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
Sat Dec 01 2012
Journal Name
Iraqi Journal Of Physics
Theoretical study of matter density distribution and elastic electron scattering form factors for the neutron-rich 22C exotic nucleus
...Show More Authors

The ground state proton, neutron, and matter density distributions and corresponding root-mean-square radii (rms) of the unstable neutron-rich
22C exotic nucleus are investigated by two-frequency shell model (TFSM) approach. The single-particle wave functions of harmonic-oscillator (HO)
potential are used with two oscillator parameters bcore and bhalo. According to this model, the core nucleons of 20C are assumed to move in the model
space of spsdpf. Shell model calculations are performed with (0+2)hw truncations using Warburton-Brown psd-shell (WBP) interaction. The outer (halo) two neutrons in 22C are assumed to move in HASP (H. Hasper) model space (2s1/2, 1d3/2, 2p3/2, and 1f7/2 orbits) using the HASP interaction. The halo st

... Show More
View Publication Preview PDF
Publication Date
Wed Mar 30 2022
Journal Name
Iraqi Journal Of Science
Theoretical Study of Elastic Electron Scattering from 8B, 17Ne, 11Be and 11Li Halo Nuclei
...Show More Authors

     The nuclear density distributions and size radii are calculated for one-proton 8B, two-proton 17Ne, one-neutron 11Be and two-neutron 11Li halo nuclei. The theoretical outlines of calculations assume that the nuclei understudy are composed of two parts: the stable core and the unstable halo. The core part is studied using the radial wave functions of harmonic-oscillator (HO) potentials, while the halo is studied through Woods-Saxon (WS) potential. The long tail behaviour which is the main characteristic of the halo nuclei are well generated in comparison with experimental data. The calculated size radii are in good agreement with experimental values. The elastic electron scattering form factors of the C0 component are also c

... Show More
View Publication
Scopus (4)
Crossref (1)
Scopus Crossref
Publication Date
Sun Mar 31 2013
Journal Name
Al-khwarizmi Engineering Journal
Enhancing Stud Arc Welding Technique Vai Utilizing FuzzyLogic Approach (FLA)
...Show More Authors

A fuzzy logic approach (FLA) application in the process of stud arc welding environment was implemented under the condition of fuzziness input data. This paper is composed of the background of FLA, related research work review and points for developing in stud welding manufacturing. Then, it investigates thecase of developingstud arc welding process on the controversial certaintyof available equipment and human skills.Five parameters (welding time, sheet thickness, type of coating, welding current and stud shape) were studied.A pair of parameter was selected asiteration whichis welding current and welding time and used fo

... Show More
View Publication Preview PDF
Publication Date
Sat Jan 01 2022
Journal Name
Latin American Journal Of Solids And Structures
Peak Ground Acceleration Models Predictions Utilizing Two Metaheuristic Optimization Techniques
...Show More Authors

View Publication
Crossref (21)
Crossref
Publication Date
Sat Jan 01 2022
Journal Name
Latin American Journal Of Solids And Structures
Peak Ground Acceleration Models Predictions Utilizing Two Metaheuristic Optimization Techniques
...Show More Authors

Scopus (18)
Crossref (21)
Scopus Clarivate Crossref
Publication Date
Wed Apr 16 2025
Journal Name
International Journal Of Engineering Pedagogy (ijep)
Utilizing Machine Learning Techniques to Predict University Students' Digital Competence
...Show More Authors

Given the importance of possessing the digital competence (DC) required by the technological age, whether for teachers or students and even communities and governments, educational institutions in most countries have sought to benefit from modern technologies brought about by the technological revolution in developing learning and teaching and using modern technologies in providing educational services to learners. Since university students will have the doors to work opened in all fields, the research aims to know their level of DC in artificial intelligence (AI) applications and systems utilizing machine learning (ML) techniques. The descriptive approach was used, as the research community consisted of students from the University

... Show More
View Publication Preview PDF
Scopus (9)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Fri Jul 01 2022
Journal Name
Ieee Transactions On Systems, Man, And Cybernetics: Systems
Design of Robust Terminal Sliding Mode Control for Underactuated Flexible Joint Robot
...Show More Authors

Flexible joint robot (FJR) manipulators can offer many attractive features over rigid manipulators, including light weight, safe operation, and high power efficiency. However, the tracking control of the FJR is challenging due to its inherent problems, such as underactuation, coupling, nonlinearities, uncertainties, and unknown external disturbances. In this article, a terminal sliding mode control (TSMC) is proposed for the FJR system to guarantee the finite-time convergence of the systems output, and to achieve the total robustness against the lumped disturbance and estimation error. By using two coordinate transformations, the FJR dynamics is turned into a canonical form. A cascaded finite-time sliding mode observer (CFTSMO) is construct

... Show More
View Publication
Scopus (234)
Crossref (219)
Scopus Clarivate Crossref
Publication Date
Thu May 20 2021
Journal Name
Journal Of Research In Medical And Dental Science
Retreatment Efficacy of Continuous Rotation Versus Reciprocation Kinematic Movements in Removing Gutta-Percha with Calcium Silicate-Based Sealer: SEM Study
...Show More Authors

Retreatment Efficacy of Continuous Rotation Versus Reciprocation Kinematic Movements in Removing Gutta-Percha with Calcium Silicate-Based Sealer: SEM Study, Raghad Noori Nawaf*, Ra

View Publication Preview PDF
Publication Date
Mon Oct 06 2025
Journal Name
Journal Of Sport Biomechanics
Effects of an Integrated Balance and Muscle Tension Control Training Program on Kinematic Variables and Defensive Accuracy in Volleyball Players
...Show More Authors

Objective This study aims to investigate the impact of integrated training on kinematics variables and defensive accuracy in volleyball, focusing on enhancing balance and muscle tension control through proprioceptive neuromuscular facilitation (PNF) exercises. Methods The sample consisted of 14 male volleyball athletes from the first volleyball league of Al-Jaish Sports Club were divided into experimental (n=7) and control group (n=7). In the pre- and post-intervention periods, dynamic balance, muscle tension control and kinematic variables (during a lateral reaching task) as well as defensive performance accuracy upon fatigue onset of recoil laser strikes were assessed. Exposure the intervention program was carried out for six weeks, and t

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (3)
Scopus Crossref
Publication Date
Thu Dec 01 2022
Journal Name
Baghdad Science Journal
Distributed Heuristic Algorithm for Migration and Replication of Self-organized Services in Future Networks
...Show More Authors

Nowadays, the mobile communication networks have become a consistent part of our everyday life by transforming huge amount of data through communicating devices, that leads to new challenges. According to the Cisco Networking Index, more than 29.3 billion networked devices will be connected to the network during the year 2023. It is obvious that the existing infrastructures in current networks will not be able to support all the generated data due to the bandwidth limits, processing and transmission overhead. To cope with these issues, future mobile communication networks must achieve high requirements to reduce the amount of transferred data, decrease latency and computation costs. One of the essential challenging tasks in this subject

... Show More
View Publication Preview PDF
Scopus (3)
Crossref (1)
Scopus Clarivate Crossref