Preferred Language
Articles
/
alkej-330
Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network
...Show More Authors

The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position.

Crossref
View Publication Preview PDF
Quick Preview PDF
Publication Date
Fri Mar 18 2016
Journal Name
International Journal Of Basic And Applied Sciences
Analytic and numerical solution for duffing equations
...Show More Authors

<p>Daftardar Gejji and Hossein Jafari have proposed a new iterative method for solving many of the linear and nonlinear equations namely (DJM). This method proved already the effectiveness in solved many of the ordinary differential equations, partial differential equations and integral equations. The main aim from this paper is to propose the Daftardar-Jafari method (DJM) to solve the Duffing equations and to find the exact solution and numerical solutions. The proposed (DJM) is very effective and reliable, and the solution is obtained in the series form with easily computed components. The software used for the calculations in this study was MATHEMATICA<sup>®</sup> 9.0.</p>

View Publication
Crossref (17)
Crossref
Publication Date
Sat Jan 20 2024
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
Novel Approximate Solutions for Nonlinear Blasius Equations
...Show More Authors

The method of operational matrices based on different types of polynomials such as Bernstein, shifted Legendre and Bernoulli polynomials will be presented and implemented to solve the nonlinear Blasius equations approximately. The nonlinear differential equation will be converted into a system of nonlinear algebraic equations that can be solved using Mathematica®12. The efficiency of these methods has been studied by calculating the maximum error remainder ( ), and it was found that their efficiency increases as the polynomial degree (n) increases, since the errors decrease. Moreover, the approximate solutions obtained by the proposed methods are compared with the solution of the 4th order Runge-Kutta method (RK4), which gives very

... Show More
View Publication
Crossref (1)
Crossref
Publication Date
Tue Apr 30 2019
Journal Name
Journal Of Planner And Development
The environmental impacts of reviving Hor Alsnav By the water of the river of out fall drain in the province of Dhi Qar
...Show More Authors

The aim of this study is to explain methods to be followed for the recovery Alsnav Hor, who represents the northwest portion of the Hammar Marsh in the province of Dhi Qar, after the drought in which that happened in 2008. The study included description of the region before the drought, the description of its natural and human environments, the economic events and activities, then the study included drought throughout the region, the environmental impacts caused by drought, its impact on social reality, economic and healthy for its environment, and then reached to the problems of social and economic in the region, depending on the Field studies and documented in the specialized government departments, information analysis for the

... Show More
View Publication
Publication Date
Mon Aug 06 2018
Journal Name
Indian Journal Of Applied Research
STATISTICAL METHOD FOR SOLVING TRANSPORTATION PROBLEMS OF USING THE PROGRAMMING LANGUAGE MATLAB
...Show More Authors

Original Research Paper Mathematics 1-Introduction : In the light of the progress and rapid development of the applications of research in applications fields, the need to rely on scientific tools and cleaner for data processing has become a prominent role in the resolution of decisions in industrial and service institutions according to the real need of these methods to make them scientific methods to solve the problem Making decisions for the purpose of making the departments succeed in performing their planning and executive tasks. Therefore, we found it necessary to know the transport model in general and to use statistical methods to reach the optimal solution with the lowest possible costs in particular. And you know The Transportatio

... Show More
Publication Date
Sun Sep 19 2021
Journal Name
Journal Of Petroleum Research And Studies
Enhancing the Rheological Properties of Water-Based Drilling Fluid by Utilizing of Environmentally-Friendly Materials
...Show More Authors

Recently, many materials have shown that they can be used as alternatives to chemicals materials in order to be used to improve the properties of drilling fluids. Some of these materials are banana peels and corn cobs which both are considered environmentally- friendly materials. The results of the X-ray diffraction examination have proved that the main components of these materials are cellulose and hemicellulose, which contribute greatly to the increasing of the effectiveness of these two materials. Due to their distinct composition, these two materials have improved the rheological properties (plastic viscosity and yield point) and reduced the filtration of the drilling fluids to a large extent. The addition rates used for each o

... Show More
View Publication
Crossref (5)
Crossref
Publication Date
Mon Oct 02 2023
Journal Name
Journal Of Engineering
Power Generation from Utilizing Thermal Energy of Hazardous Waste Incinerators
...Show More Authors

A large amount of thermal energy is generated from burning hazardous chemical wastes, and the temperature of the flue gases in hazardous waste incinerators reaches up to (1200 °C). The flue gases are cooled to (40°C) and are treated before emission. This thermal energy can be utilized to produce electrical power by designing a system suitable for dangerous flue gases in the future depending on the results of much research about using a proto-type small steam power plant that uses safe fuel to study and develop the electricity generation process with water tube boiler which is manufactured experimentally with theoretical development for some of its parts which are inefficient in experimental work. The studied system gen

... Show More
View Publication Preview PDF
Crossref (2)
Crossref
Publication Date
Fri Aug 02 2024
Journal Name
Engineering, Technology &amp; Applied Science Research
Effects of utilizing Crumb Rubber as Aggregate in Asphalt Mixtures
...Show More Authors

Experts have given much attention on the use of waste in asphalt paving because of its significance from a sustainability perspective. This paper evaluated the performance properties of asphalt concrete mixes modified with Crumb Rubber (CR) as a partial replacement for two grade sizes of fine aggregate (2.36, and 0.3 mm) at six replacement rates: 0%, 2%, 4%, 6%, 8%, and 10% by weight. Asphalt concrete mixes were prepared at their Optimum Asphalt Content (OAC) and then tested for their engineering properties. Marshall properties, fatigue, rutting, ideal CT index test, Scanning Electron Microscopy (SEM), and Energy-Dispersive X-ray (EDX) spectroscopy were deployed to examine the crystalline structure and elemental composition of the C

... Show More
View Publication
Scopus (1)
Crossref (3)
Scopus Crossref
Publication Date
Fri Mar 01 2024
Journal Name
Baghdad Science Journal
Using the Elzaki decomposition method to solve nonlinear fractional differential equations with the Caputo-Fabrizio fractional operator
...Show More Authors

The techniques of fractional calculus are applied successfully in many branches of science and engineering, one of the techniques is the Elzaki Adomian decomposition method (EADM), which researchers did not study with the fractional derivative of Caputo Fabrizio. This work aims to study the Elzaki Adomian decomposition method (EADM) to solve fractional differential equations with the Caputo-Fabrizio derivative. We presented the algorithm of this method with the CF operator and discussed its convergence by using the method of the Cauchy series then, the method has applied to solve Burger, heat-like, and, couped Burger equations with the Caputo -Fabrizio operator. To conclude the method was convergent and effective for solving this type of

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (5)
Scopus Crossref
Publication Date
Thu Dec 28 2023
Journal Name
Journal Européen Des Systèmes Automatisés
Design of a Hybrid Adaptive Controller for Series Elastic Actuators of Robots
...Show More Authors

View Publication Preview PDF
Scopus (1)
Crossref (1)
Scopus Crossref
Publication Date
Fri Jan 29 2016
Journal Name
Al- Mustansiriyah J. Sci.
The Approximate Solution of Newell Whitehead Segel and Fisher Equations Using The Adomian Decomposition Method
...Show More Authors

In the present work, we use the Adomian Decomposition method to find the approximate solution for some cases of the Newell whitehead segel nonlinear differential equation which was solved previously with exact solution by the Homotopy perturbation and the Iteration methods, then we compared the results.

View Publication Preview PDF