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Creeping Gait Analysis and Simulation of a Quadruped Robot
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A quadruped (four-legged) robot locomotion has the potential ability for using in different applications such as walking over soft and rough terrains and to grantee the mobility and flexibility. In general, quadruped robots have three main periodic gaits:  creeping gait, running gait and galloping gait. The main problem of the quadruped robot during walking is the needing to be statically stable for slow gaits such as creeping gait. The statically stable walking as a condition depends on the stability margins that calculated particularly for this gait. In this paper, the creeping gait sequence analysis of each leg step during the swing and fixed phases has been carried out. The calculation of the minimum stability margins depends upon the forward and inverse kinematic models for each 3-DOF leg and depends on vertical geometrical projection during walking. Simulation and results verify the stability insurance after calculation the minimum margins which indicate clearly the robot COG (Center of Gravity) inside the supporting polygon resulted from the leg-tips.

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Publication Date
Tue Apr 30 2024
Journal Name
Abdulraheem Assi Obaid
Effect of shading net, planting methods and bio-extract on production of muskmelon
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Publication Date
Thu Oct 01 2020
Journal Name
Systematic Reviews In Pharmacy
Estimation of activity and toxicity of silver nanoparticles loaded metronidazole against Giardia lamblia
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Giardia lamblia is one of most common protozoan cause diarrheas, and the most health problem in development countries worldwide. Our work aimed to assess activity and toxicity of metronidazole loaded silver nanoparticles in treatment of acute giardiasis in mice. After inoculated mice with Giardia cysts in a dose of 105 cyst for acute infection, treatments were given for eight days. Number Giardia cysts in stool were discovered. Toxicity nanoparticles was estimated by Measurement oxidative stress markers (GSH) and (MDA) in liver, kidney tissue homogenate. The results showed single therapy was better effect by silver nanoparticles, highest percentages of reduction in number of cysts Giardia lamblia of infected mice treated with silver nanopar

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Scopus
Publication Date
Sun Mar 13 2011
Journal Name
Baghdad Science Journal
Extraction and purification of L-Asparaginase II from local isolate of Proteus vulgaris
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Forty one isolates of genus Proteus were collected from 140 clinical specimens such as urine, stool, wound, burn, and ear swabs from patients of both sex. These isolates were identified to three Proteus spp. P. mirabilis, P. vulgaris and P. penneri .The ability of these bacteria to produce L-asparaginase II by using semi quantitative and quantitative methods was determined. P. vulgaris Pv.U.92 was distinguished for high level of L-asparaginase II production with specific activity 1.97 U/mg. Optimum conditions for enzyme production were determined; D medium with 0.3% of L-asparagine at pH 7.5 with temperature degree 35°C for incubation. Ultrasonication was used to destroy the P. vulgaris Pv.U.92 cells then ASNase II was extracted and pu

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Publication Date
Sun Feb 03 2019
Journal Name
Iraqi Journal Of Physics
Effect of CuI concentration on structural and optical properties of PVA: CuI nanocomposites
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The nanocomposite on the base of synthesis Copper iodide
nanoparticles and polyvinyl alcohol (PVA/CuI) with different
concentration of CuI were obtained using casting technique.
PVA/CuI polymer composite samples have been prepared and
subjected to characterizations using FTIR spectroscopy, The FTIR
spectral analysis shows remarkable variation of the absorption peak
positions with increasing CuI concentration. The obtained results by
X-ray diffraction indicated the formation of cubic CuI particles. The
effects of CuI concentrations on the optical properties of the PVA
films were studied in the region of wavelength, (190-1100) nm.
From the derivation of Tauc's relation it was found that the direct
allowed t

