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Design and fabrication of bidirectional soft actuator for prosthetic hand applications
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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.

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Publication Date
Sun Mar 08 2026
Journal Name
Journal Of Baghdad College Of Dentistry
The Effect of Remineralizing Toothpastes on Enamel Surface Roughness after Hybrid Laser Bleaching (An In vitro Study)
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Background: one of the complications of power bleaching is surface roughness of enamel which increases the possibility of post bleaching teeth discoloration. The aim of the present study is to evaluate the effect of toothpaste containing nano hydroxyapatite, NovaMin and kin sense fluoride on surface roughness of human tooth enamel after laser bleaching with 35% hydrogen peroxide bleaching gel. Materials and Methods: Twenty human enamel incisors were cleaned and their labial surface polished up to #1200, then categorized into four equal groups; first group kept without bleaching as a control group, while the remaining three experimental groups were bleached with 35% hydrogen peroxide, and each group treated with a restore paste containing o

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Publication Date
Thu Oct 01 2015
Journal Name
Al-academy
Aesthetic values of the decorations heterogeneities in Islamic architecture: وسام كامل عبد الامير، أشرف كامل عبد الامير
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Covariance technique represents a design to bring out the decorative components And organized in unfamiliar a manner Turn to custom patterned to make a qualitative difference in the pattern of the general composition of the implicit overall,question research problem emerges Based on the above, (Is the aesthetic values of the property heterogeneities in Islamic architecture configurations decorations?). Detect it through the knowledge of the species and decorative components containing heterogeneities And his methods within each of Iraq and Iran and theoretical framework try to monitor the opinions and threads aesthetic perception in the Islamic and Construction decorative art formations in Islamic architecture and features of heterogenei

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Publication Date
Fri Dec 15 2023
Journal Name
Iraqi Journal Of Laser
The Reliability of Two Different Laser Wavelengths in Inducing Bone Healing Around Dental Implants: Comparative Clinical Trial
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Background/purpose: Dental implantology involves different treatments that have been used in conjunction with dental implant surgery to increase implant stability and bone regeneration process. Photobiomodulation( PBM) can be one of these techniques. The objective of this study was to evaluate the bone density around implants. Materials and methods: in this study, 10 individuals had 20 implants inserted in the posterior of their mandibles. each patient received two implants the left side served as the control whereas the right side served as the study group with a diode laser (same patients). measurements were made for each implant. Measurements were obtained using cone-

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Publication Date
Sun Jan 01 2012
Journal Name
Indian Journal Of Dermatology
Lactic acid as a new therapeutic peeling agent in the treatment of lifa disease (frictional dermal melanosis)
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Publication Date
Fri Jun 30 2023
Journal Name
Malaysian Journal Of Science
DETERMINATION OF URANIUM CONCENTRATIONS IN RICE SAMPLES AVAILABLE IN THE IRAQI MARKET USING THE CR-39 DETECTOR
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In this study, the results of the uranium concentrations and specific activity in 10 rice samples are described using a solid-state track detector (CR-39). Samples were collected from various local Iraqi markets with different origins (Iraq, India, America, and Thailand). Our findings found that the results of uranium concentration in all studied samples are ranging from (0.55 ± 0.28 to 1.74 ± 0.31) ppm with a weighted average of (1.24 ± 0.99) ppm. Also, results demonstrate that the specific activity values of the studied samples swing between values of (6.88 ± 3.52 and 21.49 ± 3.85) Bq/Kg. The obtained results of the studied rice samples are indicated that it is less than the acceptable limit of those studies established by ma

