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
Wed Sep 01 2021
Journal Name
Journal Of Engineering
Water Treatment With Conventional and Alternative Coagulants: A Review
...Show More Authors

There is no access to basic sanitation for half the world's population, leading to Socioeconomic issues, such as scarcity of drinking water and the spread of diseases. In this way, it is of vital importance to develop water management technologies relevant to the target population. In addition, in the separation form of water treatment, the compound often used as a coagulant in water treatment is aluminum sulfate, which provides good results for raw water turbidity and color removal. Studies show, however, that its deposition in the human body, even Alzheimer's disease, can cause serious harm to health and disease development. The study aims to improve the coagulation/flocculation stage related to the amount of flakes, i

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Mon Jan 01 2024
Journal Name
Aip Conference Proceedings
Negative skin friction evaluation and mitigation: A review study
...Show More Authors

View Publication
Scopus Crossref
Publication Date
Thu Jan 16 2020
Journal Name
Bas.j
PARATHYROID GLAND, ANATOM, HISTOLOGY, AND PHYSIOLOGY (A SHORT REVIEW)
...Show More Authors

Publication Date
Tue Apr 30 2024
Journal Name
Iraqi Journal Of Science
Credit Card Fraud Detection Challenges and Solutions: A Review
...Show More Authors

     Credit card fraud has become an increasing problem due to the growing reliance on electronic payment systems and technological advances that have improved fraud techniques. Numerous financial institutions are looking for the best ways to leverage technological advancements to provide better services to their end users, and researchers used various protection methods to provide security and privacy for credit cards. Therefore, it is necessary to identify the challenges and the proposed solutions to address them.  This review provides an overview of the most recent research on the detection of fraudulent credit card transactions to protect those transactions from tampering or improper use, which includes imbalance classes, c

... Show More
Scopus (9)
Scopus Crossref
Publication Date
Sat Jun 01 2019
Journal Name
Journal Of Economics And Administrative Sciences
The Effectiveness of Management Information Systems (MIS) and its impact on Governmental Organization Performance in Jouf Region of Saudi Arabia
...Show More Authors

The aim of this research is to find the impact of the efficiency of Management information systems (MIS) on the effectiveness of governmental organizations performance.

To achieve the objective of the research, the analytical descriptive method was adopted. A questionnaire was designed consisting of (35) paragraphs, and the sample consisted of (200) individual. The research attemped to answer the following question: To achieve the objective of the research, the analytical descriptive method was adopted. A questionnaire was designed consisting of (35) paragraphs, and the sample consisted of (200) individual. The research tried to answer the following question: What is the actual utilization of modern admi

... Show More
View Publication Preview PDF
Crossref
Publication Date
Mon Jan 01 2024
Journal Name
Brazilian Dental Science
Antimicrobial activity of Er,Cr:YSGG and Ultrasonic on E. faecalis biofilm in the mesial root canal systems of lower molars
...Show More Authors

Scopus (1)
Scopus
Publication Date
Mon Apr 15 2019
Journal Name
Research Journal Of Pharmaceutical, Biological And Chemicalsciences
Biological Activities of Amino Acid Derivatives and their Complexes a Review
...Show More Authors

AASAH Enass J Waheed, Shatha MH Obaid, Research Journal of Pharmaceutical, Biological and Chemical Sciences, 2019 - Cited by 5

View Publication
Publication Date
Sat Jan 01 2022
Journal Name
Journal Of University Of Anbar For Pure Science
A Short Review: Chemistry of Curcumin and Its Metal Complex Derivatives
...Show More Authors

This review covers recent progress in the synthesis of curcumin and the bioactivity of semisynthetic and synthetic analogs of curcumin. The review also shows how curcumin is a useful intermediate for the synthesis of more complex organic molecules; historical perspective; the process of preparing the metal complexes and characterization the produced complexes using various spectral and other techniques; shows the importance of curcumin and its derivatives for their potential applications in medical devices and broad-spectrum of medical application such as antibiotic ointment, alternative therapeutics, antifungal, and antibacterial activities

Publication Date
Sun Jun 30 2024
Journal Name
Tikrit Journal For Dental Sciences
Enamel White Spot Lesions: A Review of Etiology, Prevention, and Treatment
...Show More Authors

Enamel White Spot Lesions (EWSLs) are a common dental condition characterized by being opaque or chalky white in appearance. In this review, an overview of the etiology, prevention, and treatment techniques for EWSLs is presented. Enamel demineralization caused by bacteria in dental plaque which releases acids upon the consumption of fermentable carbohydrates causing mineral loss is thought to be the main cause of those lesions, which could be predisposed through orthodontic treatment, poor diet, inadequate oral hygiene and certain medical conditions. So, sustaining an adequate carbohydrate consumption, proper fluoride exposure and good oral hygiene are some of the practices which aid in these lesions’ prevention. Although the suc

... Show More
View Publication Preview PDF
Crossref
Publication Date
Tue Dec 31 2024
Journal Name
Basrah Researches Sciences
Review article: Biodegradation of Pharmaceutical Pollutants: Challenges, Mechanisms, and Environmental Implications
...Show More Authors

The emergence of such widespread pharmaceuticals as a pollutant has become one of the world's critical environmental problems that may lead to both the public's health and biodiversity deterioration. This article provides an exhaustive account of the current understanding of the environmental persistence of pharmaceutical contaminants following in-depth analysis of the additive effects of existing natural biodegradation pathways on the human health impact of these drugs. Paying special attention to biodegradation decomposing agents such as bacteria, fungi, and algae the paper estimates their ability to convert drug ingredients to compound that is eventually less toxic. Although these biologic systems contain an enormous potential fo

... Show More
View Publication Preview PDF
Crossref