This article presents a new cascaded extended state observer (CESO)-based sliding-mode control (SMC) for an underactuated flexible joint robot (FJR). The control of the FJR has many challenges, including coupling, underactuation, nonlinearity, uncertainties and external disturbances, and the noise amplification especially in the high-order systems. The proposed control integrates the CESO and SMC, in which the CESO estimates the states and disturbances, and the SMC provides the system robustness to the uncertainty and disturbance estimation errors. First, a dynamic model of the FJR is derived and converted from an underactuated form to a canonical form via the Olfati transformation and a flatness approach, which reduces the complexity of th

In this paper, an approach for object tracking that is inspired from human oculomotor system is proposed and verified experimentally. The developed approach divided into two phases, fast tracking or saccadic phase and smooth pursuit phase. In the first phase, the field of the view is segmented into four regions that are analogue to retinal periphery in the oculomotor system. When the object of interest is entering these regions, the developed vision system responds by changing the values of the pan and tilt angles to allow the object lies in the fovea area and then the second phase will activate. A fuzzy logic method is implemented in the saccadic phase as an intelligent decision maker to select the values of the pan and tilt angle based

This paper presents a modified training method for Recurrent Neural Networks. This method depends on the Non linear Auto Regressive (NARX) model with Modified Wavelet Function as activation function (MSLOG) in the hidden layer. The modified model is known as Modified Recurrent Neural (MRN). It is used for identification Forward dynamics of four Degrees of Freedom (4-DOF) Selective Compliance Assembly Robot Arm (SCARA) manipulator robot. This model is also used in the design of Direct Inverse Control (DIC). This method is compared with Recurrent Neural Networks that used Sigmoid activation function (RS) in the hidden layer and Recurrent Neural Networks with Wavelet activation function (RW). Simulation results shows that the MRN model is bett

    Image segmentation is a basic image processing technique that is primarily used for finding segments that form the entire image. These segments can be then utilized in discriminative feature extraction, image retrieval, and pattern recognition. Clustering and region growing techniques are the commonly used image segmentation methods. K-Means is a heavily used clustering technique due to its simplicity and low computational cost. However, K-Means results depend on the initial centres’ values which are selected randomly, which leads to inconsistency in the image segmentation results. In addition, the quality of the isolated regions depends on the homogeneity of the resulted segments. In this paper, an improved K-Means

The most prevalent chronic complication of diabetes mellitus is diabetic neuropathy. The pathogenesis of diabetic neuropathy is exacerbated by hyperglycemia-induced oxidative stress, which causes nerves to deteriorate in a programmed manner. Many clinical trials depend on supplement in an attempt to improve neuropathy symptoms such as (pain & tingling) and patient quality of life, one of them is Coenzyme Q10 which is reported to have an anti-inflammatory and antioxidant effects, and was totally nontoxic and non-reported side effects. This study aimed to evaluate using a Coenzyme Q10 supplement as an adjuvant therapy to gabapentin to improve the clinical symptoms of diabetic neuropathy in relation to its anti-inflammatory and antioxid

The flexible joint robot manipulators provide various benefits, but also present many control challenges such as nonlinearities, strong coupling, vibration, etc. This paper proposes optimal second order integral sliding mode control (OSOISMC) for a single link flexible joint manipulator to achieve robust and smooth performance. Firstly, the integral sliding mode control is designed, which consists of a linear quadratic regulator (LQR) as a nominal control, and switching control. This control guarantees the system robustness for the entire process. Then, a nonsingularterminal sliding surface is added to give a second order integral sliding mode control (SOISMC), which reduces chartering effect and gives the finite time convergence as well. S

The main aim of image compression is to reduce the its size to be able for transforming and storage, therefore many methods appeared to compress the image, one of these methods is "Multilayer Perceptron ". Multilayer Perceptron (MLP) method which is artificial neural network based on the Back-Propagation algorithm for compressing the image. In case this algorithm depends upon the number of neurons in the hidden layer only the above mentioned will not be quite enough to reach the desired results, then we have to take into consideration the standards which the compression process depend on to get the best results. We have trained a group of TIFF images with the size of (256*256)  in our research, compressed them by using MLP for each

This paper presents a hybrid approach called Modified Full Bayesian Classifier (M-FBC) and Artificial Bee Colony (MFBC-ABC) for using it to medical diagnosis support system. The datasets are taken from Iraqi hospitals, these are for the heart diseases and the nervous system diseases. The M-FBC is depended on common structure known as naïve Bayes. The structure for network is represented by D-separated for structure's variables. Each variable has Condition Probability Tables (CPTs) and each table for disease has Probability. The ABC is easy technique for implementation, has fewer control parameters and it could be easier than other swarm optimization algorithms, so that hybrid with other algorithms to reach the optimal structure. In the

Artificial Intelligence Algorithms have been used in recent years in many scientific fields. We suggest employing flower pollination algorithm in the environmental field to find the best estimate of the semi-parametric regression function with measurement errors in the explanatory variables and the dependent variable, where measurement errors appear frequently in fields such as chemistry, biological sciences, medicine, and epidemiological studies, rather than an exact measurement. We estimate the regression function of the semi-parametric model by estimating the parametric model and estimating the non-parametric model, the parametric model is estimated by using an instrumental variables method (Wald method, Bartlett’s method, and Durbin