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Simulation and Experimental Walking Pattern Generation for Two Types of Degrees of Freedom Bipedal Locomotion Robot
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Humanoids or bipedal robots are other kinds of robots that have legs. The balance of humanoids is the general problem in these types when the other in the support phase and the leg in the swing phase. In this work, the walking pattern generation is studied by MATLAB for two types of degrees of freedom, 10 and 17 degrees of freedom. Besides, the KHR-2HV simulation model is used to simulate the experimental results by Webots. Similarly, Arduino and LOBOT LSC microcontrollers are used to program the bipedal robot. After the several methods for programming the bipedal robot by Arduino microcontroller, LOBOT LSC-32 driver model is the better than PCA 96685 Driver-16 channel servo driver for programming the bipedal walking robot. The results showed that this driver confirms the faster response than the Arduino microcontroller in walking the bipedal robot. The walking pattern generation results showed that the step height for 17 degrees of freedom bipedal robot increases approximately (20%) than 10 degrees of freedom bipedal robot, which decreases the step period by about (7%). Also, the time interval of the double support phase for 17 degrees of freedom bipedal robot increases approximately (11%) with decreases step length approximately (33% on X-axis) and (16% on Z-axis).  

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Publication Date
Wed Nov 21 2018
Journal Name
International Journal Of Control, Automation And Systems
Design and Stability Analysis of a Fractional Order State Feedback Controller for Trajectory Tracking of a Differential Drive Robot
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Publication Date
Fri Jun 16 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Preparation and in Vitro Evaluation for Different Types of Ondansetron Hydrochloride Transdermal Patches
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This research aims to develop transdermal patches of Ondansetron hydrochloride (OSH) with different types of polymers, ethyl cellulose and, polyvinyl pyrrolidone k30 in a ratio (3:0.5,3:1,3:2,2:1,1:1) with propylene glycol 20%w/w as a plasticizer. Prepared transdermal patches were evaluated for physical properties. The compatibility between the drug and excipients was studied by Differential scanning calorimetry (DSC), where there is no interaction between the drug and polymers. From the statistical study, there is a statistical difference between all the prepared formulations p<0.05. In-vitro Release study of transdermal patches was performed by using a paddle over the disc. The release profile of OSH follow

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Publication Date
Sun Jan 02 2011
Journal Name
Journal Of The Faculty Of Medicine Baghdad
Prevalence and pattern of endocrinological abnormalities in oligospermic and azoospermic patients.
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Background: Hormones have very important role in spermatogenesis and production capacity of testis. Disturbances in their vlevels can be very crucial in dysfunction of testis which results in men infertility. This study carried out to evaluate the hormonal disturbances in men infertility and its correlation with semen parameters and types of infertility.
Patients and Methods: Blood and semen samples were collected from 91 infertile men and 20 healthy and fertile control who attended Al-Kadymiah hospital and some private clinics in Baghdad from January to December 2009.Semen and serum samples were analysed for semen parameter and FSH, LH, Testosterone and prolactin levels.
Results: Fifty one (56%) of in

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Publication Date
Fri Nov 30 2018
Journal Name
Iop Conference Series: Materials Science And Engineering
Damage pattern scope prediction for well point dewatering on building foundations
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Publication Date
Sun Sep 30 2001
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Component of Pattern Materials and Its Influence on Physical Properties
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Publication Date
Wed Oct 01 2008
Journal Name
2008 First International Conference On Distributed Framework And Applications
A strategy for Grid based t-way test data generation
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Publication Date
Tue Jan 01 2008
Journal Name
Lecture Notes In Computer Science
IRPS – An Efficient Test Data Generation Strategy for Pairwise Testing
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Publication Date
Thu Mar 30 2023
Journal Name
Iraqi Journal Of Science
Wallet Key Generation for a Generic Blockchain based on Speech
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      As a new technology, blockchain provides the necessary capabilities to assure data integrity and data security through encryption. Mostly, all existing algorithms that provide security rely on the process of discovering a suitable key. Hence, key generation is considered the core of powerful encryption. This paper uses Zernike moment and Mersenne prime numbers to generate strong prime numbers by extracting the features from biometrics (speech). This proposed system sends these unique and strong prime numbers to the RSA algorithm to generate the keys. These keys represent a public address and a private key in a cryptocurrency wallet that is used to encrypt transactions. The benefit of this work is that it provides a high degree

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Publication Date
Tue Feb 01 2022
Journal Name
Baghdad Science Journal
Retina Based Glowworm Swarm Optimization for Random Cryptographic Key Generation
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The biometric-based keys generation represents the utilization of the extracted features from the human anatomical (physiological) traits like a fingerprint, retina, etc. or behavioral traits like a signature. The retina biometric has inherent robustness, therefore, it is capable of generating random keys with a higher security level compared to the other biometric traits. In this paper, an effective system to generate secure, robust and unique random keys based on retina features has been proposed for cryptographic applications. The retina features are extracted by using the algorithm of glowworm swarm optimization (GSO) that provides promising results through the experiments using the standard retina databases. Additionally, in order t

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Publication Date
Sat Dec 21 2024
Journal Name
Al-rafidain University College For Sciences
Uncertainty types and theories of treatment
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In this research the researcher had the concept of uncertainty in terms of types and theories of treatment and measurement as it was taken up are three types of indeterminacy and volatility and inconsistency

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