In this research the results of applying Artificial Neural Networks with modified activation function to
perform the online and offline identification of four Degrees of Freedom (4-DOF) Selective Compliance
Assembly Robot Arm (SCARA) manipulator robot will be described. The proposed model of
identification strategy consists of a feed-forward neural network with a modified activation function that
operates in parallel with the SCARA robot model. Feed-Forward Neural Networks (FFNN) which have
been trained online and offline have been used, without requiring any previous knowledge about the
system to be identified. The activation function that is used in the hidden layer in FFNN is a modified
version of the wavelet function. This approach has been performed very successfully, with better results
obtained with the FFNN with modified wavelet activation function (FFMW) when compared with classic
FFNN with Sigmoid activation function (FFS) .One can notice from the simulation that the FFMW can be
capable of identifying the 4-Links of SCARA robot more efficiently than the classic FFS.
The influence of an aortic aneurysm on blood flow waveforms is well established, but how to exploit this link for diagnostic purposes still remains challenging. This work uses a combination of experimental and computational modelling to study how aneurysms of various size affect the waveforms. Experimental studies are carried out on fusiform-type aneurysm models, and a comparison of results with those from a one-dimensional fluid–structure interaction model shows close agreement. Further mathematical analysis of these results allows the definition of several indicators that characterize the impact of an aneurysm on waveforms. These indicators are then further studied in a computational model of a systemic blood flow network. This demonstr
... Show MoreIn this paper, the homotopy perturbation method is presented for solving the second kind linear mixed Volterra-Fredholm integral equations. Then, Aitken method is used to accelerate the convergence. In this method, a series will be constructed whose sum is the solution of the considered integral equation. Convergence of the constructed series is discussed, and its proof is given; the error estimation is also obtained. For more illustration, the method is applied on several examples and programs, which are written in MATLAB (R2015a) to compute the results. The absolute errors are computed to clarify the efficiency of the method.
Background: Legionella pneumophila (L. pneumophila) is gram-negative bacterium, which causes Legionnaires’ disease as well as Pontiac fever. Objective: To determine the frequency of Legionella pneumophila in pneumonic patients, to determine the clinical utility of diagnosing Legionella pneumonia by urinary antigen testing (LPUAT) in terms of sensitivity and specificity, to compares the results obtained from patients by urinary antigen test with q Real Time PCR (RT PCR) using serum samples and to determine the frequency of serogroup 1 and other serogroups of L. pneumophila. Methods: A total of 100 pneumonic patients (community acquired pneumonia) were enrolled in this study during a period between October 2016 to April 2017; 92 sam
... Show MoreIn this golden age of rapid development surgeons realized that AI could contribute to healthcare in all aspects, especially in surgery. The aim of the study will incorporate the use of Convolutional Neural Network and Constrained Local Models (CNN-CLM) which can make improvement for the assessment of Laparoscopic Cholecystectomy (LC) surgery not only bring opportunities for surgery but also bring challenges on the way forward by using the edge cutting technology. The problem with the current method of surgery is the lack of safety and specific complications and problems associated with safety in each laparoscopic cholecystectomy procedure. When CLM is utilize into CNN models, it is effective at predicting time series tasks like iden
... Show MoreThis study aimed for isolation and identification of Candida glabrata from specimens of blood collected from national center of hematology /Al - mustansiriya University of immunocompromised patients infection of candidemia after diagnosis by doctor. Results showed the morphological features on many media SDA and Corn meal and differential CHROMagar. Colonies appear small and pink pale to dark. Microscopic exam of show that C. glabrata not form pseudohyphae and not produce germ tubes, the cell size 2 - 3 microns, on the other hand, Biochemical test of C. glabrata have high ability for fermentation of glucose within three hours and trehalose given false positive within two hrs., and the Urease test given negative result, on the other hand
... Show MoreIn this paper, the packing problem for complete ( 4)-arcs in is partially solved. The minimum and the maximum sizes of complete ( 4)-arcs in are obtained. The idea that has been used to do this classification is based on using the algorithm introduced in Section 3 in this paper. Also, this paper establishes the connection between the projective geometry in terms of a complete ( , 4)-arc in and the algebraic characteristics of a plane quartic curve over the field represented by the number of its rational points and inflexion points. In addition, some sizes of complete ( 6)-arcs in the projective plane of order thirteen are established, namely for = 53, 54, 55, 56.
In this article, the boundary value problem of convection propagation through the permeable fin in a natural convection environment is solved by the Haar wavelet collocation method (HWCM). We also compare the solutions with the application of a semi-analytical method , namely the Temimi and Ansari (TAM), that is characterized by accuracy and efficiency.The proposed method is also characterized by simplicity and efficiency. The possibility of applying the proposed method to many types of linear or nonlinear ordinary and partial differential equations.
The peculiarity of the theater does not lie in its dramatic content because many literary genres and other artistic styles share with it in this content. The peculiarity of the theater lies in contemplating the drama through what is architectural, and this architectural axis is what distinguishes its character. It is a spatial poetry which is composed by the laws of physics and chemistry, (Weight, height, distance, rhythm, gravity, impulses and chemical excretions). i.e., what cannot be expressed in words. This is a game of space to exchange and organize energy and communicate in space by the living body, which contains the possibilities of the living drawing in space: in the time and place. This research deals with the importance of the
... Show MoreThe environment in Mosul city is very rich, containing a wide variety of microorganisms which have not been recognised for a long time. Five new fungal genes were identified and registered for the first time in the gene bank. These included Fusarium falciforme 2020-06-MIK-F1 genes for 5.8S rRNA with Accession no. LC555741, Nectriaceae sp. 2020-06-MIK-F2 genes for ITS1 with Accession no. LC555742, Trichoderma asperellum MIK3 genes for 5.8S rRNA with Accession no. LC575020, Penecillum sp. MIK4 genes for 5.8S rRNA with Accession no. LC575021, and Neurospora crassa MIK5 genes for 5.8S rRNA with Accession no. LC575022. These fungal genes were isolated from wastewater of Khosr river in Mosul city/ Iraq, whi
... Show MoreOne hundred and twenty eight currency notes samples 250, 500, and 1000 Iraqi Dinars (ID) values were collected from students, markets, banks, and hospitals in Erbil city , Iraq. The results showed that all collected samples were contaminated with one or more bacteria and fungi species representing 100% contamination and none from the new (control) notes. Seventeen bacterial species and twelve fungal species were isolated, which include Staphylococcus aureus (83.3%), Streptococcus pyogenes (83.3%), Pseudomonas species (83.3%), Aspergillus niger (83.3%), Klebsiella species (75%), Staphylococcus epidermidis (66.6%), and Escherichia coli (66.6%) being the most prevalent. The lower values of currency notes (250 ID and 500 I
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