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Modeling, stability and walking pattern generators of biped robots: a review
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SUMMARY<p>Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.</p>
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Publication Date
Sun Mar 01 2015
Journal Name
Journal Of Engineering
Multi-Sites Multi-Variables Forecasting Model for Hydrological Data using Genetic Algorithm Modeling
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A two time step stochastic multi-variables multi-sites hydrological data forecasting model was developed and verified using a case study. The philosophy of this model is to use the cross-variables correlations, cross-sites correlations and the two steps time lag correlations simultaneously, for estimating the parameters of the model which then are modified using the mutation process of the genetic algorithm optimization model. The objective function that to be minimized is the Akiake test value. The case study is of four variables and three sites. The variables are the monthly air temperature, humidity, precipitation, and evaporation; the sites are Sulaimania, Chwarta, and Penjwin, which are located north Iraq. The model performance was

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Publication Date
Sat Dec 30 2023
Journal Name
Journal Of Economics And Administrative Sciences
The Cluster Analysis by Using Nonparametric Cubic B-Spline Modeling for Longitudinal Data
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Longitudinal data is becoming increasingly common, especially in the medical and economic fields, and various methods have been analyzed and developed to analyze this type of data.

In this research, the focus was on compiling and analyzing this data, as cluster analysis plays an important role in identifying and grouping co-expressed subfiles over time and employing them on the nonparametric smoothing cubic B-spline model, which is characterized by providing continuous first and second derivatives, resulting in a smoother curve with fewer abrupt changes in slope. It is also more flexible and can pick up on more complex patterns and fluctuations in the data.

The longitudinal balanced data profile was compiled into subgroup

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Publication Date
Sat Aug 09 2025
Journal Name
Gsc Biological And Pharmaceutical Sciences
Review of epidemiological Leishmania Ron. Ross, 1903 in Iraq
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Abstract Leishmania species are intracellular protozoan parasites that spend a portion of their life cycle in the midgut of sand flies and the remainder in the tissues of mammals. These parasites, which cause a class of human disorders known as leishmaniasis, live mostly in macrophages, where they multiply and survive by employing a variety of defense mechanisms against the oxidative stress and acidity generated by these immune cells. To help control their reaction to heat stress, they also produce heat shock proteins. Furthermore, the promastigote form has a glycocalyx that is necessary for colonizing the gut wall of the sand fly and completing its life cycle. Consequently, a variety of virulence factors contribute to the parasite's pathog

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Publication Date
Sun May 31 2026
Journal Name
Journalnx
Review Article: Impact of Molecular Biology in Life Science
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To study and understand the mechanism of living systems, and how it works, it is quite important to investigate it at molecular level (like genomic, proteomic) as well as the methodologies, and how to apply and imply it on different branch of sciences and how can use it in developing medical diagnosis, treatments, drugs, and increased it in the future. Additionally it can also be applied in forensic techniques, food production and agriculture, as well as genetic profiling. This can be well understand by interfering and combinations of all branches of life sciences such as chemistry, physics, biotechnology, genetic evolution, and minimize the gap between them, this

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Publication Date
Mon Jun 30 2025
Journal Name
Gsc Biological And Pharmaceutical Sciences
Review of epidemiological Leishmania Ron. Ross, 1903 in Iraq
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Leishmania species are intracellular protozoan parasites that spend a portion of their life cycle in the midgut of sand flies and the remainder in the tissues of mammals. These parasites, which cause a class of human disorders known as leishmaniasis, live mostly in macrophages, where they multiply and survive by employing a variety of defense mechanisms against the oxidative stress and acidity generated by these immune cells. To help control their reaction to heat stress, they also produce heat shock proteins. Furthermore, the promastigote form has a glycocalyx that is necessary for colonizing the gut wall of the sand fly and completing its life cycle. Consequently, a variety of virulence factors contribute to the parasite's pathoge

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Publication Date
Sun May 31 2026
Journal Name
Iraqi Journal Of Community Medicine
The Rational Use of Collagen in Osteoarthritis: Review article
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Osteoarthritis is a degenerative disease affecting joints that is chronic and disables the movement of patients with increasing pain and decreasing their quality of life with age. Available treatments are only symptomatic with no cure. Recent methods for managing osteoarthritis involve using pharmacological, non-pharmacological treatments or both for improving physical function in patients and alleviating pain. Clinical trials were conducted to reveal the extent of benefits obtained from different nutraceuticals and food supplements, such as collagen with growing use and fairly good results in the treatment of osteoarthritis. The goal of this study is to review the current information about the rational use of collagen in osteoarthritisKeyw

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Publication Date
Thu Apr 21 2016
Journal Name
Iraqi Dental Journal
Amoxicillin vs Levofloxacin in Treatment of Chronic Periodontitis: Review
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Publication Date
Sat Dec 10 2022
Journal Name
Al-rafidain Journal Of Medical Sciences ( Issn: 2789-3219 )
Actual Benefits of Zinc for Cardiovascular Diseases: Mini Review
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The leading causes of death, particularly among the elderly, are cardiovascular illnesses, which are frequently linked to altered lifestyle patterns. Numerous academic studies on health and disease have stressed the role of micronutrients like zinc. Furthermore, both healthy and unwell patients are increasingly consuming dietary supplements that contain micronutrients for wellbeing. Cardiovascular disease can be brought on by trace element deficiencies, particularly zinc insufficiency. This study's goal is to analyze current theories regarding the benefits of zinc supplementation for people with cardiovascular problems. We used reliable websites like Google Scholar, PubMed, and Research Gate to find the most recent papers. Preprints

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Publication Date
Fri Nov 28 2025
Journal Name
International Journal Of Child Health And Nutrition
Comprehensive Overview of Preterm Developmental Supportive Care: Narrative Review
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Background: Preterm infants face significant health challenges due to the underdevelopment of their organ systems. The neonatal intensive care unit (NICU) is considered a stressful environment, which can disrupt self-regulation and maturation. Developmental supportive care strategies have been shown to enhance neurodevelopmental outcomes in neonates by mimicking intrauterine conditions, reducing stress, and providing appropriate sensory stimulation. Nursing interventions, particularly developmental care, are essential in improving neonatal health, with nurses playing a pivotal role in implementing these strategies. Aim: This article aimed to provide a comprehensive narrative synthesis of recent research on the impact of development

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Scopus (1)
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Publication Date
Thu Apr 21 2016
Journal Name
Iraqi Dental Journal
Amoxicillin vs Levofloxacin in Treatment of Chronic Periodontitis: Review
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