Objective: In this work we design and evaluate a bidirectional pneumatic soft actuator made from silicone rubber (RTV2 C10) for the use in prosthetic hand. The actuator aimed to enhance flexibility and provide motion in two directions that mimic the actions of the human fingers. Materials and Methods: Two parallel air chambers are used in the actuator design where each chamber is divided into smaller internal cavities. These chambers are linked through a narrow connecting channel. The fabrication process relied on a molding technique based on 3D printed molds. Three separate mold components were designed and printed to allow accurate casting of silicone rubber into the desired shape. The completed actuators were then tested using an experimental setup. Results: We evaluate the performance of the developed actuators by measuring the maximum bending angle and output force under various air pressures. Three air-chamber dimensions (3.5 mm, 4.5 mm, and 5.5 mm) were tested to compare the actuator’s response. We noticed that the 5.5 mm chamber produced the largest bending angle whereas the 3.5 mm chamber showed the smallest. On the other hand, force analysis revealed that the actuator with 3.5 mm spacing generated the highest output force at an air pressure of 102 kPa and the 5.5 mm model returned the lowest under the same conditions. Discussion: The findings suggest that increasing the distance between air chambers enhances bending and overall flexibility where it indicates that shorter chamber spacing raises greater force. Conclusion: The developed actuator demonstrates promising properties for use in prosthetic hand designs. The bending range and force output enable the actuator for producing human-like finger motion that used in assistive robotic applications.
Gross domestic product (GDP) is an important measure of the size of the economy's production. Economists use this term to determine the extent of decline and growth in the economies of countries. It is also used to determine the order of countries and compare them to each other. The research aims at describing and analyzing the GDP during the period from 1980 to 2015 and for the public and private sectors and then forecasting GDP in subsequent years until 2025. To achieve this goal, two methods were used: linear and nonlinear regression. The second method in the time series analysis of the Box-Jenkins models and the using of statistical package (Minitab17), (GRETLW32)) to extract the results, and then comparing the two methods, T
... Show MoreThe general objective of the research is to better understand changes in land cover and their impact on climatic factors by measuring changes in land cover for the Baghdad city for the period 1999-2021 and evaluating changes in land cover and measuring changes in climatic factors (relative humidity and evaporation). This study from 1999 to 2021 and in two different seasons: the April of the growing season and August the dry season. When using the supervised classification method to determine the differences, the results showed remarkable changes, the study showed the spatial variations in LC from 1999 to 2021 as follows: increase in the vegetation and water bodies during April and decrease this in August while the soil and built up decreas
... Show MoreIn order to improve the students’ performance level in some of the skills that are implemented on the mat device of ground movements, including the front and rear rolling, it is necessary to study the most important indicators that have a clear impact on the performance of those rolls. Among the objectives of the research: To identify the percentage of the contribution of flexibility of the hip joint, the angle of the knees and the muscular strength of the arms in the performance of the front and rear rolling skills, an opening of the research sample. The researchers used the descriptive method in the survey method for its suitability to the nature of the work, and the research community was represented by students of the third st
... Show MoreA study carried out in quail’s field owned by the Department of Animal production/ Collage of Agriculture / Tikrit University. For the period 14/ 5/ 2016 to 4/ 6/ 2016 in order to study the effect of adding Curcuma longa - to the diet of quails - on some productive and physiological characteristics of the Japanese quail birds bred for meat production. Using (48) quail birds which are two weeks old provided by Department of Agricultural Research. The birds were divided randomly after weighing them into three treatments; four replicate treatments for (4 bird/ replicate). The treatments as follows: (T1) control group (fed diet without any supplement), second (T2) and third (T3) groups were fed diet supplemental 4.5 and 9g Curcuma powder /
... Show MoreThe new azo dye was prepared from the reaction of the diazonium salt derived from 3-aminophenol with 2- hydroxyquinoline, then it was used to prepare a series of complexes with the chlorides of cobalt, chromium, copper, nickel, platinum, palladium and ammonium molybdate. The ligand was identified by a proton and carbon nuclear magnetic resonance spectroscopy, and the compounds were collected. The prepared materials were subjected to infrared, ultraviolet-visible, and mass spectrometry, as well as thermogravimetric analysis, differential calorimetry, and elemental analysis. Conductivity, magnetic susceptibility, metal content, and chlorine content of the complexes were also measured. The results showed that the ligand behaves in a trigonal b
... Show MoreThe purpose of this experiment was to determine the relationship between the path coefficient and seed rate for four different barley cultivars (Amal, Ibaa 265, Ibaa 99, and Buhooth 244) during the 2019-2020 winter season. The experiment was carried out using a split plot design with three replications according to a randomized complete block design (RCBD). The highest positive thru effect on grain yield was found for flag leaf area and harvest index at aseeding rate of 130 kg.h-1; the highest positive direct effect on grain yield was found for flag leaf area and plant height at aseeding rate of 160 kg.h-1; and the highest positive direct effe