Preferred Language
Articles
/
oheWpZIBVTCNdQwCRbwd
A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)
...Show More Authors

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

Scopus Clarivate Crossref
View Publication
Publication Date
Mon Aug 01 2022
Journal Name
Baghdad Science Journal
Performance Assessment of Solar-Transformer-Consumption System Using Neural Network Approach
...Show More Authors

Solar energy is one of the immeasurable renewable energy in power generation for a green, clean and healthier environment. The silicon-layer solar panels absorb sun energy and converts it into electricity by off-grid inverter. Electricity is transferred either from this inverter or from transformer, consumed by consumption unit(s) available for residential or economic purposes. The artificial neural network is the foundation of artificial intelligence and solves many complex problems which are difficult by statistical methods or by humans. In view of this, the purpose of this work is to assess the performance of the Solar - Transformer - Consumption (STC) system. The system may be in complete breakdown situation due to failure of both so

... Show More
View Publication Preview PDF
Scopus (6)
Crossref (3)
Scopus Clarivate Crossref
Publication Date
Thu Mar 21 2019
Journal Name
J. Eng. Appl. Sci
Developing an Arabic handwritten recognition system by means of artificial neural network
...Show More Authors

The matter of handwritten text recognition is as yet a major challenge to mainstream researchers. A few ways deal with this challenge have been endeavored in the most recent years, for the most part concentrating on the English pre-printed or handwritten characters space. Consequently, the need to effort a research concerning to Arabic texts handwritten recognition. The Arabic handwriting presents unique technical difficulties because it is cursive, right to left in writing and the letters convert its shapes and structures when it is putted at initial, middle, isolation or at the end of words. In this study, the Arabic text recognition is developed and designed to recognize image of Arabic text/characters. The proposed model gets a single l

... Show More
Publication Date
Sun Sep 30 2012
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Development of PVT Correlation for Iraqi Crude Oils Using Artificial Neural Network
...Show More Authors

Several correlations have been proposed for bubble point pressure, however, the correlations could not predict bubble point pressure accurately over the wide range of operating conditions. This study presents Artificial Neural Network (ANN) model for predicting the bubble point pressure especially for oil fields in Iraq. The most affecting parameters were used as the input layer to the network. Those were reservoir temperature, oil gravity, solution gas-oil ratio and gas relative density. The model was developed using 104 real data points collected from Iraqi reservoirs. The data was divided into two groups: the first was used to train the ANN model, and the second was used to test the model to evaluate their accuracy and trend stability

... Show More
View Publication Preview PDF
Publication Date
Sat May 09 2015
Journal Name
International Journal Of Innovations In Scientific Engineering
USING ARTIFICIAL NEURAL NETWORK TECHNIQUE FOR THE ESTIMATION OF CD CONCENTRATION IN CONTAMINATED SOILS
...Show More Authors

The aim of this paper is to design artificial neural network as an alternative accurate tool to estimate concentration of Cadmium in contaminated soils for any depth and time. First, fifty soil samples were harvested from a phytoremediated contaminated site located in Qanat Aljaeesh in Baghdad city in Iraq. Second, a series of measurements were performed on the soil samples. The inputs are the soil depth, the time, and the soil parameters but the output is the concentration of Cu in the soil for depth x and time t. Third, design an ANN and its performance was evaluated using a test data set and then applied to estimate the concentration of Cadmium. The performance of the ANN technique was compared with the traditional laboratory inspecting

... Show More
View Publication
Publication Date
Mon Sep 07 2020
Journal Name
Environmental Science And Pollution Research
The biosorption of reactive red dye onto orange peel waste: a study on the isotherm and kinetic processes and sensitivity analysis using the artificial neural network approach
...Show More Authors

View Publication
Scopus (29)
Crossref (23)
Scopus Clarivate Crossref
Publication Date
Fri Apr 30 2021
Journal Name
Eastern-european Journal Of Enterprise Technologies
Implementation of artificial neural network to achieve speed control and power saving of a belt conveyor system
...Show More Authors

