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This causes a lot of heat generation and energy loss within the actuators.

The study investigates and analyzes the possibilities of reducing the hydraulic resistance and increasing efficiency of the hydraulic actuator.

Eberhart "Fuzzy Adaptive Particle Swarm Optimization" Evolutionary computation, 2001 proceeding of the 2001 congres on vol.1 page no.

Gaing, "Particle Swarm Optimization to solving the economic dispatch considering generator constraints," IEEE Trans.

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Key words: docking, homology modeling, leprosy, M.leprae, molecular, molecular dynamics, ramachandran plot.

Therefore identification of the novel drug target and potent drug can be helpful in better prevention of the disease. Alter et.al, (2008) Leprosy as a genetic model for susceptibility to common infectious disease, Hum Genet 2. (1999)Health Policy and Planning; 14(2): 89-102, Oxford University Press.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005. Dongwoon Choi, Woonghee Shon and Ho-Gil Lee "Design of 5 D. F Robot Hand with an artificial skin For An Android Robot" Department of Applied Robot Technology, Korea Institute of Industrial Technology Republic of Korea.

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