Preferred Language
Articles
/
FhdAU44BVTCNdQwCI0Iw
Inverse Kinematics Optimization for Humanoid Robotic Legs Based on Particle Swarm Optimization
...Show More Authors

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.

Scopus Crossref
View Publication
Publication Date
Wed Jul 01 2015
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Evaluation of Human Urinary N-acetyl beta – D- glucosaminidase index in children with urinary tract anomalies
...Show More Authors

Background: The kidneys perform glomerular filtration, tubular reabsorption, and tubular secretion and the study of urinary excretion of some enzymes considered as a sensitive test for the detection of early stages of renal disease, particularly N-acetyl-β-D-glucosaminidase (NAG) which is a hydrolytic lysosomal enzyme present in the epithelial cells of the proximal convoluted tubule. Increased urinary NAG due to tubular damage could be used as a marker by a simple non invasive test for prediction of urinary tract problems like pelviureteric junction(PUJ) obstruction ,vesicouretric reflux(VUR) and pyelonephritis.
Objectives: to assess urinary NAG/ urinary creatinine (NAG/ Cr) ratio in children with different urinary tract anomalies an

... Show More
View Publication Preview PDF
Crossref
Publication Date
Thu Sep 30 2021
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Mathematical Model, Simulation and Scale up of Batch Reactor Used in Oxidative Desulfurization of Kerosene
...Show More Authors

   In this paper, a mathematical model for the oxidative desulfurization of kerosene had been developed. The mathematical model and simulation process is a very important process due to it provides a better understanding of a real process. The mathematical model in this study was based on experimental results which were taken from literature to calculate the optimal kinetic parameters where simulation and optimization were conducted using gPROMS software. The optimal kinetic parameters were Activation energy 18.63958 kJ/mol, Pre-exponential factor  2201.34 (wt)-0.76636. min-1  and the reaction order 1.76636. These optimal kinetic parameters were used to find the optimal reaction conditions which

... Show More
View Publication Preview PDF
Crossref (6)
Crossref
Publication Date
Wed Aug 31 2022
Journal Name
Iraqi Journal Of Science
Hydrocarbon Reservoir Characterization Using Well Logs of Nahr Umr Formation in Kifl Oil field, Central Iraq
...Show More Authors

   This study aims to determine the petrophysical characteristics of the three wells in the Kifl Oilfield, central Iraq. The well logs were used to characterize hydrocarbon reservoirs to assess the hydrocarbon prospectivity, designate hydrocarbon and water-bearing zones, and determine the Nahr Umr Formation's petrophysical parameters. The Nahr Umr reservoir mainly consists of sandstone at the bottom and has an upper shale zone containing a small proportion of oil. The geophysical logs data from three oil wells include gamma-ray, resistivity, neutron, density, acoustic, and spontaneous potential logs. A gamma-ray log was employed for lithology differentiation, and a resistivity log was used to determine the response of distinct zones

... Show More
View Publication Preview PDF
Scopus (2)
Scopus Crossref
Publication Date
Mon Jan 01 2024
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Platelet Parameters in Nonthrombocytopenic Preeclampsia: A Case-Control Study
...Show More Authors

Background: Preeclampsia is a pregnancy-specific, multisystem condition characterized by the onset of de novo hypertension and proteinuria occurring in previously normotensive women after the twentieth week of pregnancy. Pregnancy is associated with a physiological adaptation that leads to changes in the hematological system including platelet parameters.                                     

Objectives: Is to compare platelet count, and platelet indices, namely mean platelet volume platelet distribution width and platelet count to mean platelet volume MPV ratio in preeclamptic patients with normal pregnant women.           

Patients &a

... Show More
View Publication
Crossref
Publication Date
Fri Apr 01 2022
Journal Name
Baghdad Science Journal
Protection of Galvanized steel from corrosion in salt media using sulfur nanoparticles
...Show More Authors

                The characteristics of sulfur nanoparticles were studied by using atomic force microscope (AFM) analysis. The atomic force microscope (AFM) measurements showed that the average size of sulfur nanoparticles synthesized using thiosulfate sodium solution through the extract of cucurbita pepo extra was 93.62 nm. Protecting galvanized steel from corrosion in salt media was achieved by using sulfur nanoparticles in different temperatures. The obtained data of thermodynamic in the presence of sulfur nanoparticles referred to high value as compares to counterpart in the absence of sulfur nanoparticles, the high inhibition efficiency (%IE) and corrosion resistance were at high temperature, the corrosion rate or weig

