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Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems
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Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

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Publication Date
Tue May 17 2016
Journal Name
Iosr Journal Of Nursing A Nd Health Science (iosr-jnhs)
Comparative Study of Abnormal Renal Function Tests and Liverfunction Tests in Type1 and Type2 Diabetes Mellitus in Iraq
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This study was planned to evaluate the renal function tests and liver function tests and it carried out in Al-Yarmouk hospital,Baghdad –Iraqin patients withtype 1 and type 2 diabetes mellitus by measuring(uric acid,urea and creatinine) ,Aspartate aminotransferase (AST) and Alanine aminotransferase (ALT). Seventy five individuals of Iraqi adults (male) were divided into three groups, 25 patients with type1 diabetes mellitus ,25 patients with type 2 diabetes mellitus and 25 normal individuals were taken as control group. The mean value of uric acid, urea and creatinine was higher significantly in patients thanin control group (P< 0.05),while the correlation(p< 0.01) between age ,creatinine in type 1 and between age and (Urea, Uric acid ,cr

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Publication Date
Thu Dec 13 2018
Journal Name
Iraqi National Journal Of Nursing Specialties
Evaluation of Estradiol and Prolactin Serum Levels "In Premenopausal; and Postmenopausal" Women with ((Breast Cancer)) In Baghdad City
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Objective:To Evaluate of Estradiol and Prolactin hormones levels for Breast Cancer women in
Baghdad City.
Methodology: The current study was conducted on 60 breast cancer women and 40 apparently
healthy subjects to evaluate the levels of estradiol and prolactin "hormones in the serum" of
({premenopausal & postmenopausal}) breast cancer and healthy controle women. Estradiol and
prolactin hormones estimated for all cases by using the IMMULITE 2000 instrument that performs
chemiluminescent immunoassays results are calculated for each sample.Data were analysed using
SPSS-18.data of two groups was comparison by the student's t-test.
Results: The results showed a non significant""(P>0.05) elevation in the –mean

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Publication Date
Sun Aug 04 2024
Journal Name
International Journal Of Home Science
The phenomenon of drugs in Iraq and its international and national impacts
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Abstract Drug addiction is considered a criminal behavior, which led the Iraqi legislator to prohibit and criminalize it, imposing penalties on those who use or even approach it. This aims to limit its presence in Iraq and reduce unethical behaviors, leveraging the divine prohibition to curb it. The legislator also encourages media organizations to raise awareness about the dangers of this substance, which has contributed to reducing the phenomenon of drugs in Iraq.

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Publication Date
Sun Mar 04 2012
Journal Name
Baghdad Science Journal
Replication and attenuation of foot and mouth disease virus in chick embryo
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This study includes replication and attenuation of foot and mouth disease virus type O which isolated from infected calves. Many passages for the virus in chick-Embryo were established as a substitute method to the tissue culture which is highly caustic in contrast to the chick embryo. The virus passed ten consequent passages which lead to the reduce of the titer of the virus from 106.53 TCID50/ 0.1 ml in cattle testis tissue culture to 103 TCID50/ 0.1 ml. the pathogenecity of attenuated FMD virus were also studied in both chick-embryo and guinea pigs. Using agar gel diffusion test precipitation antibodies was detected in guinea pig serum after 14 and 21 days post exposure to the attenuated virus. The inoculated guine

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Publication Date
Sun Sep 30 2012
Journal Name
College Of Islamic Sciences
Abolition and suspension in the verbs of the novice and the news
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In the Name of God, the Most Gracious, the Most Merciful
     Praise be to God, who taught the pen anthropology unless he knows, and peace and blessings be upon the master of bullying, and the imam of the eloquent Prophet Muhammad, the sincere and faithful, and his family and companions as a whole and whoever followed him to the Day of Judgment. And after:
       The science of grammar is among the most important of all language sciences at all, if not the most important of its sciences, due to the multiplicity of its doctrines and schools, the diversity of its methods, its phenomena and subjects, as well as the connection of this science with the most honorable languages,

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Publication Date
Tue Jun 01 2021
Journal Name
Political Sciences Journal
Violence and Extremism in Iraq: Approaches to Motives and Means of Confrontation
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     After the year 2003, Iraq went through multiple waves of violence and at different levels on the security, intellectual, political and social levels. Behind that stood several motives and incentives to enable violence that represented the first axis of research, the most important of which was the political motives that circulated an atmosphere that politics against society and transformed power into a field of political brutality against the individual and the group at once. There are also cultural, intellectual, media and economic motives such as weak cultural independence, poverty, marginalization, unemployment and want, and the absence of a media discourse that rejects violence but incites it, on the other ha

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Publication Date
Wed Aug 06 2025
Journal Name
Al–bahith Al–a'alami
The role of witchery and astrology programs in spreading illusion and myth
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« The emergence of satellite channels has led to fundamental changes in the supposed role of television, making it a center of culture and an important tributary to social upbringing and influencing the attitudes and values of individuals and in making public opinion regarding various issues, some television programs target ordinary people at home by virtue of the nature of their subjects, where there is a large audience of viewers, who consume and absorb what is offered to them from the cultural production of those satellite channels that play with the aspirations of groups of society to find metaphysical or magic solutions to their social problems or psychological delusions. The media, through its various messages, contributes to brin

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Publication Date
Mon Sep 30 2024
Journal Name
مجلة التراث العلمي العربي
The problem of masculinity and femininity in Arabic
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Perhaps masculinity and femininity in our Arabic language are among the linguistic issues that have occupied the attention of researchers, ancient and modern. Many books, works, and research have been written on this subject, but there is still something in it that must be revealed, clarified, and established, as the ancients did not classify the feminine and masculine into real, metaphorical, auditory, analogical,

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Publication Date
Sat Oct 20 2018
Journal Name
Journal Of Economics And Administrative Sciences
Measurement and analysis of financial liberalization in Iraq
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Abstract :                                                                                                            

In light of the trend of the countries of t

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Publication Date
Mon Sep 30 2019
Journal Name
College Of Islamic Sciences
consideration In the purposes of faith and destiny
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consideration
In the purposes of faith and destiny

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