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Offline Voice-Controlled Lower Limb Rehabilitation Robot Using Forward Kinematics and Fuzzy Command Matching
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Lower limb Rehabilitation Robots (LLRRs) assist in therapeutic tasks that involve gait recovery and joint mobility recovery of the lower limbs, in patients recovering from neurologic injuries such as stroke as well as spinal cord injury. LLRRs can sometimes be driven by preprogrammed trajectories or Inverse Kinematics (IK) trajectories, which bring increased computational demand and command supported interaction. This paper proposes an interactive control framework for LLRRs using a hybrid mix of Forward Kinematics (FK) driven movement and an offline Voice Conversational Agent (VCA), based on the Vosk speech recognition engine. The framework proposed is modular in nature that is completely “local”, running offline with no need for the Internet, preserving privacy, and not needing to send uploads cards to cloud processing units. Spoken commands, such as “forward”, “backward”, “rest”, “exercise”, and “stop” are mapped to hip and knee joint angles, which are then driven to FK equations for deriving leg segment positions in an ongoing manner. A hybrid MATLAB-Python implementation is used, where MATLAB is used for simulation and animation, while Python captures the audio input and runs the offline speech recognition component. Recognized transcripts are resolved through fuzzy command matching and are followed by a confidence gated execution to improve tolerance to Automatic Speech Recognition (ASR) variability. Under controlled conditions, command recognition accuracy ranging from 80% to 95%, with end-to-end latencies ranging from 0.89 to 1.32 sec. were seen for the evaluated commands. The performance of feasible offline voice guided interaction and reasonably smooth, anatomically consistent motion transitions, as shown in simulation, provide evidence for the working of the proposed architecture. The main contribution of the work lies in the explicit exposure of ASR offline, fuzzy command matching, applying confidence gated execution, and the use of FK based motion generation, all within a lightweight LLRR oriented framework. This should be enough substrate for future hardware validation, and phase synchronized wearables deployment.

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Publication Date
Sun Jan 01 2023
Journal Name
Ssrn Electronic Journal
Sustainable ENERGY by using AI
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As we live in the era of the fourth technological revolution, it has become necessary to use artificial intelligence to generate electric power through sustainable solar energy, especially in Iraq and what it has gone through in terms of crises and what it suffers from a severe shortage of electric power because of the wars and calamities it went through. During that period of time, its impact is still evident in all aspects of daily life experienced by Iraqis because of the remnants of wars, siege, terrorism, wrong policies ruling before and later, regional interventions and their consequences, such as the destruction of electric power stations and the population increase, which must be followed by an increase in electric power stations,

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Crossref
Publication Date
Wed Nov 01 2017
Journal Name
Journal Of Economics And Administrative Sciences
strong criminal capabilities، Using simulation .
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The penalized least square method is a popular method to deal with high dimensional data ,where  the number of explanatory variables is large than the sample size . The properties of  penalized least square method are given high prediction accuracy and making estimation and variables selection

 At once. The penalized least square method gives a sparse model ,that meaning a model with small variables so that can be interpreted easily .The penalized least square is not robust ,that means very sensitive to the presence of outlying observation , to deal with this problem, we can used a robust loss function to get the robust penalized least square method ,and get robust penalized estimator and

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Publication Date
Sat Mar 10 2012
Journal Name
الدنانير
Cryptography Using Artificial Neural Network
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Neural cryptography deals with the problem of “key exchange” between two neural networks by using the mutual learning concept. The two networks exchange their outputs (in bits) and the key between two communicating parties ar eventually represented in the final learned weights, when the two networks are said to be synchronized. Security of neural synchronization is put at risk if an attacker is capable of synchronizing with any of the two parties during the training process.

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Publication Date
Sat Feb 09 2019
Journal Name
Journal Of The College Of Education For Women
Shadow Removal Using Segmentation Method
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Shadow detection and removal is an important task when dealing with color outdoor images. Shadows are generated by a local and relative absence of light. Shadows are, first of all, a local decrease in the amount of light that reaches a surface. Secondly, they are a local change in the amount of light rejected by a surface toward the observer. Most shadow detection and segmentation methods are based on image analysis. However, some factors will affect the detection result due to the complexity of the circumstances. In this paper a method of segmentation test present to detect shadows from an image and a function concept is used to remove the shadow from an image.

