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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
Wed Aug 30 2023
Journal Name
Baghdad Science Journal
Deep Learning-based Predictive Model of mRNA Vaccine Deterioration: An Analysis of the Stanford COVID-19 mRNA Vaccine Dataset
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The emergence of SARS-CoV-2, the virus responsible for the COVID-19 pandemic, has resulted in a global health crisis leading to widespread illness, death, and daily life disruptions. Having a vaccine for COVID-19 is crucial to controlling the spread of the virus which will help to end the pandemic and restore normalcy to society. Messenger RNA (mRNA) molecules vaccine has led the way as the swift vaccine candidate for COVID-19, but it faces key probable restrictions including spontaneous deterioration. To address mRNA degradation issues, Stanford University academics and the Eterna community sponsored a Kaggle competition.This study aims to build a deep learning (DL) model which will predict deterioration rates at each base of the mRNA

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Publication Date
Mon Sep 01 2025
Journal Name
Results In Engineering
Comprehensive analysis of thermoelectrical performance of an air-based photovoltaic thermal solar collector integrated with innovative gridded metal foams
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Publication Date
Mon May 11 2026
Journal Name
Chemical Papers
Eco-friendly synthesis of silica and alumina from waste materials and their application in improving water-based drilling mud
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Water-based drilling fluids (WBDFs) are the industry-preferred medium for drilling reactive shale formations, yet they remain susceptible to shale swelling, fluid invasion, and cuttings dispersion—all of which compromise wellbore stability. Although oil-based fluids (OBFs) provide effective shale inhibition, their high cost and adverse environmental profile limit their use. Nanoparticles (NPs) derived from waste feedstocks offer a low-cost, environmentally responsible alternative for enhancing WBDF performance, but no prior study has simultaneously evaluated both waste-derived SiO2 and Al2O2 NPs within a single WBDF system. This study synthesised SiO2 NPs from Halfaya bentonite clay waste and Al2O2 NPs from recycled aluminium scrap, char

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Publication Date
Wed Nov 23 2022
Journal Name
Dental Hypotheses
Remineralization of Dentine Caries Using Moringa Oleifera Based Nano-Silver Fluoride: A Single-Blinded, Randomized, Active-Controlled Clinical Trial
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Publication Date
Wed Oct 01 2025
Journal Name
Journal Of Materials Science: Materials In Electronics
Comprehensive study of Cu2⁺-ion conducting PVA/PVP/glycerin-based gel polymer electrolytes: structural, electrical, dielectric, and optical properties
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This study investigates the impact of copper sulfate (CuSO4) doping and glycerin plasticization on the structural, electrical, dielectric, and optical properties of poly(vinyl alcohol) (PVA), polyvinyl pyrrolidone (PVP), and glycerin gel polymer electrolytes (GPEs). The GPEs were prepared using a solution casting method with varying CuSO4 concentrations (5 and 10 wt.%). X-ray diffraction analysis revealed the semi-crystalline nature of the polymer blend and also confirmed the presence of CuSO4. Fourier transform infrared spectroscopy confirmed the miscibility of PVA, PVP, and glycerin through interchain hydrogen bonding and indicated the successful incorporation of Cu2+ ions into the polymer blend matrix. The PVA/PVP/glycerin blend containi

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Publication Date
Thu Jan 01 2026
Journal Name
Research On Engineering Structures And Materials
Comparative performance-based analysis of sustainable soil stabilizers via secondary experimental data: RCA, RAC, fly ash, and nano MgO
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In this work, the experimental data of four eco-friendly soil stabilizers—recycled concrete aggregate (RCA), recycled aggregate concrete (RAC), Class F fly ash, and nano-MgO— used for low plasticity clay (CL) are synthesized in a comparative manner. A well-organized secondary database was developed for OMC and MDD, UCS, soaked CBR, ultimate bearing capacity, and settlement. Differences between studies were controlled by limiting the data to similar test conditions and calculating changes from each source study’s respective untreated control. OMC was raised by the fly ash from 17.2% to 20.2%, while MDD was decreased from 1.80 g/cm3 (3% dosage) to 1.69 g/cm3 (9% dosage). RCA and RAC yielded maximum dry density (MDD) of 1.86

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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
Wed Mar 30 2016
Journal Name
College Of Islamic Sciences
Rulings on prayer On chairs
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The subject of the provisions of prayer on the chairs of the important topics in the jurisprudence they fall under the door of the people of excuses, and this section of the important doors in Islamic jurisprudence because it permeates scourge, as prayer is one of the pillars of this religion, and the first thing to be held accountable on the Day of Resurrection prayer If the peace reconciled the rest of his work and spoil corrupted all his work, the street wise was interested in this matter and put him provisions overlooked by many people these days became insulted him and do not pardon him, and do not know the rules and provisions approved by Shara, and the omission of one of these provisions is possible To lead to the invalidity of hi

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Publication Date
Fri Dec 31 2010
Journal Name
Journal Of Legal Sciences
The Moment of Contract Formation under the United Nations Convention on Contracts for the International Sale of Goods (1980) – A Comparative Study
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There are two ways that the contract might be formed with (contracting between persons who are attended and contracting between absence persons).the need for determining the precise moment of the contract , is so clear because there is a specify period separate between the declaration of acceptance and the knowledge with it .and it is clear from the four theories known for jurisprudence (theory of the declaration of the acceptance, theory of exporting the acceptance , theory of the arrival of the acceptance , theory of the knowledge with the acceptance ) . It is difficult to promote one theory on another one if we look at each one and the justification of its supporters and what the opponents of each theory expose. Legal background and diff

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Publication Date
Thu Aug 31 2017
Journal Name
Journal Of Engineering
The Effect of Cyclic Bending Loads on Crack Growth in Pipes for Inclined and Transverse Cracks with or Without Internal Pulsing Pressure
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In the present research a new test rig has been proposed to be suitable for different cyclic loads such as cyclic bending, cyclic torsion, proportional and non proportional loads. In this work the efforts were concentrated on the cyclic bending loads concerning cracked pipes with or without internal pulsing pressure to study crack propagation in small bore pipes (up to 1'') for transverse or inclined cracks. The rig simulates the real service conditions under different stresses by means the least dangerous case will be suggested, so the experiments were considered for copper pipe, and the results have been tabulated and drawn to demonstrate the crack growth behavior as well as to justify the outcomes practically, consequently the durabil

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