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Publication Date
Fri Apr 01 2022
Journal Name
Baghdad Science Journal
Determining the Mobility of some Essential Elements in Saffron (Crocus sativus L.) by the Neutron Activation Analysis
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The main purpose of this investigation is to evaluate the concentrations of six essential metals (Na+, Mg2+, K+, Ca2+, Fe2+ and Zn2+) in saffron and a farm soil using the neutron activation analysis (NAA) as a nuclear spectrometry method. The stratified random sampling method was used here. The NAA results showed the well uptake of Mg2+, K+, Ca2+, Fe2+, and Zn2+ in saffron, which is lower than the toxicity range. Based on the contamination factor and geoaccumulation index, soil contamination levels were determined uncontaminated by Zn, moderately contaminated by Na+ and Fe2+, and strongly contamin

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Publication Date
Wed Nov 01 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Possible Anti-Asthmatic Effect of Iraqi Ammi Majus Seeds Extract Against Asthma Induced by Ovalbumin in Mice
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Asthma is a chronic respiratory disorder of airways characterized by inflammation, hyperresponsiveness, inflammatory cell infiltration, mucous secretion, and remodelling. Ammi majus is medicinal plant belong to family of Apiaceous which has anti-inflammatory and antioxidant activities. This study designed to investigate of anti-asthmatic activity of alcoholic extract of Ammi majus in improvement of asthma. Forty-eight healthy female mice divided to six groups Group I:  the negative control group (distal water only), Group II: Positive control group (ovalbumin group), Group III: Ammi majus (64 mg/kg/day) with sensitization, Group IV:Ammi majus  (128 mg/kg/day) w

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Publication Date
Wed Nov 01 2023
Journal Name
Iraqi Journal Of Pharmaceutical Sciences ( P-issn 1683 - 3597 E-issn 2521 - 3512)
Possible Anti-Asthmatic Effect of Iraqi Ammi Majus Seeds Extract Against Asthma Induced by Ovalbumin in Mice
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Asthma is a chronic respiratory disorder of airways characterized by inflammation, hyperresponsiveness, inflammatory cell infiltration, mucous secretion, and remodelling. Ammi majus is medicinal plant belong to family of Apiaceous which has anti-inflammatory and antioxidant activities. This study designed to investigate of anti-asthmatic activity of alcoholic extract of Ammi majus in improvement of asthma. Forty-eight healthy female mice divided to six groups Group I:  the negative control group (distal water only), Group II: Positive control group (ovalbumin group), Group III: Ammi majus (64 mg/kg/day) with sensitization, Group IV:Ammi majus  (128 mg/kg/day) with sensitization, Group V: Ammi majus (64 mg/kg/day) without sensitiza

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Publication Date
Thu Jan 30 2020
Journal Name
Journal Of Engineering
Study Impact of Unified Power Flow Controller (UPFC) on a Transmission Line Performance under Different Loading Conditions
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Now-a-days the Flexible AC Transmission Systems (FACTS) technology is very effective in improving the power flow along the transmission lines and makes the power system more flexible and controllable. This paper deals with the most robust type of FACTS devices; it’s a Unified Power Flow Controller (UPFC). Many cases have been taken to study how the system behaves in the presence and absence of the UPFC under normal and contingency conditions. The UPFC is a device that can be used to improve the bus voltage, increasing the loadability of the line and reduce the active and reactive power losses in the transmission lines, through controlling the flow of real and reactive power. Both the magnitude and the phase angle of th

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Publication Date
Sun Mar 08 2026
Journal Name
Journal Of Baghdad College Of Dentistry
Evaluation of tissue displacement in posterior palatal seal area with different impression techniques with varying palatal forms
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Background: This study was designed to measure the displacement pattern of posterior palatal seal (pps) area in different forms of the palate and with different impression techniques. Materials and method: This study was used to measure the displacement pattern of (pps)in different palatal shapes by using different impression materials Korrecta wax No.4,Green compound and design of House for pps for each palatal forms by using a 3D Scanner of CAD/CAM and measuring the distance between 2 points in pps area by using Caural Threw. Result: The results show highly significant differences between these techniques and the control group (impression with light body) Conclusion: The physiological impression technique of pps with Korecta wax no.4

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