The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force control. They are designed and simulated to improve the desired joints position specifications such as minimum overshoot, minimum oscillation, minimum steady state error, and disturbance rejection during tracking the desired position medical trajectory. Ant Colony Optimization (ACO) is used to tune the gains of position and force parts of the Force-Position controllers to get the desired position trajectory according to the required specification. A comparison between the force-position controllers tuned manually and tuned by ACO shows an enhancement in the results of the second type as compared with the first one with an average of 39%.
Knowledge management contribute to the overall private university libraries to develop libraries for the purpose of creating human and technological resources by investing research and development, as well as education and training for life.
This study followed the methodology of the descriptive and historical pillars of knowledge management for the years 1990 to the present day in 2017, depending on statistical figures obtained by the researchers from the General Secretariat of the Central Library at the University of Baghdad, and the Human Resources Division, which specialized human resources training after 2004 (and before those years from 1982 until 2002, where the continuing education was committee of the fixed committees are wor
The unprejudiced of this education is to gauge the ability of the retinoic acid to induce apoptotic cell death in hematological tumors through caspase dependent or independent apoptotic pathway, The cytotoxicity effects of retinoic acid of different concentrations (400,350,300,250,200,150,100,50,25,12.5 μg\ml) and exposure for all hematological malignancy cell lines (Human non-Hodgkin lymphoma SR and human multiple myeloma (COLO 677) and Human Monocytic Leukemia THP1 and Acute promyelocytic leukemia NB4) have been determined using a microtetrazolium (MTT) assay. Propodeum iodide and alcidine orange (AO/PI) paired discoloration was used to study the ability of retinoic acid to induce apoptosis in the infected cells and examined under fluore
... Show MoreGastro oesophageal reflux disease is due to involuntary gastric contents reflux into the esophagus from stomach, causing heartburn and acid regurgitation symptoms. Genetic and environmental factors are important factors in the causation of disease. Human Leukocyte antigens considered as an excellent marker for population genetics analysis and disease association. This study aimed to investigate the association between HLA-DRB1-DQB1 haplotype that inherited in linkage and its association with gastro oesophageal reflux disease (GERD). Patients and healthy controls were prospectively recruited from gastrocolonoscope unit at Al-Kindy Teaching Hospital (Baghdad-Iraq) between January and July 2016. Forty Iraqi Arab Muslims patients with a history
... Show MoreThe hydatid materials were collected and studied, so they were contained 50 fertile human hydatid cases {33 (66%) females and 17 (34%) males}. They were collected from Al-Ramadi General Hospital during the period from December, 2003 to July, 2004 .Cysts were observed in 40 (80%) from the liver, 5 (10%) from the lungs, 3 (6%) from the kidney and 2 (4%) cysts from urinary bladder. The specimens were taken from patients of different ages. The in vitro viability of protoscoleces was assessed on the basis of flame cell activity and eosein exclusion, which were considered as criteria to determine the death or viability of protoscoleces. In addition to this movement (flame cell activity), another motility like constriction – relaxatio
... Show MoreBackground: Bacteriocin is a peptidic toxin has many advantages to bacteria in their ecological niche and has strong antibacterial activity. Objective: The aim of this study was to evaluation of bacteriocin using Streptococcus sanguinis isolated from human dental caries.
Subjects and Methods: Thirty five streptococcus isolates were diagnosed and tested for their production of bacteriocin, and then the optimal conditions for production of bacteriocin were determined. After that, the purification of bacteriocin was made partially by ammonium sulfate at 95% saturation levels, followed by and gel filtration chromatography
... Show MoreBack ground: The gender related difference
may be the result of pregandiol excretion in the
latter half of pregnancy.
Aim: This study is to evaluate the effects of fetal
gender on serum human chorionic gonadotropin
[HCG] and testosterone in normotensive and
preeclamptic pregnancies
Methods: The study consisted of fifty women with
singleton pergnancy in their third trimester. Twenty
five pregnancies were uncomplicated Among those
there were thirteen male, and twelve female fetuses
Twenty five pregnancies were complicated by
preeclampsia. Among those thirteen were with male,
and twelve were with female fetuses. Human
chorionic gonadotropin and total testosterone were
measured in maternal periphe
Background: Nanotechnology represents a new science that promises to provide a broad range of uses and improved technologies for biological and biomedical applications. One of the reasons behind the intense interest is that nanotechnology permits synthesis of materials that have structure is less than 100 nanometers. The present work revealed the effect of zinc oxide nanoparticles (ZnO NPs) on Streptococcus mutans of Human Saliva in comparison to de-ionized water. Materials and methods: Streptococcus mutans were isolated from saliva of forty eight volunteers of both sexes their age range between 18-22 years and then purified and diagnosed according to morphological characteristic and biochemical tests. Different concentrations of ZnO NPs w
... Show MoreCarnosol, a phenolic diterpene, is one of the effective anticancer agents naturally occurring in rosemary, sage, parsley, and oregano. The chemoresistance problem increased with the routinely used chemotherapy. Therefore, the efforts to find a substitute with safe and low cost have become crucial worldwide. The current study attempts to inspect the anticancer molecular mechanisms of Carnosol on modulating up- and down- regulation of multiple genetic carcinogenesis pathways. The cytotoxicity of Carnosol on Hela cells was evaluated by MTS assay. Flow cytometry was used to assess apoptosis and cell cycle arrest. The apoptotic morphological changes were obvious by dual apoptosis assay. The differential gene expression after treatment wi
... Show MoreObjective(s): To assess Baghdad University students’ knowledge and attitudes toward HIV/AIDS, and to find out
the relationship of Baghdad University students’ knowledge and attitudes with certain variables (gender,
socioeconomic status, field of study).
Methodology: A descriptive analytic study was used to assess the knowledge and attitudes of Baghdad University
Students’ toward HIV/AIDS. The study was conducted (November 1st 2012 to July 15th 2013). A non-probability
(purposive sample) of 400 students (males-138 and females-262) were selected from four colleges and they were
in the fourth class, a probability (stratified random) method was used to select four colleges at University of
Baghdad as a study settin