Preferred Language
Articles
/
zRaQR4cBVTCNdQwCUEBy
Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems
...Show More Authors

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.

Scopus Clarivate Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Tue Jun 01 2010
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The Relevance of Budgeting Estimations for Control and Performance Evaluation in Adopting Kaizen: Hypothetical & Empirical Study
...Show More Authors

The kaizen is considered as one of the most important modern techniques which has been adopted by various economics entities especially manufacturing firms and its beginnings return to the middle of the earlier century that has been used by companies like Toshiba, Matsushita Electric, and Toyota. Which realized that these modern techniques would make a total change in the competitive environment and started qualifying and its staff in such away that enables them to go along with this unique environment. The continuous improvement (Kaizen) depends on the small continuous improvements in the product and the production operations during the production stage. Consequently, the research problem is represented in the improperly of the budg

... Show More
View Publication Preview PDF
Publication Date
Fri Mar 01 2019
Journal Name
Journal Of Optical Technology
Random signal generation and synchronization in lab-scale measurement device independent–quantum key distribution systems
...Show More Authors

In this paper, a random transistor-transistor logic signal generator and a synchronization circuit are designed and implemented in lab-scale measurement device independent–quantum key distribution systems. The random operation of the weak coherent sources and the system’s synchronization signals were tested by a time to digital convertor.

View Publication
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Wed Jun 01 2016
Journal Name
Journal Of Engineering
Seismic Effects and Static Analysis for the Artificial Damped Outrigger Systems in Tall R.C Buildings
...Show More Authors

This paper studies the combination fluid viscous dampers in the outrigger system to add supplementary damping into the structure, which purpose to remove the dependability of the structure to lower variable intrinsic damping. It works by connecting the central core, comprising either shear walls or braced frames, to the outer perimeter columns.

     The modal considered is a 36 storey square high rise reinforced concrete building. By constructing a discrete lumped mass model, and using frequency-based response function, two systems of dampers, parallel and series systems are studied. The maximum lateral load at the top of the building is calculated, and  this load  w

... Show More
View Publication Preview PDF
Publication Date
Fri Mar 01 2024
Journal Name
Journal Of Energy Storage
Accelerated charging dynamics in shell-and-multi-tube latent heat storage systems for building applications
...Show More Authors

View Publication
Scopus (24)
Crossref (22)
Scopus Crossref
Publication Date
Sun Jan 27 2019
Journal Name
Journal Of Accounting And Financial Studies ( Jafs )
The impact of systems and information technology on stock market activity: Case study in Iraq stock market
...Show More Authors

Financial markets play an important role in the economy, as it contributes to the financial and economic system of the state stability, as it reduces the adoption of the companies on the loans granted by the banks, as financial markets contribute to attracting and channeling savings to small savers who will be able to buy a number of shares proportional to their savings, It also provides them the place of exchange, and play technology and information systems an important role in facilitating exchanges and increased market activity, in this research touched on the importance of information technology in effect on the activity of the financial markets. Research is divided into three demands of the first concept of eating and the importance

... Show More
View Publication Preview PDF
Crossref
Publication Date
Sat Jan 01 2022
Journal Name
International Journal Of Medical Toxicology & Legal Medicine
The relationship between body mass index and asthma control
...Show More Authors

Asthma and obesity are both a major public health problems affecting large numbers of individuals across the globe. Link between obesity and asthma is now considered as a recognized fact, and many epidemiological studies, found that overweight and obese people had a higher chance of developing asthma, with more severe symptoms. Assessment of the relationship between body mass index and asthma control. A cross-sectional study, that included 100 patients diagnosed with asthma, attending the respiratory disease consultatory unit at Baghdad teaching hospital. Body mass index was calculated by (BMI= weight in Kg/Height in m2), and Asthma control was assessed using asthma control test questionnaire forma. Statistical analysis done using, Test of

... Show More
View Publication
Scopus Crossref
Publication Date
Fri Dec 01 2023
Journal Name
Alexandria Engineering Journal
A new tilted aerial robotic platform: Modeling and control
...Show More Authors

View Publication
Scopus (4)
Crossref (2)
Scopus Clarivate Crossref
Publication Date
Mon Apr 01 2024
Journal Name
Al-qadisiyah Journal Of Veterinary Medicine Sciences
Mycoplasma gallisepticum Infection in Poultry: Article Review
...Show More Authors

Preview PDF
Publication Date
Tue Nov 12 2024
Journal Name
International Journal Of Social Science Humanity & Management Research
Sustainable Development in Organization: A Literature Review
...Show More Authors

The current study aimed to review previous scholarly efforts to understand the concept of sustainable development, its practices, and its significance for public institutions. The study focuses on the dimensions of sustainable development—environmental, social, and economic—within public institutions. Sustainable development allows these institutions to balance environmental protection, economic growth, and social justice, ensuring the prosperity of both current and future generations. Furthermore, sustainable development is crucial for maintaining organizational performance. The review bridges knowledge gaps related to sustainable development and utilizes an analytical approach, surveying previous studies on the topic. The sele

... Show More
View Publication
Crossref
Publication Date
Sun Jun 30 2024
Journal Name
Tikrit Journal For Dental Sciences
Additive Manufacturing Technologies in Dentistry (A Review)
...Show More Authors

Background: Significant advancements have been observed in the additive manufacturing (AM) technology industry in recent decades. Due to the inherent variations among each AM manufacturing technique, new areas of investigation continually arise and require consideration. Additionally, the novel applications of additive manufacturing present new difficulties and possibilities for targeted focus. The aim of this manuscript is to conduct a comprehensive literature review that describes the various processing methods, precision levels, types of materials utilized, and potential applications of 3D printing technology in the field of dentistry. Data: An online search was conducted on databases including Research Gate, Google Scholar, and

... Show More
View Publication Preview PDF
Crossref (1)
Crossref