Modeling forward kinematics with neural networks allows for efficient handling of nonlinear relationships and realistic error correction in time-critical applications by relying on accurate training data. This paper presents a Multi-Layer Feed-Forward Neural Network (MLFFNN) to solve the forward kinematics of a 3-DOF robot. The proposed MLFFNN consists of 50 hidden neurons and was trained using 628319 samples to find only the position (x, y, z) of the end-effector. Data were generated by MATLAB, assuming an incremental motion of joints. The joint variables ( , , and ) are the inputs of the NN, which outputs the positions of the end effector (x, y, z) calculated using the Denavit-Hartenberg (DH) method. The results demonstrate that the proposed MLFFNN has high performance and is efficient for solving the forward kinematics, with a Mean Squared Error (MSE) between the desired and estimated position of 4.3881×10-11. This performance clearly demonstrates that, despite the large size of the dataset, it can be effectively mastered with only a small number of neurons. The simplicity of the network allows it to learn a compact and efficient representation of the data. This improves the reliability of using the proposed network for similar applications in other robotic systems.
This paper is dealing with an experimental study to show the influence of the geometric characteristics of the vortex generators VG son the thickness of the boundary layer (∂) and drag coefficients (CD) of the flat plate. Vortex generators work effectively on medium and high angles of attack, since they are "hidden" under the boundary layer and practically ineffective at low angles.
The height of VGs relative to the thickness of the boundary layer enables us to study the efficacy of VGs in delaying boundary layer separation. The distance between two VGs also has an effect on the boundary layer if we take into
... Show MoreDiagram of CFIA system: (A) Fe 3+ line; (B) SCN − line; (C) A.A carrier; (D) sample valve; (E) mixing/reaction coil quenched by A.A; (F) blue LED detector.
A novel ligand ((1E)-(2-(4-fluorobenzylidene)amino)methyl) phenyl)diazenyl)-1,3,7-trimethyl-3,7-dihydro-1H-purine-2,6-dione (4-FADPD) was synthesized via the azotization reaction of 2-aminobenzylamine with caffeine, and the resultant compound was condensed with 4-fluorobenzaldehyde to form a newly azo-Schiff base ligand. Its complexes with Cu(II), Ag(I), and Au(III) were synthesized. The results of multi-identifications, including XRD, elemental analysis (C.H.N), UV-vis spectroscopy, FTIR, and 1H-NMR, were used to propose the suggested structures using molar conductivity measurements. These data were utilized to propose appropriate geometric configurations for all complexes. The azo-Schiff base ligand coordinates toward the Cu(II) i
... Show MoreThis study develops a systematic density functional theory alongside on-site Coulomb interaction correction (DFT + U) and ab initio atomistic thermodynamics approachs for ternary (or mixed transitional metal oxides), expressed in three reservoirs. As a case study, among notable multiple metal oxides, synthesized CoCu2O3 exhibits favourable properties towards applications in solar, thermal and catalytic processes. This progressive contribution applies DFT + U and atomistic thermodynamic approaches to examine the structure and relative stability of CoCu2O3 surfaces. Twenty-five surfaces along the [001], [010], [100], [011], [101], [110] and [111] low-Miller-indices, with varying surface-termination configurations were selected in this study.
... Show MoreIn this study, a mercapto-quinazolinone derivative, 3-(4-Bromobenzyl)-2-mercaptoquinazolin-4(3H)-one (compound B), was synthesized and assessed as a corrosion inhibitor for carbon steel (CS45) in 1M hydrochloric acid. The synthesis began with anthranilic acid and involved two main steps: first, the formation of a thiocyanate intermediate, followed by its reaction with anthranilic acid to produce compound B. The chemical structure of the synthesized compound was confirmed using FT-IR, 1H-NMR, and 13C-NMR techniques. The corrosion inhibition performance of compound B was evaluated at different concentrations (0.01, 0.05, 0.1, and 0.3 M) and temperatures (293, 303, and 313 K) in acidic media. Potentiodynamic polarization measu
... Show MoreFabrication of solar cell prepared by thermal spray and vacuum thermal evaporation method on silicon wafer(n-type) and studying its efficiency. The film have been deposited on three layers(ZnO then CdS and CdTe) on Si and glass respectively.Direct energy gap was calculated and equal to (4.3,3.4,3)eV and indirect energy gap equal to (3.5,2.5,1.5)eV respectively . Efficiency was calculated for the cell of area 2cm2 it was equal to 0.14%.