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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 04 2026
Journal Name
Steam-h: Science, Technology, Engineering, Agriculture, Mathematics; Health
Artificial Intelligence Applications for Achieving Economic Stability and Sustainable Growth in the Modern Era
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In recent years, the steady stream of artificial intelligence into economic systems has become a torrent. It is changing how we generate wealth and grow anew. Manufacturing, finance, health care energy, agriculture and education are just a few of the areas where AI may result in dramatic increases in productivity as well as innovation and sustainability. Predictive analytics, AI, robotics and natural language processing have significantly contributed in the improvement of resource allocation mechanisms and decision making as well as reaching SDGs. The concept of Artificial Humanity is also introduced in the paper. It shows how AI could become a global cognitive network to foster knowledge. By comparison and references of the literature, thi

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Publication Date
Tue Jun 30 2026
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Wellbore stability analysis and safe mud weight window selection in the Halfaya oil field
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   Drilling operations in the Halfaya oilfield frequently encounter severe wellbore instability challenges. When navigating shale deposits, wellbore instability remains the primary operational concern. Based on the analysis of the wellbore instability intervals, low-strength shale and marlstone formations are identified as the principal unstable zones that lead to non-productive time and higher drilling costs. By planning a safe operating mud window, these non-productive times and drilling costs can be mitigated. Several wellbore instability concerns have been found in a southern Iraqi oil field. A problem-diagnostic technique was done by evaluating well log data, drilling reports, mud logging reports, and pore pressure readings.

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Publication Date
Wed Feb 01 2023
Journal Name
Journal Of Ecological Engineering
Chlorpyrifos Removal from Aqueous Solutions by Emulsion Liquid Membrane – Stability, Extraction, and Stripping Studies
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Publication Date
Mon Dec 16 2024
Journal Name
Polimery
Synthesis and photochemical stability of polymeric derivatives formed by the reaction of acrylamide and succinic anhydride copolymer with dyes
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A new derivative of PAM, acrylamide was copolymerized with succinic anhydride, and the reaction product reacted with three dyes, anthocyanin, bromophenol, and thymol. The prepared polymers were characterized by X-ray diffraction, FT-IR and UV-visible spectroscopy, proton nuclear magnetic resonance spectrometry, and thermal analysis. FT-IR spectroscopy showed the disappearance of two bands near 3450 and 3380 cm-1 for the stretching vibrations of the primary amine which indicates for the formation of amides. The UV-photolysis of aqueous solutions of different concentrations of the polymers was studied. Polyacrylamide-g-succinic anhydride showed an increase in polymerization under light. An increase of ~ 50% was observed for a 200 mg/L

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Publication Date
Tue May 19 2026
Journal Name
Asian Journal Of Dairy And Food Research
Effect of Soy-whey Formulations and Medicinal Plant Additives on the Storage Stability and Viability of Lactobacillus rhamnosus GG
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Background: Lactobacillus rhamnosus GG bacteria is a type of probiotic belonging to the Lactobacillus family; a beneficial bacteria found in the intestines. This study aimed to prepare soymilk from soybean seeds and to produce fermented milk using the probiotic bacteria L. Rhamnosus GG, supplemented with whey and some medicinal plants and to study the storage qualities. Methods: In This study Different lactic ferments were prepared, including: Treatment soybean and whey, in which soybean milk and whey were used in different percentage (30, 50 and 70%) and the probiotic bacteria starter Lactobacillus rhamnosus GG was added to this treatments, with the addition of some medicinal medicinal plants such as garlic, mint and paprika at a r

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Publication Date
Mon Mar 27 2023
Journal Name
Aip Conference Proceedings
Stability of Kongele earth dam against rapid drawdown of water from reservoir
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ABSTRACT In dam construction stages when an earth embankment has retained a reservoir with constant water surface elevation for a long time, seepage conditions within the embankment will be reach a steady state. If it is necessary to drain the reservoir quickly, the pore-water pressures in the embankment may remain relatively high while the stabling effect of the reservoir's weight along the upstream (U/S) side for the embankment has removed. This process is referring to as "Rapid Drawdown" and may be cause instability in the upstream (U/S) face of the embankment. Kongele dam is one of the proposed earth dams to be implement within the current plan in Iraq. The authors study pore water pressure and the effect of rapid drawdown for the dam d

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Publication Date
Thu Apr 30 2020
Journal Name
Journal Of Economics And Administrative Sciences
Econometrics of the impact of financial inclusion on banking stability in Iraq
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        Financial inclusion refers to the access of financial services at low cost and high-quality from the formal financial sector to all segments of society, especially marginalized groups, and then use and benefit from them. Financial inclusion is also associated with banking stability, as well as with financial integrity and financial protection for the consumer, therefore, it achieves a number of objectives, the most important of which is to support and enhance banking stability. This is what made it attract the attention of many countries and central banks recently.

     The study aims to show the impact of financial inclusion indicators on ban

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Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Numerical Analysis of the Stability of Bridge Foundation Pile under Earthquakes Effect
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This study was chosen because of the entry of our regions into the seismic zone recently, where Diyala governorate was hit by the Halabja earthquake in 2017 by 7.3Mw. Therefore, the impact of earthquakes will be studied on the AL-Mafraq bridge foundations piles located in Iraq- east of Baghdad in Diyala Governorate and the extent of its resistance to the Halabjah, EL-Centro, and Kobe earthquakes with acceleration 0.1g, 0.34g, and 0.58g respectively. After modeling and performing the analysis by using Midas Gts-Nx software, the settlement (mm) results at nine nodes (four nodes for the pile cap and five nodes for the piles) were obtained for each of Halabjah, EL-Centro, and Kobe earthquakes to know the resistance of the br

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Publication Date
Mon Aug 01 2011
Journal Name
Journal Of Engineering
RELIABILITY ANALYSIS OF THE SEISMIC STABILITY OF EMBANKMENTS REINFORCED WITH STONE COLUMNS
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Geotechnical engineers have always been concerned with the stabilization of slopes. For this purpose,
various methods such as retaining walls, piles, and geosynthetics may be used to increase the safety factor of slopes prone to failure. The application of stone columns may also be another potential alternative for slope stabilization. Such columns have normally been used for cohesive soil improvement. Most slope analysis and design is based on deterministic approach i.e a set of single valued design parameter are adopted and a set of single valued factor of safety (FOS) is determined. Usually the FOS is selected in view of the understanding and knowledge of the material parameters, the problem geometry, the method of analysis and the

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Publication Date
Tue Jul 20 2021
Journal Name
Polymer Bulletin
Influence methods of preparation on the thermal stability of polyimide/silica dust
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