagnosed with COVID

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Publication Date
Mon Oct 30 2023
Journal Name
Iraqi Journal Of Science
Arabic Cyberbullying Detection Using Support Vector Machine with Cuckoo Search
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      Cyberbullying is one of the biggest electronic problems that takes multiple forms of harassment using various social media. Currently, this phenomenon has become very common and is increasing, especially for young people and adolescents. Negative comments have a significant and dangerous impact on society in general and on adolescents in particular. Therefore, one of the most successful prevention methods is to detect and block harmful messages and comments. In this research, negative Arabic comments that refer to cyberbullying will be detected using a support vector machine algorithm. The term frequency-inverse document frequency vectorizer and the count vectorizer methods were used for feature extraction, and the results wer

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Publication Date
Sun Mar 19 2017
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Minimizing the Total Completion Times, the Total Tardiness and the Maximum Tardiness
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In this paper, the main work is to minimize a function of three cost criteria for scheduling n jobs on a single machine. We proposed algorithms to solve the single machine scheduling multiobjective problem. In this problem, we consider minimizing the total completion times, total tardiness and maximum tardiness criteria. First a branch and bound (BAB) algorithm is applied for the 1//∑Ci+∑Ti+Tmax problem. Second we compare two multiobjective algorithms one of them based on (BAB) algorithm to find the set of efficient (non dominated) solutions for the 1//(∑Ci ,∑Ti ,Tmax) problem. The computational results show that the algorithm based on (BAB) algorithm is better than the other one for generated the total number of

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Publication Date
Mon Jun 22 2020
Journal Name
Baghdad Science Journal
Using Evolving Algorithms to Cryptanalysis Nonlinear Cryptosystems
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            In this paper, new method have been investigated using evolving algorithms (EA's) to cryptanalysis one of the nonlinear stream cipher cryptosystems which depends on the Linear Feedback Shift Register (LFSR) unit by using cipher text-only attack. Genetic Algorithm (GA) and Ant Colony Optimization (ACO) which are used for attacking one of the nonlinear cryptosystems called "shrinking generator" using different lengths of cipher text and different lengths of combined LFSRs. GA and ACO proved their good performance in finding the initial values of the combined LFSRs. This work can be considered as a warning for a stream cipher designer to avoid the weak points, which may be f

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Publication Date
Tue Mar 31 2015
Journal Name
Al-khwarizmi Engineering Journal
Intelligent H2/H∞ Robust Control of an Active Magnetic Bearings System
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Abstract

Robust controller design requires a proper definition of uncertainty bounds. These uncertainty bounds are commonly selected randomly and conservatively for certain stability, without regard for controller performance.  This issue becomes critically important for multivariable systems with high nonlinearities, as in Active Magnetic Bearings (AMB) System. Flexibility and advanced learning abilities of intelligent techniques make them appealing for uncertainty estimation. The aim of this paper is to describe the development of robust H2/H controller for AMB based on intelligent estimation of uncertainty bounds using Adaptive Neuro Fuzzy Inference System (ANFIS).  Simulatio

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Publication Date
Tue Jan 01 2019
Journal Name
Energy Procedia
Electron Contribution to Stopping Power in Burning Plasma
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The dependence of the energy losses or the stopping power for the energies and the related penetrating factor are arrive by using a theoretical approximation models. in this work we reach a compatible agreement between our results and the corresponding experimental results.

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Publication Date
Thu Jul 01 2021
Journal Name
Iraqi Journal Of Science
mtDNA Haplogroup M5 Associated with Risk of Colorectal Cancer in South India Population
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The life on earth is driven by energy, supplied by the tiny organelles of the cell called mitochondria and they are usually stated as the powerhouses of the cell.  In population genetics, Mitochondrial DNA (mtDNA) is used extensively to categorize individuals or populations.  The mutation sites observed in human mtDNA by comparing with the reference sequence (rCRS) are termed into definite human mtDNA haplogroups. Previous studies showed that mtDNA specific haplogroups and polymorphisms were established to be linked with various human diseases, including cancer in numerous populations. Furthermore, it is also known that several mitochondrial DNA polymorphisms are implicated in enhanced production of Reactive Oxygen Species (ROS

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