... Show More
View Publication Preview PDF
Scopus (8)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Thu May 14 2020
Journal Name
Journal Of Planner And Development
“The role of parametric approach in design highest climatic performance buildings: local housing design patterns as a sample”
...Show More Authors

In light of increasing demand for energy consumption due to life complexity and its requirements, which reflected on architecture in type and size, Environmental challenges have emerged in the need to reduce emissions and power consumption within the construction sector. Which urged designers to improve the environmental performance of buildings by adopting new design approaches, Invest digital technology to facilitate design decision-making, in short time, effort and cost. Which doesn’t stop at the limits of acceptable efficiency, but extends to the level of (the highest performance), which doesn’t provide by traditional approaches that adopted by researchers and local institutions in their studies and architectural practices, limit

... Show More
View Publication Preview PDF
Publication Date
Sun Dec 30 2018
Journal Name
Baghdad Science Journal
Spectroscopic Studies and Thermal Analysis of New Azo Dyes Ligands and their Complexes with some Transition of Metal Ions
...Show More Authors

New Azo ligands HL1 [2-Hydroxy-3-((5-mercapto-1,3,4-thiadiazol-2-yl)diazenyl)-1-naphth aldehyde] and HL2 [3-((1,5-Dimethyl-3-oxo-2-phenyl-2,3-dihydro-1H-pyrazol-4-yl)diazenyl)-2-hydroxy-1-naphthaldehyde] have been synthesized from reaction (2-hydroxy-1-naphthaldehyde) and (5-amino-1,3,4-thiadiazole-2-thiol) for HL1 and (4-amino-1,5-dimethyl-2-phenyl-1H-pyrazol-3(2H)-one) for HL2. Then, its metal ions complexes are synthesized with the general formula; [CrHL1Cl3(H2O)], [VOHL1(SO4)] [ML1Cl(H2O)] where M = Mn(II), Co(II), Ni(II) and Cu(II), and general formula; [Cr(L2)2 ]Cl and [M(L2)2] where M = VO(II), Mn(II), Co(II), Ni(II) and Cu(II) are reported. The ligands and their metal complexes are characterized by phisco- chemical spectroscopic

... Show More
View Publication Preview PDF
Crossref (9)
Crossref
Publication Date
Wed Jul 01 2020
Journal Name
Indian Journal Of Forensic Medicine & Toxicology
Prothrombotic changes in patients with end-stage renal disease and its relation to thrombotic cardiovascular complication
...Show More Authors

There is a great risk of cardiovascular disease (CVD) and vascular thrombosis in patients with End-Stage Renal Disease (ESRD). These patients exhibit numerous abnormalities in coagulation, fibrinolytic, inhibitory protein abnormalities in multiple levels. The study aimed to assess hypercoagulable changes by measuring the levels of antithrombin, plasma fibrinogen and FXII activity in patients with ESRD, and to find their correlation with Hemoglobin (Hb) level, WBC count, reticulocyte percentage and platelet count. This study was conducted at Al-Hayat center, Al Karama Teaching Hospital on 50 ESRD patients aged < 60 years of both genders. In addition, 20 apparently healthy individuals were included as a control group. The mean Hb level, total

... Show More
Scopus
Publication Date
Sat Sep 30 2023
Journal Name
Iraqi Journal Of Science
Performance Improvement of Generative Adversarial Networks to Generate Digital Color Images of Skin Diseases
...Show More Authors

     The main task of creating new digital images of different skin diseases is to increase the resolution of the specific textures and colors of each skin disease. In this paper, the performance of generative adversarial networks has been optimized to generate multicolor and histological color digital images of a variety of skin diseases (melanoma, birthmarks, and basal cell carcinomas). Two architectures for generative adversarial networks were built using two models: the first is a model for generating new images of dermatology through training processes, and the second is a discrimination model whose main task is to identify the generated digital images as either real or fake. The gray wolf swarm algorithm and the whale swarm alg

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Tue Dec 01 2015
Journal Name
Journal Of Engineering
Modeling and Control of Fuel Cell Using Artificial Neural Networks
...Show More Authors

This paper includes an experimental study of hydrogen mass flow rate and inlet hydrogen pressure effect on the fuel cell performance. Depending on the experimental results, a model of fuel cell based on artificial neural networks is proposed. A back propagation learning rule with the log-sigmoid activation function is adopted to construct neural networks model. Experimental data resulting from 36 fuel cell tests are used as a learning data. The hydrogen mass flow rate, applied load and inlet hydrogen pressure are inputs to fuel cell model, while the current and voltage are outputs. Proposed model could successfully predict the fuel cell performance in good agreement with actual data. This work is extended to developed fuel cell feedback

... Show More
View Publication Preview PDF