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Publication Date
Wed Jun 28 2017
Journal Name
Iraqi Journal Of Science
Antibacterial Activity of Synergistic Effect of Colicin and Gold Nanoparticles Against Pseudomonas Aerugensa
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Publication Date
Tue Oct 03 2023
Journal Name
Biomedical And Pharmacology Journal
The Significance of Remdesivir and Favipiravir Therapies to Survival of COVID-19 Patients
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The coronavirus disease 2019 (COVID-19) pandemic and the infection escalation around the globe encourage the implementation of the global protocol for standard care patients aiming to cease the infection spread. Evaluating the potency of these therapy courses has drawn particular attention in health practice. This observational study aimed to assess the efficacy of Remdesivir and Favipiravir drugs compared to the standard care patients in COVID-19 confirmed patients. One hundred twenty-seven patients showed the disease at different stages, and one hundred and fifty patients received only standard care as a control group were included in this study. Patients under the Remdesivir therapy protocol were (62.20%); meanwhile, there (30.71

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Publication Date
Sun Jun 05 2016
Journal Name
Baghdad Science Journal
Preparation and Characterization of Bimetallic Catalyst (NiO – CoO) for Desulfurization of Gas Oil
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In this study NiO - CoO bimetallic catalysts are prepared with two Ni/Co ratios (70:30 and 80: 20) using the precipitation method of nitrate salts. The effects of Ni /Co ratio and preparation methods on the catalyst are analyzed by using different characterization techniques, i.e. atomic absorption (AA) , XRD, surface area and pore volume measurements according to the BET method . The results indicate that the best catalyst is the one containing the percentage of Ni :Co ( 70 : 30 ). Experiments indicate that the optimal conditions to prepare catalyst are stirring for three hours at a temperature of 60oC of the preparation , pH= (8-9) , calcination temperature at 400oC for two hours

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Publication Date
Mon Jan 01 2024
Journal Name
Journal Of Research In Pharmacy
Preparation and in-vitro evaluation of Carbopol hydrogel of clobetasol-loaded ethylcellulose microsponges
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: Clobetasol propionate (CP) is a potent corticosteroid used for skin conditions but often causes side effects due its systemic absorption. To improve its solubility and reduce it side effects (like skin irritation, skin atrophy, hypopigmentation and steroidal acne), Microsponge (Msg) has been employed as a unique three-dimensional particle that can encapsulate hydrophilic and lipophilic drugs. This study aims to develop and evaluate CP Msg-loaded hydrogels. Two Clobetasol-loaded ethylcellulose-based Msg formulas were prepared using the quasi-emulsion solvent diffusion method, then they were incorporated into Carbopol hydrogel. Two ratios of Carbopol 940 (1% and 1.5% w/w) were used. The prepared hydrogel were assessed for appearance, pH, dr

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Publication Date
Wed Mar 10 2021
Journal Name
Baghdad Science Journal
Biodiversity of Rotifera and Cladocera in the upper region of Euphrates River- Iraq
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Five representative sampling stations were selected in upper region of Euphrates river. Bimonthly sampling were collected from December 2000 to December 2001. Rotifera showed high density in December 2000 while high density of cladocera which recorded in October .The results of relative abundance index showed that rotifera: Polyarthera dolichoptera , Keratella cochlearis , K. valga, Cephalodella auriculata and cladocera: Bosmina longirostris , B.coregoni ,Chydorus spharicus, were more abundant in study stations. The results of constancy index showed 4 taxa belonged to rotifera and 2 taxa belonged to cladocera which were considered constant in the Euphrates river, where the other species varied between accessory and accidental speci

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Publication Date
Thu Mar 30 2017
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Antiplatelts Activity of Vitamin E in Relation to Dose and Duration of Therapy
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           Vitamin E, having the well known antioxidant activity  through scavenging free radicals Ùˆ it occurs in several  isomeric forms , these isomers have relatively different functions . One of these actions is related to its ability to inhibit platelets aggregation and hence thrombosis. The present study included a total number of apparently healthy  62 males . 11of them served as standard group , treated  with 100 mg aspirin /day for more than one month . Another 31 subjects were randomly grouped into 5 groups that received different daily doses of α – tocopherol : 400 IU , 800 IU and 1200 IU for  2-6 months.The remainder ( 20 ) subjects served

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