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Modeling, stability and walking pattern generators of biped robots: a review
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SUMMARY<p>Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.</p>
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Publication Date
Sun Jan 01 2023
Journal Name
8th Engineering And 2nd International Conference For College Of Engineering – University Of Baghdad: Coec8-2021 Proceedings
Preliminary quality assurance of printgrammetry technique-3D modeling from Google Earth 3D imagery data
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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Engineering
MODELING HOUSEHOLD TRIP GENERATION FOR SELECTED ZONES AT AL-KARKH SIDE OF BAGHDAD CITY
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Trip generation is the first phase in the travel forecasting process. It involves the estimation of the
total number of trips entering or leaving a parcel of land per time period (usually on a daily basis);
as a function of the socioeconomic, locational, and land-use characteristics of the parcel.
The objective of this study is to develop statistical models to predict trips production volumes for a
proper target year. Non-motorized trips are considered in the modeling process. Traditional method
to forecast the trip generation volume according to trip rate, based on family type is proposed in
this study. Families are classified by three characteristics of population social class, income, and
number of vehicle ownersh

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Publication Date
Mon Dec 29 2025
Journal Name
Journal Of Applied Engineering And Technological Science (jaets)
Using Fuzzy Cognitive Maps For Modeling Environmental Aspect of Sustainable Development in Construction Projects
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The pillars of sustainable development are representing the interface between environmental, economic, and social sustainability. Sustainable development is a method of planning and managing construction projects to reduce the effect of the construction process on the environment so that there is a balance between environmental capabilities and the human needs of present and future generations. Usually, Environmental sustainability is most important and effective in construction projects. The environment suffers from significant negative impacts as a result of the implementation of construction projects; therefore, this study aims to identify the effecting factors on environmentally sustainable development. The methodology of this s

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Publication Date
Mon Jan 01 2024
Journal Name
International Journal Of Hydrogen Energy
Modeling of electrocatalytic hydrogen evolution via high voltage alkaline electrolyzer with different nano-electrocatalysts
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Publication Date
Mon Dec 11 2023
Journal Name
Journal Of Kufa For Chemical Sciences
Review of Analytical Methodologies for the Determination of Metronidazole and Trimethoprim in Environmental Samples
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Antibiotics are essential for treating infectious diseases, but their overuse and adverse effects are raising concerns about global public health. The pervasiveness of antibiotic contamination in aquatic environments has drawn increased attention in recent years. The primary concern regarding the release of antibiotics into the environment is the potential for microorganisms to become resistant to antibiotics. This review article summarizes the analytical methods used to determine the presence of trimethoprim and metronidazole in various environmental samples. These antibiotics have traditionally been analyzed using tandem mass spectrometry or high-performance liquid chromatography coupled to mass spectrometry; fluorescence or ultrav

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Publication Date
Sun May 16 2021
Journal Name
Turkish Journal Of Computer And Mathematics Education
Historical Review: Athletics and Heroic Sports Encouraged and Played at Islamic period and Greek
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The paper is highlighting the athletics and heroic sports which encouraged and played at Greek and Islamic period. The paper is identifying the Islamic athletics and heroic sport and compare them with Greek sports, as it is the model of sports while the sport during the Islamic period was not undertaken by scientific researches or articles even in Wikipedia. Although, this period was encouraged and practice many sports such as archery, sword grappling and wrestling, equestrianism, jogging and running whereas there are many Arabic references revealed during the Islamic 610 A.D. while the Greek and Olympic was known at 732 A.D. The paper is followed the literature review and historical to shied a light scientifically about traditional sports

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Publication Date
Mon May 24 2021
Journal Name
Turkish Journal Of Computer And Mathematics Education (turcomat)
Historical Review: Athletics and Heroic Sports Encouraged and Played at Islamic period and Greek
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The paper is highlighting the athletics and heroic sports which encouraged and played at Greek and Islamic period. The paper is identifying the Islamic athletics and heroic sport and compare them with Greek sports, as it is the model of sports while the sport during the Islamic period was not undertaken by scientific researches or articles even in Wikipedia. Although, this period was encouraged and practice many sports such as archery, sword grappling &nbsp;and wrestling, equestrianism, jogging and running whereas there are many Arabic references revealed during the Islamic 610 A.D. while the Greek and Olympic was known at 732 A.D. The paper is followed the literature review and historical to shied a light scientifically about tradition

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Publication Date
Fri Jul 04 2025
Journal Name
Bylon Center For Humanities Studies
Amos Oz And His Status In Modern Hebrew Literature (Review Article)
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This literary review addresses the status of the most famous Israeli writer, Amos Oz, through the analysis of relevant articles that highlight various aspects of his literary and political orientations, reflecting his ideological and social background. Oz's literature encompasses a mix of political orientations that many critics view as extreme, while others see them as moderate stances indicative of the author's awareness. And these are what strengthened his literary status in modern Hebrew literature.These trends emphasized the contribution of Oz's works to shaping Israeli cultural consciousness and reflect the challenges facing identity in multiple contexts. He was an advocate for equality between Palestinians and Israelis and

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Publication Date
Tue Sep 01 2020
Journal Name
Journal Of Engineering
Review on Heat Transfer Process Inside Open and Closed Porous Cavity
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Many researchers used different methods in their investigations to enhance the heat transfer coefficient, one of these methods is using porous medium. Heat transfer process inside closed and open cavities filled with a fluid-saturated porous media has a considerable importance in different engineering applications, such as compact heat exchangers, nuclear reactors and solar collectors. So, the present paper comprises a review on natural, forced, and combined convection heat transfer inside a porous cavity with and without driven lid. Most of the researchers on this specific subject studied the effect of many parameters on the heat transfer and fluid field inside a porous cavity, like the angle of inclination, the presenc

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Publication Date
Fri Apr 01 2022
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Medium access control protocol design for wireless communications and networks review
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<p><span>Medium access control (MAC) protocol design plays a crucial role to increase the performance of wireless communications and networks. The channel access mechanism is provided by MAC layer to share the medium by multiple stations. Different types of wireless networks have different design requirements such as throughput, delay, power consumption, fairness, reliability, and network density, therefore, MAC protocol for these networks must satisfy their requirements. In this work, we proposed two multiplexing methods for modern wireless networks: Massive multiple-input-multiple-output (MIMO) and power domain non-orthogonal multiple access (PD-NOMA). The first research method namely Massive MIMO uses a massive numbe

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