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Publication Date
Wed Dec 18 2019
Journal Name
Baghdad Science Journal
Eye Detection using Helmholtz Principle
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            Eye Detection is used in many applications like pattern recognition, biometric, surveillance system and many other systems. In this paper, a new method is presented to detect and extract the overall shape of one eye from image depending on two principles Helmholtz & Gestalt. According to the principle of perception by Helmholz, any observed geometric shape is perceptually "meaningful" if its repetition number is very small in image with random distribution. To achieve this goal, Gestalt Principle states that humans see things either through grouping its similar elements or recognize patterns. In general, according to Gestalt Principle, humans see things through genera

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Publication Date
Sun Nov 01 2020
Journal Name
Journal Of Engineering
Dewatering of Kerosene using Hydrocyclone
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Water/oil emulsion is considered as the most refractory mixture to separate because of the interference of the two immiscible liquids, water and oil. This research presents a study of dewatering of water / kerosene emulsion using hydrocyclone. The effects of factors such as: feed flow rate (3, 5, 7, 9, and 11 L/min), inlet water concentration of the emulsion (5%, 7.5%, 10%, 12.5%, and 15% by volume), and split ratio (0.1, 0.3, 0.5, 0.7, and 0.9) on the separation efficiency and pressure drop were studied. Dimensional analysis using Pi theorem was applied for the first time to model the hydrocyclone based on the experimental data. It was shown that the maximum separation efficiency; at split ratio 0.1, was 94.3% at 10% co

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Crossref
Publication Date
Mon Dec 31 2012
Journal Name
Al-khwarizmi Engineering Journal
Speech Compression Using Multecirculerletet Transform
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Compressing the speech reduces the data storage requirements, leading to reducing the time of transmitting the digitized speech over long-haul links like internet. To obtain best performance in speech compression, wavelet transforms require filters that combine a number of desirable properties, such as orthogonality and symmetry.The MCT bases functions are derived from GHM bases function using 2D linear convolution .The fast computation algorithm methods introduced here added desirable features to the current transform. We further assess the performance of the MCT in speech compression application. This paper discusses the effect of using DWT and MCT (one and two dimension) on speech compression. DWT and MCT performances in terms of comp

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Publication Date
Sun Dec 17 2017
Journal Name
Al-khwarizmi Engineering Journal
Experimental and Prediction Using Artificial Neural Network of Bed Porosity and Solid Holdup in Viscous 3-Phase Inverse Fluidization
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In the present investigation, bed porosity and solid holdup in viscous three-phase inverse fluidized bed (TPIFB) are determined for aqueous solutions of carboxy methyl cellulose (CMC) system using polyethylene and polypropylene as  a particles with low-density and diameter (5 mm) in a (9.2 cm) inner diameter with height (200 cm) of vertical perspex column. The effectiveness of gas velocity Ug , liquid velocity UL, liquid viscosity μL, and particle density ρs on bed porosity BP and solid holdups εg were determined. The bed porosity increases with "increasing gas velocity", "liquid velocity", and "liquid viscosity". Solid holdup decreases with increasing gas, liquid

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Publication Date
Sun Aug 01 2021
Journal Name
Sensors And Actuators B: Chemical
Sensitive and simple colorimetric methods for visual detection and quantitative determination of semicarbazide in flour products using colorimetric reagents
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After baking the flour, azodicarbonamide, an approved food additive, can be converted into carcinogenic semicarbazide hydrochloride (SEM) and biurea in flour products. Thus, determine SEM in commercial bread products is become mandatory and need to be performed. Therefore, two accurate, precision, simple and economics colorimetric methods have been developed for the visual detection and quantitative determination of SEM in commercial flour products. The 1st method is based on the formation of a blue-coloured product with λmax at 690 nm as a result of a reaction between the SEM and potassium ferrocyanide in an acidic medium (pH 6.0). In the 2nd method, a brownish-green colored product is formed due to the reaction between the SEM and phosph

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Crossref (27)
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Publication Date
Sun Jul 02 2017
Journal Name
Journal Of Educational And Psychological Researches
Teaching Using Adey- Shire Model and its Effect in Achievement and Critical Thinking for first intermediate students in Mathematics
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The aim of this research is to measure the effect of Adey- Shire model in the achievement and critical thinking of first intermediate female students in mathematics. The researcher adopted the experimental method with a post-test, the research of sample consists of (60) female students, divided into two groups with (30) students in the experimental group, that studied with Adey- Shire model, and (30) students in the control group who studied in the usual way. The two groups are equivalent in many variables. The researcher makes two tests of multiple choices, the first one is an achievement test consists (30) items and another test was for a critical thinking test with (25) items. The statistical analysis make to both tests is made with s

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