Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptiv

Purpose: Current denture liner materials suffer from low tear strength, poor abrasion resistance, weak bond strength to denture material, and increasing risk of denture stomatitis due to adherence. The aim of this study was to evaluate the effects of the addition of cellulose nanofibers (CNFs) to commercial soft denture liner material on the adherence of and physical and mechanical properties. Materials and Methods: CNFs at concentrations of 0.0, 0.5, and 1.0 wt.% were incorporated into a soft liner material. Antifungal effects were assessed by quantifying the adherence of . The Shore A hardness, tensile strength, peel bond strength, and surface roughness tests were employed to assess the properties of the denture liner materials. Chemica

Background: percutaneous balloon dilation of corotation of aorta is a less invasive and alternative to surgical repair for patients with discrete coaction of aorta and although the used of balloon angioplasty in patients with recurrent postoperative coarctation gained a wide consensus, the use this technique for native coarctation is still controversial in children less one years. 

Objective: to evaluate the immediate and late result of balloon dilation of native coarctation of aorta in infant and children.

Type of the study: A prospective study. 

Subjects & Methods: The study was done on forty-five patients who were referred for cardiac catheterization and balloon

Self-criticism is that a person confronts himself with his mistakes in order to reform and develop them for the better, motivate them and inspire hope in them to push them forward and continue to give in this life. The Holy Qur’an teaches us, through the models it cited in its verses, that this is through repentance, a feeling of remorse, and a determination to leave mistakes, and quit disobedience and sins, etc., and all this is done through constructive criticism, and at the same time, one must realize his strengths. , in order to succeed in preserving it and employing it in the right path that pleases God, His Messenger, himself and his society. This has been explained through an introduction, two topics and a conclusion, and God is t

Finger vein recognition and user identification is a relatively recent biometric recognition technology with a broad variety of applications, and biometric authentication is extensively employed in the information age. As one of the most essential authentication technologies available today, finger vein recognition captures our attention owing to its high level of security, dependability, and track record of performance. Embedded convolutional neural networks are based on the early or intermediate fusing of input. In early fusion, pictures are categorized according to their location in the input space. In this study, we employ a highly optimized network and late fusion rather than early fusion to create a Fusion convolutional neural network

In modern era, which requires the use of networks in the transmission of data across distances, the transport or storage of such data is required to be safe. The protection methods are developed to ensure data security. New schemes are proposed that merge crypto graphical principles with other systems to enhance information security. Chaos maps are one of interesting systems which are merged with cryptography for better encryption performance. Biometrics is considered an effective element in many access security systems. In this paper, two systems which are fingerprint biometrics and chaos logistic map are combined in the encryption of a text message to produce strong cipher that can withstand many types of attacks. The histogram analysis o

Mobile-based human emotion recognition is very challenging subject, most of the approaches suggested and built in this field utilized various contexts that can be derived from the external sensors and the smartphone, but these approaches suffer from different obstacles and challenges. The proposed system integrated human speech signal and heart rate, in one system, to leverage the accuracy of the human emotion recognition. The proposed system is designed to recognize four human emotions; angry, happy, sad and normal. In this system, the smartphone is used to   record user speech and send it to a server. The smartwatch, fixed on user wrist, is used to measure user heart rate while the user is speaking and send it, via Bluetooth,

This research is devoted to design and implement a Supervisory Control and Data Acquisition system (SCADA) for monitoring and controlling the corrosion of a carbon steel pipe buried in soil. A smart technique equipped with a microcontroller, a collection of sensors and a communication system was applied to monitor and control the operation of an ICCP process for a carbon steel pipe. The integration of the built hardware, LabVIEW graphical programming and PC interface produces an effective SCADA system for two types of control namely: a Proportional Integral Derivative (PID) that supports a closed loop, and a traditional open loop control. Through this work, under environmental temperature of 30°C, an evaluation and comparison were done for