Preferred Language
Articles
/
QBYySIcBVTCNdQwCWUFv
Multi-level control of zero-moment point-based humanoid biped robots: a review
...Show More Authors
SUMMARY<p>Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.</p>
Scopus Clarivate Crossref
View Publication
Publication Date
Thu Sep 01 2022
Journal Name
Iop Conference Series: Earth And Environmental Science
Primary Productivity of Iraqi lakes: A Review
...Show More Authors
Abstract<p>Lentic ecosystems are important for fish production and are a critical habitat for waterfowl and numerous migratory birds. In this study we have gathered data on primary productivity of lakes across Iraq to provide updated information to strategize conservation and management. Tigris and Euphrates rivers are the primary sources of filling up major lakes in Iraq the overall assessment shows that the primary productivity is dependent on the algal composition and environmental factors with coincident role of macrophytes. An average of 37 to 637 mg carbon/m<sup>3</sup>/day of primary productivity was calculated for most of the lakes comprised of Bacillariophyceae and followed by</p> ... Show More
View Publication
Scopus (1)
Scopus Crossref
Publication Date
Fri Sep 01 2023
Journal Name
Journal Of Engineering
A Review of Interface Bonding Testing Techniques
...Show More Authors

Interface bonding between asphalt layers has been a topic of international investigation over the last thirty years. In this condition, a number of researchers have made their own techniques and used them to examine the characteristics of pavement interfaces. It is obvious that test findings won't always be comparable to the lack of a globally standard methodology for interface bonding. Also, several kinds of research have shown that factors like temperature, loading conditions, materials, and others have an impact on surface qualities. This study aims to solve this problem by thoroughly investigating interface bond testing that might serve as a basis for a uniform strategy. First, a general explanation of how the bonding strength

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Dec 30 2022
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Optimization of Drilling Well Design: A Review
...Show More Authors

Drilling well design optimization reduces total Authorization for Expenditures (AFE) by decreasing well constructing time and expense. Well design is not a constant pattern during the life cycle of the field. It should be optimized by continuous improvements for all aspects of redesigning the well depending on the actual field conditions and problems. The core objective of this study is to deliver a general review of the well design optimization processes and the available studies and applications to employ the well design optimization to solve problems encountered with well design so that cost effectiveness and perfect drilling well performance are achievable. Well design optimization processes include unconventional design(slimhole) co

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Sep 01 2023
Journal Name
Journal Of Engineering
A Review of Interface Bonding Testing Techniques
...Show More Authors

Interface bonding between asphalt layers has been a topic of international investigation over the last thirty years. In this condition, a number of researchers have made their own techniques and used them to examine the characteristics of pavement interfaces. It is obvious that test findings won't always be comparable to the lack of a globally standard methodology for interface bonding. Also, several kinds of research have shown that factors like temperature, loading conditions, materials, and others have an impact on surface qualities. This study aims to solve this problem by thoroughly investigating interface bond testing that might serve as a basis for a uniform strategy. First, a general explanation of how

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Jan 01 2022
Journal Name
Journal Of Al-farabi For Engineering Sciences Vol
Prototyping of Multi-Factors Based Vehicle Accident Detection and Reporting System Relying on GPS and GSM
...Show More Authors

Preview PDF
Publication Date
Wed May 10 2023
Journal Name
Journal Of Engineering
ANALYTICAL SOLUTION OF UNSATURATED SOIL WATER FLOW FROM A POINT SOURCE
...Show More Authors

Water flow into unsaturated porous media is governed by the Richards’ partial differential equation expressing the mass conservation and Darcy’s laws. The Richards’ equation may be written in three forms,where the dependent variable is pressure head or moisture content, and the constitutive relationships between water content and pressure head allow for conversion of one form into the other. In the present paper, the “moisture-based" form of Richards’ equation is linearized by applying Kirchhoff’s transformation, which
combines the soil water diffusivity and soil water content. Then the similarity method is used to obtain the analytical solution of wetting front position. This exact solution is obtained by means of Lie’s

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Wed Feb 08 2023
Journal Name
Iraqi Journal Of Science
On A Modified SP-Iterative Scheme for Approximating Fixed Point of A Contraction Mapping
...Show More Authors

In this paper, we will show that the Modified SP iteration can be used to approximate fixed point of contraction mappings under certain condition. Also, we show that this iteration method is faster than Mann, Ishikawa, Noor, SP, CR, Karahan iteration methods. Furthermore, by using the same condition, we shown that the Picard S- iteration method converges faster than Modified SP iteration and hence also faster than all Mann, Ishikawa, Noor, SP, CR, Karahan iteration methods. Finally, a data dependence result is proven for fixed point of contraction mappings with the help of the Modified SP iteration process.

View Publication Preview PDF
Publication Date
Thu Apr 08 1999
Journal Name
Abhath Al- Yarmouk [basic Sciences And Engineering]
Model for Predicting the Cracking Moment in Structural Concrete Members
...Show More Authors

Publication Date
Sat Jan 01 2005
Journal Name
Iraqi Journal Of Science
Comparison between Zernike moment and central moments for matching problem
...Show More Authors

Moment invariants have wide applications in image recognition since they were proposed.

Publication Date
Thu Dec 30 2021
Journal Name
Iraqi Journal Of Science
Fast Fractal Technique using Modified Moment Features on Domain Blocks
...Show More Authors

In this research, a new technique is suggested to reduce the long time required by the encoding process by using modified moment features on domain blocks. The modified moment features were used in accelerating the matching step of the Iterated Function System (IFS). The main disadvantage facing the fractal image compression (FIC) method is the over-long encoding time needed for checking all domain blocks and choosing the least error to get the best matched domain for each block of ranges. In this paper, we develop a method that can reduce the encoding time of FIC by reducing the size of the domain pool based on the moment features of domain blocks, followed by a comparison with threshold (the selected  threshold based on experience

... Show More
View Publication Preview PDF
Scopus Crossref