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.
The dyes Azo have a lengthy history and are a vital part of our daily lives. There are numerous potentials uses for these substances and their derivatives in various industries and environmental and biological research. In this study conversion of various azo compounds into other derivatives, complexes, and polymers was accomplished. This review included examining the chemistry reactions, synthesis, and applications of azo dye ligands and their complexes, mentioned spectral, analytical, thermal, and morphology methods of investigation, and confirmed by mass fragment mechanisms for some azo dyes and metal complexes. One of the aims of this review is to explain the role of these azo dye derivatives and the effect of metal complexes on leather
... Show MoreThe poultry industry is developing continuously and rapidly, this development takes several trends in the poultry industry, such as searching for new alternatives feed additives. The research focused on finding new alternatives feed additives, among these alternatives is Synoptic, which used to maximize the benefit of the two important compounds (probiotics and prebiotics) as these two compounds are considered one of the most alternatives feed additives, which have been used a lot in poultry feeding to maximize the value of these compounds, they were combined into one compound called synbiotic. Several studies confirm that the synbiotic effect on the intestine morphology, which, the ratio villus height and villus: crypt ratio in the
... Show MoreThis review article concentrates the light about aetiology and treatment of the periimplantitis.
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
... Show MoreGroundwater modelling is particularly challenging in arid regions where limited water recharge is available. A fault zone will add a significant challenge to the modelling process. The Western Desert in Iraq has been chosen to implement the modelling concept and calculate the model sensitivity to the changes in aquifer hydraulic properties and calibration by researching 102 observations and irrigation wells. MODFLOW-NWT, which is a Newtonian formulation for MODFLOW-2005 approaches, have been used in this study. Further, the simulation run has been implemented using the Upstream-Weighting package (UPW) to treat the dry cells. The results show sensitivity to the change of the Kx value for the major groundwater discharge flow. Only abo
... Show MoreOsteoporosis is a global health concern with bone frailty and high fracture risk. Existing diagnostic paradigms largely rely on bone scanning and bone mineral density evaluation which are hindered by the delayed prediction of fractures, especially in high-risk groups. This review assesses existing and novel Osteoporosis biomarkers, their mechanisms, clinical efficacy, drawbacks, and discusses the best biomarkers in Osteoporosis risk stratification and management, to convert them into better patient care. An online search was conducted, including PubMed, Web of Science, Embase, and Google Scholar up to June 2026. Passed studies were reviewed critically and organized biomarkers into five different panels: traditional and bone turnover
... Show MoreThe flexible joint robot (FJR) typically experiences parametric variations, nonlinearities, underactuation, noise propagation, and external disturbances which seriously degrade the FJR tracking. This article proposes an adaptive integral sliding mode controller (AISMC) based on a singular perturbation method and two state observers for the FJR to achieve high performance. First, the underactuated FJR is modeled into two simple second-order fast and slow subsystems by using Olfati transformation and singular perturbation method, which handles underactuation while reducing noise amplification. Then, the AISMC is proposed to effectively accomplish the desired tracking performance, in which the integral sliding surface is designed to reduce cha
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