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Dynamic navigation-guided robotic placement of zygomatic implants
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Objectives To assess the feasibility and accuracy of a new prototype robotic implant system for the placement of zygomatic implants in edentulous maxillary models. Methods The study was carried out on eight plastic models. Cone beam computed tomographs were captured for each model to plan the positions of zygomatic implants. The hand-eye calibration technique was used to register the dynamic navigation system to the robotic spaces. A total of 16 zygomatic implants were placed, equally distributed between the anterior and the posterior parts of the zygoma. The placement of the implants (ZYGAN®, Southern Implants) was carried out using an active six-jointed robotic arm (UR3e, Universal Robots) guided by the dynamic navigation coordinate transformation matrix. The accuracy of the implant placement was assessed using EvaluNav and GeoMagicDesignX® software based on pre- and post-operative CBCT superimposition. Descriptive statistics for the implant deviations and Pearson's correlation analysis of these deviations to force feedback recorded by the robotic arm were conducted. Results The 3D deviations at the entry and exit points were 1.80 ± 0.96 mm and 2.80 ± 0.95 mm, respectively. The angular deviation was 1.74 ± 0.92°. The overall registration time was 23.8 ± 7.0 min for each side of the model. Operative time excluding registration was 66.8 ± 8.8 min for each trajectory. The exit point and angular deviations of the implants were positively correlated with the drilling force perpendicular to the long axis of the handpiece and negatively correlated with the drilling force parallel to the long axis of the handpiece. Conclusion The errors of the dynamic navigation-guided robotic placement of zygomatic implants were within the clinically acceptable limits. Further refinements are required to facilitate the clinical application of the tested integrated robotic-dynamic navigation system. Clinical significance Robotic placement of zygomatic implants has the potential to produce a highly predictable outcome irrespective of the operator's surgical experience or fatigue. The presented study paves the way for clinical applications.

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Publication Date
Tue Nov 20 2018
Journal Name
Infection And Immunity
Acknowledgment of ad hoc reviewers
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Publication Date
Sat Sep 30 2017
Journal Name
College Of Islamic Sciences
Authorization of women in divorce
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The Shari'a of Islam is the end of the laws revealed by God, including the goodness of the servants in the pension and the restored. They are supported by the enemies of Islam, especially in these days when the Islamic Ummah is subjected to a fierce campaign by its enemy to repel it from its religion through what they claim from the rights of women, including the right to equality with men.
      Islam came to announce to all mankind that women are part of life in society without which they can not imagine life for them. Islam did not leave women under the absolute authority of men, but raised their status and worked to liberate them, and these rights are divorced from her husband, does she have the right

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Publication Date
Wed Apr 01 2015
Journal Name
Journal Of Educational And Psychological Researches
Constraction scale of communication Apprehetion
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          The research aims to build a communication apprehention scale for student (females) from preparatory schools .research sample included (400)students (females) were selected from the preparatory . to build a tool for the researchers are several steps , todetermine the meaning of communication apprehention and formulation of the items of the seale according to the linkert method .

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Publication Date
Thu Jun 30 2016
Journal Name
Al-kindy College Medical Journal
Pattern of Cystoid Macular Edema
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Background: Cystoid Macular Edema (CME) in its various forms can be considered one of the leading causes of central vision loss in the developed world. It is not a disease itself, It represents a common pathologic sequel of the retina and occurs in a variety of pathological conditions such as, diabetic retinopathy, central or branch retinal vein occlusion(CRVO,BRVO), intraocular inflammation and following cataract extraction. Objective: This study was done to investigate the pattern of CME in patient attending Erbil Teaching Hospitals.Type of the study: Cross- sectional study.Methods and Materials: This is a hospital base cross- sectional study that included 61 patients (75 eyes) conducted at Erbil Teaching Hospitals for six months. All

