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Analysis and Evaluation of a Quasi-Passive Lower Limb Exoskeleton for Gait Rehabilitation
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Lower extremity exoskeletons can assist with performing particular functions such as gait assistance, and physical therapy support for subjects who have lost the ability to walk. This paper presents the analysis and evaluation of lightweight and adjustable two degrees of freedom, quasi-passive lower limb device to improve gait rehabilitation. The exoskeleton consists of a high torque DC motor mounted on a metal plate above the hip joint, and a link that transmits assistance torque from the motor to the thigh. The knee joint is passively actuated by spring installed parallel with the joint. The action of the passive component (spring) is combined with mechanical output of the motor to provide a good control on the designed exoskeleton while walking. The results show that muscles' efforts on both the front and the back sides of the user's leg were decreased when walking using the exoskeleton with the motor and spring.

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Publication Date
Mon Dec 03 2018
Journal Name
Association Of Arab Universities Journal Of Engineering Sciences
Condition assessment and rehabilitation for trunk sewer deterioration based on Semi-Markov model
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An accurate assessment of the pipes’ conditions is required for effective management of the trunk sewers. In this paper the semi-Markov model was developed and tested using the sewer dataset from the Zublin trunk sewer in Baghdad, Iraq, in order to evaluate the future performance of the sewer. For the development of this model the cumulative waiting time distribution of sewers was used in each condition that was derived directly from the sewer condition class and age data. Results showed that the semi-Markov model was inconsistent with the data by adopting ( 2 test) and also, showed that the error in prediction is due to lack of data on the sewer waiting times at each condition state which can be solved by using successive conditi

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Publication Date
Mon Feb 01 2021
Journal Name
Journal Of Physics: Conference Series
The Convergence of Iterative Methods for Quasi δ-Contraction Mappings
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Abstract<p>In this article, we will present a quasi-contraction mapping approach for D iteration, and we will prove that this iteration with modified SP iteration has the same convergence rate. At the other hand, we prove that the D iteration approach for quasi-contraction maps is faster than certain current leading iteration methods such as, Mann and Ishikawa. We are giving a numerical example, too.</p>
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Publication Date
Fri Dec 01 2017
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
Integration between value chain analysis and balanced scorecard to for performance evaluation
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The performance evaluation process requires a set of criteria and for the purpose of measuring the level of performance achieved by the Unit and the actual level of development of its activities, and in view of the changes and of rapid and continuous variables surrounding the Performance is a reflection of the unit's ability to achieve its objectives, as these units are designed to achieve the objectives of exploiting a range of economic resources available to it, and the performance evaluation process is a form of censorship, focusing on the analysis of the results obtained from the achievement All its activities with a view to determining the extent to which the Unit has achieved its objectives using the resources available to it and h

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Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
A study copepoda invertebrates ecology in lower Zab
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The samples were collected monthly crustaceans Mjmafah foot of two stations in tributary Zab down and two others in the Tigris River for one year with effect from November 2001 until October 2002 recorded during the study period the current 41 units taxonomic and were higher density of Mjmafah foot Guy Tigris River before the mouth of the tributary

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Publication Date
Sat Feb 22 2025
Journal Name
Revista Iberoamericana De Psicología Del Ejercicio Y El Deporte, Issn 1886-8576, Vol. 16, Nº. 3, 2021
The effect of a rehabilitation program using a tens device for the treatment of pain and impaired mobility of the wrist and limbs joint in basketball players
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Autorías: Hadeer Idan Ghanim, Ishraq Mahmood. Localización: Revista iberoamericana de psicología del ejercicio y el deporte. Nº. 3, 2021. Artículo de Revista en Dialnet.

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Publication Date
Sat Feb 22 2025
Journal Name
Journal Of Baghdad College Of Dentistry
The Dental Caries and Some Salivary Constituents among a Group of Ten Years Iraqi Passive Smokers
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Background: Passive smoking and dental caries affect the integrity of the health of individuals and both of them affected by sociodemographic characteristics of those individuals. This research aimed to investigate the severity of dental caries in relation to salivary magnesium and zinc of stimulated whole saliva of a group of 10 years passive smokers in comparison with normal subjects. Materials and methods: the study group included 40 subjects (20boys and 20 girls), with an age of 10 years of passive smokers determined by a questionnaire. The control group included 40 normal subjects of the same gender and age of the study group. The diagnosis and recording of dental caries was measured by (D1-4MFS & d1-4mfs) index according to the criter

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Publication Date
Tue Apr 30 2024
Journal Name
Iraqi Geological Journal
Evaluation of Heavy Metals Pollution in the Sediments of Diyala River Lower Reaches, Eastern Iraq
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Investigating the heavy metals in soil is important to the life of humans and living organisms. Diyala River Lower Reaches was chosen due to the changes in environmental characteristics that took place in recent years. Twelve sediment samples were collected from four different sites. The physical, and chemical properties and the concentrations of nine heavy metals were indicated. The results showed that the average concentrations of arsenic, copper, chromium, cobalt, iron, manganese, nickel, lead, and zinc are 8.5, 45.7, 538.5, 12.2, 5.07, 991.7, 183.5, 16.07, 136.5 ppm, respectively. They reflect contamination with arsenic, chromium, and nickel, while they are free of lead, and zinc contamination, according to the Environmental Pro

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Publication Date
Fri Oct 20 2023
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Quasi-semiprime Modules
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    Suppose that A be an abelain ring with identity, B be a unitary (left) A-module, in this paper ,we introduce a type of modules ,namely Quasi-semiprime A-module, whenever   is a Prime Ideal For proper submodule N of  B,then B is called Quasi-semiprime module ,which is a Generalization of Quasi-Prime A-module,whenever  annAN is a prime ideal for proper submodule N of B,then B is Quasi-prime module .A comprchensive study of these modules is given,and we study the Relationship between quasi-semiprime module and quasi-prime .We put the codition coprime over cosemiprime ring for the two cocept quasi-prime module and quasi-semiprime module are equavelant.and the cocept of  prime module and quasi

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Publication Date
Wed Mar 25 2009
Journal Name
Proceeding Of 3rd Scientific Conference Of The College Of Science, University Of Baghdad 24 To 26 March 2009.
RELATIVE QUASI- INVERTIBLITY
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The purpose of this paper is to investigate the concept of relative quasi-invertible submodules motivated by rational submodules and quasi-invertible submodules. We introduce several properties and characterizations to relative quasi-invertiblity. We further investigate conditions under which identification consider between rationality, essentiality and relative quasi-invertiblity. Finally, we consider quasiinvertiblity relative to certain classes of submodules

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Publication Date
Sun Sep 05 2010
Journal Name
Baghdad Science Journal
Quasi-posinormal operators
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In this paper, we introduce a class of operators on a Hilbert space namely quasi-posinormal operators that contain properly the classes of normal operator, hyponormal operators, M–hyponormal operators, dominant operators and posinormal operators . We study some basic properties of these operators .Also we are looking at the relationship between invertibility operator and quasi-posinormal operator .

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