Preferred Language
Articles
/
ieYjj54BmraWrQ4dcmPp
Offline Voice-Controlled Lower Limb Rehabilitation Robot Using Forward Kinematics and Fuzzy Command Matching
...Show More Authors

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.

Crossref
View Publication
Publication Date
Thu Aug 01 2019
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
Evaluation of routing protocol with multi-mobile sinks in WSNs using QoS and energy consumption parameters
...Show More Authors

An efficient networks’ energy consumption and Quality of Services (QoS) are considered the most important issues, to evaluate the route quality of the designed routing protocol in Wireless Sensor Networks (WSNs). This study is presented an evaluation performance technique to evaluate two routing protocols: Secure for Mobile Sink Node location using Dynamic Routing Protocol (SMSNDRP) and routing protocol that used K-means algorithm to form Data Gathered Path (KM-DGP), on small and large network with Group of Mobile Sinks (GMSs). The propose technique is based on QoS and sensor nodes’ energy consumption parameters to assess route quality and networks’ energy usage. The evaluation technique is conducted on two routing protocols i

... Show More
View Publication
Scopus (3)
Crossref (1)
Scopus Crossref
Publication Date
Mon Jan 01 2024
Journal Name
The Scientific World Journal
Efficient Removal of Brilliant Green Dye Using Mesoporous Attapulgite Clay: Investigating Adsorption Kinetics, Isotherms, and Mechanisms
...Show More Authors

The study involved the effectiveness of Iraqi attapulgite (IQATP) clay as an environmentally friendly material that easily adsorbs brilliant green (BG) dye from water systems and is identified by various complementary methods (e.g., FTIR, SEM‐EDS, XRD, ICP‐OES, pHpzc, and BET), where the result reported that the IQATP specific surface area is 29.15 m2/g. A systematic analysis was selected to evaluate the impact of different effective adsorption performance variables on BG dye decontamination. These variables included IQATP dosage (0.02–0.8 g/L), solution pH (3.05–8.15), contact time (ranging from 2 to 25 min), and initial BG dye concentration from 20 to 80 mg/L. The parameter

... Show More
View Publication
Scopus (2)
Crossref (2)
Scopus Crossref
Publication Date
Sun Dec 01 2019
Journal Name
Ieee Xplore
A Hybrid Modified Lightweight Algorithm Combined of Two Cryptography Algorithms PRESENT and Salsa20 Using Chaotic System
...Show More Authors

Cryptography algorithms play a critical role in information technology against various attacks witnessed in the digital era. Many studies and algorithms are done to achieve security issues for information systems. The high complexity of computational operations characterizes the traditional cryptography algorithms. On the other hand, lightweight algorithms are the way to solve most of the security issues that encounter applying traditional cryptography in constrained devices. However, a symmetric cipher is widely applied for ensuring the security of data communication in constraint devices. In this study, we proposed a hybrid algorithm based on two cryptography algorithms PRESENT and Salsa20. Also, a 2D logistic map of a chaotic system is a

... Show More
Scopus (33)
Crossref (18)
Scopus Crossref
Publication Date
Sat Jan 01 2022
Journal Name
Ieee Access
Wrapper and Hybrid Feature Selection Methods Using Metaheuristic Algorithms for English Text Classification: A Systematic Review
...Show More Authors

Feature selection (FS) constitutes a series of processes used to decide which relevant features/attributes to include and which irrelevant features to exclude for predictive modeling. It is a crucial task that aids machine learning classifiers in reducing error rates, computation time, overfitting, and improving classification accuracy. It has demonstrated its efficacy in myriads of domains, ranging from its use for text classification (TC), text mining, and image recognition. While there are many traditional FS methods, recent research efforts have been devoted to applying metaheuristic algorithms as FS techniques for the TC task. However, there are few literature reviews concerning TC. Therefore, a comprehensive overview was systematicall

... Show More
View Publication Preview PDF
Scopus (72)
Crossref (58)
Scopus Clarivate Crossref
Publication Date
Mon Mar 08 2021
Journal Name
Baghdad Science Journal
edge detection using modification prewitt operators
...Show More Authors

in this paper we adopted ways for detecting edges locally classical prewitt operators and modification it are adopted to perform the edge detection and comparing then with sobel opreators the study shows that using a prewitt opreators

View Publication Preview PDF
Crossref
Publication Date
Sat Jan 23 2016
Journal Name
Computer Science & Information Technology ( Cs & It )
Modelling Dynamic Patterns Using Mobile Data
...Show More Authors

View Publication
Crossref
Publication Date
Wed Feb 04 2015
Journal Name
The Second Biological Science Conference
Bioethanol Production Using Date Syrup Wastes
...Show More Authors

Publication Date
Fri Jan 01 2016
Journal Name
Ssrn Electronic Journal
Human Mobility Patterns Modelling Using Cdrs
...Show More Authors

View Publication
Crossref
Publication Date
Sun Mar 03 2024
Journal Name
The Science Teacher
Using Scenarios to Assess Student Learning
...Show More Authors

View Publication
Crossref (2)
Crossref
Publication Date
Sun Mar 02 2008
Journal Name
Baghdad Science Journal
Using LiF Disc in Thermoluminescence Dosimetry
...Show More Authors

A LiF (TLD-700) PTFED disc has adiameter of (13mm) and thickness of (0.4mm) for study the response and sensetivity of this material for gamma and beta rays by using (TOLEDO) system from pitman company. In order to calibrate the system and studying the calibration factor. Discs were irradiated for Gamma and Beta rays and comparing with the theoretical doses. The exposure range is between 15×10-2 mGy to 1000×10-2 mGy. These doses are within the range of normal radiation field for workers.

View Publication Preview PDF
Crossref