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Publication Date
Mon Jun 30 2008
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Simulation of Wiped Film Evaporator
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A mathematical model and associated computer program were developed to simulate the steady state operation of wiped film evaporators for the concentration of glycerol-water solution. In this model, various assumptions were made to facilitate the mathematical model of the wiped film evaporator. The fundamental phenomena described were: sensible heating of the solution and vaporization of water. Physical property data were coded into the computer program, which performs the calculations of this model. Randomly selected experiments were carried out in a small scale wiped film evaporator from ALVAL COMPANY, using different concentrations of the glycerol solution (10, 30 and 50 Wt. %) for different feed rates (30, 50, 80, 100 and 120 l/h) and

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Publication Date
Tue Jan 02 2018
Journal Name
Journal Of Educational And Psychological Researches
Sponsorship of widows in Islam
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The research addressed the problem of widows that increased recently enormously. The researcher also referred to the perspective of Islam that gave a significant attention for both widows and orphans as powerless groups. Some straightforward example were presented to reflect the actual difficulties that encounter these groups as well as the author proposed number of appropriate ways that mitigate their psychological and physical sufferings such as: the provision of convenience jobs, and the legislation of rule that save their rights. Moreover, the researcher addressed the importance of marrying widows and what these challenges that encounter polygamy in Arab societies, the advantages and disadvantages of polygamy, and discussing all the

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Publication Date
Tue Jun 01 2010
Journal Name
Al-khwarizmi Engineering Journal
Enhancement of Hoisting System Performance
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In this paper it is required to enhance the performance of a mechanical system (here: a Hoisting System) where it is preferred to lift a different payloads with approximately the same speed of lifting and keeping at the same time the good performance, and this of course needs some intelligence of the system which will be responsible on measuring the present load and taking into account the speed and performance desired in order to achieve the requirements or the criteria. The process therefore is a Mechatronics System design which includes a measuring system, a control or automation technique, and an actuating system. The criteria built here in this research using a given Hoist system's characteristics and parameters and changing one of

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Publication Date
Wed Jun 01 2016
Journal Name
International Educational Scientific Research Journal
EFFICIENTMETHODSOFIRISRECOGNITION
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Identification by biological features gets tremendous importance with the increasing of security systems in society. Various types of biometrics like face, finger, iris, retina, voice, palm print, ear and hand geometry, in all these characteristics, iris recognition gaining attention because iris of every person is unique, it never changes during human lifetime and highly protected against damage. This unique feature shows that iris can be good security measure. Iris recognition system listed as a high confidence biometric identification system; mostly it is divide into four steps: Acquisition, localization, segmentation and normalization. This work will review various Iris Recognition systems used by different researchers for each recognit

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Publication Date
Sun Feb 10 2019
Journal Name
Journal Of The College Of Education For Women
The Geopolitical Problems of Eritrea
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The subject of multi- ethnics is one of the most important subjects in the study of political
geography, as multi- ethnics and its consequent problems are global geopolitical phenomena
that started early and reached its peak with the beginning of the twentieth century, because of
major changes in the political landscape that resulted by wars and led to the collapse of many
empires and major powers, a matter which led to put new political maps according to certain
considerations of the colonial powers, especially in Africa and Asia. All these things led to
the most serious challenges based on ethnic and sectarian conflict and led to the development
of geopolitical problems. Among the examples what most countries in th

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Publication Date
Thu Dec 01 2011
Journal Name
Journal Of Engineering
SIMULATION OF FLIGHT THROUGH GUST
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A flight simulation programme has been developed on a personal computer using Microsoft
FORTRAN to simulate flight trajectories of a light aircraft by using Six-Degree-of-Freedom
equation of motion. The simulation has been made realistic through pre-programmed the input to
the control surfaces, atmospheric gust during the flight mode. The programme plays an important
role in the evaluation and validation of the aircraft design process. A light aircraft (Cessna 182T)
has been tested through free flight, gliding flight, flight with gust. The results show good trend and
show that the programme could be dependent as a realistic flight test programme.

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