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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
Tue Feb 13 2024
Journal Name
The International Journal Of Oral &amp; Maxillofacial Implants
The Accuracy of Intraoral Registration for Dynamic Surgical Navigation in the Edentulous Maxilla
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Purpose: Despite the high clinical accuracy of dynamic navigation, inherent sources of error exist. The purpose of this study was to improve the accuracy of dynamic navigated surgical procedures in the edentulous maxilla by identifying the optimal configuration of intra-oral points that results in the lowest possible registration error for direct clinical implementation. Materials and methods: Six different 4-area configurations were tested by 3 operators against positive and negative controls (8-areas and 3-areas, respectively) using a skull model. The two dynamic navigation systems (X-Guide® and NaviDent®) and the two registration methods (bone surface tracing and fiducial markers) produced four registration groups. The accuracy of the

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Publication Date
Sat Aug 17 2024
Journal Name
Al-rafidain Journal Of Medical Sciences ( Issn 2789-3219 )
Analysis of Follicular Fluid Fatty Acids in Iraqi Women Undergoing Intracytoplasmic Sperm Injection
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Background: Oocytes are susceptible to alterations in the various fatty acid contents of follicular fluid (FF), which may influence maturation and embryogenesis. Different fatty acids exert various effects on intracytoplasmic sperm injection (ICSI), which needs further studies to uncover the involved mechanisms. Objectives: To assess FF fatty acids in women undergoing ICSI and to correlate them with ICSI parameters, namely the total count of aspirated oocytes, oocyte maturation rate, fertilization rate and percentage of good-quality embryos. Methods: Fifty women undergoing ICSI were enrolled in this cross-sectional study. FF samples were collected during oocyte retrieval and were analyzed for fatty acids using gas chromatography. Fa

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Publication Date
Fri Mar 01 2019
Journal Name
Optical Fiber Technology
Highly sensitive measurement of surrounding refractive index using tapered trench–assisted multicore fiber
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Publication Date
Tue Sep 04 2018
Journal Name
Al-khwarizmi Engineering Journal
Studying the Mechanical Properties of Denture Base Materials Fabricated from Polymer Composite Materials
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In this research, the effect of adding two different types of reinforcing particles was investigated, which included: nano-zirconia (nano-ZrO2) particles and micro-lignin particles that were added with different volume fractions of 0.5%, 1%, 1.5% and 2% on the mechanical properties of polymer composite materials. They were prepared in this research, as a complete prosthesis and partial denture base materials was prepared, by using cold cure poly methyl methacrylate (PMMA) resin matrix. The composite specimens in this research consist of two groups according to the types of reinforced particles, were prepared by using casting methods, type (Hand Lay-Up) method. The first group consists of PMMA resin reinforced by (nano-ZrO

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Publication Date
Fri Sep 15 2023
Journal Name
Bionatura
Histological study of liver in guinea pig Cavia porcellus ( Linnaeus , 1758) in Iraq.
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The liver is one of the most prominent glands in the digestive system. It crosses vital organs with multiple functions, including the secretion of enzymes, digestion of fats, and secretion of bile. Through histological studies and those interested in them, the tissue structure of the liver is of interest to researchers, and the four samples of Guinea pig Cavia porcellus were taken in this study to know the histological structure and compare it with rodents in particular. and other animals in general. The results of the liver parenchyma were comparable to those of the studied mammals in periods of hepatocytes, Kupffer cells, and sinusoids surrounding the central vein, blood supply, and bile ducts. He did not record differences, eve

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Publication Date
Sun Dec 29 2019
Journal Name
Iraqi Journal Of Science
Antibacterial activity of Some mouthwash Solutions against Staphylococcus lentus Isolated from Mouth Infections
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A total of nine swab samples were collected from inflamed teeth and gingiva of human’soral cavity from a dentist clinic in Baghdad. All specimens were cultured in Mitis Salivarius agar medium and the isolated bacterial pure colonies werethen identified by using VITEK2. Three samples were diagnosed and identified as Staphylococcus lentus. One of the three isolates which showed a distinctive heavy growth on the media was selected for further analysis in this study. Paper disk diffusion method was used to detect the antibacterial activityof three of mouthwash solutions (Zak, Colgate and Listerine). The results showed that “Colgate” was the most active solution with antibacterial activity compared with the other two s

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Publication Date
Sat May 01 2021
Journal Name
Journal Of Physics: Conference Series
Finite element analysis of seepage for Kongele earth dam Using Geo- Studio software
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Abstract<p>Seepage occurs under or inside structures or in the place, where they come into contact with the sides under the influence of pressure caused by the difference in water level in the structure U / S and D / S. This paper is designed to model seepage analysis for Kongele (an earth dam) due to its importance in providing water for agricultural projects and supporting Tourism sector. For this purpose, analysis was carried out to study seepage through the dam under various conditions. Using the finite element method by computer program (Geo-Studio) the dam was analysed in its actual design using the SEEP / W 2018 program. Several analyses were performed to study the seepage across Kongele </p> ... Show More
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Publication Date
Tue Nov 01 2016
Journal Name
Renewable Energy
Biodiesel production by esterification of oleic acid over zeolite Y prepared from kaolin
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Publication Date
Wed Jan 01 2020
Journal Name
Iop Conference Series: Materials Science And Engineering
Numerical Analysis of Under-Reamed Pile Subjected to Dynamic Loading in Sandy Soil
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Abstract<p>Under-reamed piles are piles with enlarged bases, which may be single bulb or multi bulbs. Such piles are suitable for resisting considerable soil movement of filed up ground, soft clay, and loose sand and have the advantages of increasing the soil strength and decreasing the displacement. In the present study, the finite element method was used to analyse the performance of a single pile with under-reamed bulbs of different shapes, that is, single cone, double cone, and half and full sphere, embedded in homogeneous, poorly graded sandy soil. The model of under-reamed pile was made of reinforced concrete and the bulb located at the middle of the embedded length of the pile. The dynami</p> ... Show More
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Publication Date
Wed Oct 01 2025
Journal Name
Iraqi Journal Of Applied Physics Letters
Photoluminscence Characteristics of Al2O3/Si Multilayer Structures Fabricated by DC Reactive Sputtering Technique
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 In this work, nanostructure aluminum oxide thin films were deposited on glass substrates using a direct current (DC) magnetic reactive sputtering (MRS) technique. A gaseous mixture of argon and oxygen at different mixing ratios was used to synthesize Al2O3 nanoparticles. After extracting Al2O3 powder from the glass substrate, X-ray diffraction (XRD), field-emission scanning electron microscopy (FE-SEM), and energy-dispersive spectroscopy (EDS) were used to analyze the structural and morphological properties of the synthesized thin films. The effect of deposition time on the spectral properties, as well as on the size of the nanoparticles, was determined.

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