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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
Fri Nov 18 2022
Journal Name
International Journal Of Nanoscience
Plasma Production and Applications: A Review
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Large amounts of plasma, the universe’s fourth most common kind of stuff, may be found across our galaxy and other galaxies. There are four types of matter in the cosmos, and plasma is the most common. By heating the compressed air or inert gases to create negatively and positively charged particles known as ions, electrically neutral particles in their natural state are formed. Many scientists are currently focusing their efforts on the development of artificial plasma and the possible advantages it may have for humankind in the near future. In the literature, there is a scarcity of information regarding plasma applications. It’s the goal of this page to describe particular methods for creating and using plasma, which may be us

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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Computer, Communication, Control And System Engineering
Data Analytics and Blockchain: A Review
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Blockchain technology relies on cryptographic techniques that provide various advantages, such as trustworthiness, collaboration, organization, identification, integrity, and transparency. Meanwhile, data analytics refers to the process of utilizing techniques to analyze big data and comprehend the relationships between data points to draw meaningful conclusions. The field of data analytics in Blockchain is relatively new, and few studies have been conducted to examine the challenges involved in Blockchain data analytics. This article presents a systematic analysis of how data analytics affects Blockchain performance, with the aim of investigating the current state of Blockchain-based data analytics techniques in research fields and

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Publication Date
Wed Dec 13 2017
Journal Name
Al-khwarizmi Engineering Journal
Design of a Kinematic Neural Controller for Mobile Robots based on Enhanced Hybrid Firefly-Artificial Bee Colony Algorithm
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The paper present design of a control structure that enables integration of a Kinematic neural controller for trajectory tracking of a nonholonomic differential two wheeled mobile robot, then  proposes a Kinematic neural controller to direct a National Instrument mobile robot (NI Mobile Robot). The controller is to make the actual velocity of the wheeled mobile robot close the required velocity by guarantees that the trajectory tracking mean squire error converges at minimum tracking error. The proposed tracking control system consists of two layers; The first layer is a multi-layer perceptron neural network system that controls the mobile robot to track the required path , The second layer is an optimization layer ,which is impleme

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Publication Date
Tue Dec 31 2019
Journal Name
Journal Of Engineering
Assessment of Pedestrian Walking Speed Through the Religious Occasions in Iraq
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The design of safe pedestrian facilities usually depends on the assessment of pedestrian characteristics and behavior. In this investigation, pedestrian walking speed through the religious occasion have been monitored at three locations, Al- Kadhimiya (Imam AL-Kadim), Najaf and Karbala (Imam AL-Husain) holy shrines. Video captures of the pedestrian through their walking to the two holy shrines have been prepared and analyzed for walking speed, gender, age groups, and clothing tradition. The pedestrian sample size is 468, 501, and 447 for Al- Kadhimiya, Karbala, and Najaf respectively. When the gender is taken into consideration, it can be noted that the walking speed of male and female pedestrian is (0.97, 1.68, and 1.63

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Publication Date
Tue Mar 03 2015
Journal Name
Journal Of Baghdad College Of Dentistry
Periimplantitis-A review
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Publication Date
Fri May 30 2025
Journal Name
Journal Of Baghdad College Of Dentistry
Periimplantitis- A review
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This review article concentrates the light about aetiology and treatment of the periimplantitis.

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Publication Date
Thu Jun 30 2016
Journal Name
Al-kindy College Medical Journal
Pattern of Cystoid Macular Edema
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Background: Cystoid Macular Edema (CME) in its various forms can be considered one of the leading causes of central vision loss in the developed world. It is not a disease itself, It represents a common pathologic sequel of the retina and occurs in a variety of pathological conditions such as, diabetic retinopathy, central or branch retinal vein occlusion(CRVO,BRVO), intraocular inflammation and following cataract extraction. Objective: This study was done to investigate the pattern of CME in patient attending Erbil Teaching Hospitals.Type of the study: Cross- sectional study.Methods and Materials: This is a hospital base cross- sectional study that included 61 patients (75 eyes) conducted at Erbil Teaching Hospitals for six months. All

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Publication Date
Wed Dec 01 2021
Journal Name
Journal Of Biotechnology Research Center
Candida and Candidiasis - A review of Virulence Factors
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   The occurrences of invasive candidiasis has increased over the previous few decades. Although Candida albicans considers as one of the most common species of organisms, that cause acquired fungal infections. Candida albicans is an opportunistic fungal pathogen and inherent in as a lifelong, the yeast is present in healthy individuals as a commensal, and can reside harmlessly in human body. However, in immuno-compromised individuals, the fungus can invade tissues, producing superficial infections and, in severe cases, life-threatening systemic infections. This review wills emphasis on virulence factor of C. albicans including (adhesion, invasion, candida proteinase, and phenotypic switching and biofilm formation. I

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Publication Date
Thu Jul 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Synthesis and characterization of Silver nanoparticles: A review
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In the current century, nanotechnology has gained great interest due to its ability to modify the size of metals to the nanoscale, which dramatically changes the physical, chemical, and biological characteristics of metals relative to their bulk counterparts. The approaches used to create nanoparticles (NPs) are physical, و chemical and وbiological. The shortcomings in physical and chemical synthesis approaches, such as the generation of toxic by-products, and energy consume as they require high temperature, pressure, power and lethal chemicals, contributed to an increased interest in biological synthesis by plants. Scientists have created a new filed called as "green nanotechnology" by fusing the idea of sustainability with nanotechno

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Publication Date
Mon Aug 01 2022
Journal Name
Communications In Mathematical Biology And Neuroscience
Stability analysis of a competitive ecological system in a polluted environment
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The interplay of species in a polluted environment is one of the most critical aspects of the ecosystem. This paper explores the dynamics of the two-species Lokta–Volterra competition model. According to the type I functional response, one species is affected by environmental pollution. Whilst the other degrades the toxin according to the type II functional response. All equilibrium points of the system are located, with their local and global stability being assessed. A numerical simulation examination is carried out to confirm the theoretical results. These results illustrate that competition and pollution can significantly change the coexistence and extinction of each species.

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