According to the importance of the conveyor systems in various industrial and service lines, it is very desirable to make these systems as efficient as possible in their work. In this paper, the speed of a conveyor belt (which is in our study a part of an integrated training robotic system) is controlled using one of the artificial intelligence methods, which is the Artificial Neural Network (ANN). A visions sensor will be responsible for gathering information about the status of the conveyor belt and parts over it, where, according to this information, an intelligent decision about the belt speed will be taken by the ANN controller. ANN will control the alteration in speed in a way that gives the optimized energy efficiency through

... Show More
View Publication
Scopus (16)
Crossref (4)
Scopus Crossref
Publication Date
Sat Oct 29 2022
Journal Name
Computers
Intelligent Robotic Welding Based on a Computer Vision Technology Approach
...Show More Authors

Robots have become an essential part of modern industries in welding departments to increase the accuracy and rate of production. The intelligent detection of welding line edges to start the weld in a proper position is very important. This work introduces a new approach using image processing to detect welding lines by tracking the edges of plates according to the required speed by three degrees of a freedom robotic arm. The two different algorithms achieved in the developed approach are the edge detection and top-hat transformation. An adaptive neuro-fuzzy inference system ANFIS was used to choose the best forward and inverse kinematics of the robot. MIG welding at the end-effector was applied as a tool in this system, and the wel

... Show More
View Publication
Scopus (12)
Crossref (11)
Scopus Clarivate Crossref
Publication Date
Tue Dec 31 2024
Journal Name
Iraqi Geological Journal
Geomechanical Modeling and Artificial Neural Network Technique for Predicting Breakout Failure in Nasiriyah Oilfield
...Show More Authors

Wellbore instability is one of the major issues observed throughout the drilling operation. Various wellbore instability issues may occur during drilling operations, including tight holes, borehole collapse, stuck pipe, and shale caving. Rock failure criteria are important in geomechanical analysis since they predict shear and tensile failures. A suitable failure criterion must match the rock failure, which a caliper log can detect to estimate the optimal mud weight. Lack of data makes certain wells' caliper logs unavailable. This makes it difficult to validate the performance of each failure criterion. This paper proposes an approach for predicting the breakout zones in the Nasiriyah oil field using an artificial neural network. It

... Show More
View Publication Preview PDF
Scopus Crossref
Publication Date
Mon Jan 20 2020
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
ON-Line MRI Image Selection and Tumor Classification using Artificial Neural Network
...Show More Authors

When soft tissue planning is important, usually, the Magnetic Resonance Imaging (MRI) is a medical imaging technique of selection. In this work, we show a modern method for automated diagnosis depending on a magnetic resonance images classification of the MRI. The presented technique has two main stages; features extraction and classification. We obtained the features corresponding to MRI images implementing Discrete Wavelet Transformation (DWT), inverse and forward, and textural properties, like rotation invariant texture features based on Gabor filtering, and evaluate the meaning of every

... Show More
View Publication Preview PDF
Crossref (1)
Crossref
Publication Date
Thu Oct 31 2024
Journal Name
Iraqi Geological Journal
Artificial Neural Network Application to Permeability Prediction from Nuclear Magnetic Resonance Log
...Show More Authors

Reservoir permeability plays a crucial role in characterizing reservoirs and predicting the present and future production of hydrocarbon reservoirs. Data logging is a good tool for assessing the entire oil well section's continuous permeability curve. Nuclear magnetic resonance logging measurements are minimally influenced by lithology and offer significant benefits in interpreting permeability. The Schlumberger-Doll-Research model utilizes nuclear magnetic resonance logging, which accurately estimates permeability values. The approach of this investigation is to apply artificial neural networks and core data to predict permeability in wells without a nuclear magnetic resonance log. The Schlumberger-Doll-Research permeability is use

... Show More
View Publication Preview PDF
Scopus Crossref