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  • Open Access


    Fault Diagnosis in Robot Manipulators Using SVM and KNN

    D. Maincer1,*, Y. Benmahamed2, M. Mansour1, Mosleh Alharthi3, Sherif S. M. Ghonein3

    Intelligent Automation & Soft Computing, Vol.35, No.2, pp. 1957-1969, 2023, DOI:10.32604/iasc.2023.029210

    Abstract In this paper, Support Vector Machine (SVM) and K-Nearest Neighbor (KNN) based methods are to be applied on fault diagnosis in a robot manipulator. A comparative study between the two classifiers in terms of successfully detecting and isolating the seven classes of sensor faults is considered in this work. For both classifiers, the torque, the position and the speed of the manipulator have been employed as the input vector. However, it is to mention that a large database is needed and used for the training and testing phases. The SVM method used in this paper is based on the Gaussian… More >

  • Open Access


    Self-Blowing Non-Isocyanate Polyurethane Foams Based on Hydrolysable Tannins

    Elham Azadeh1, Xinyi Chen2, Antonio Pizzi2,*, Christine Gérardin1, Philip Gérardin1, Hisham Essawy3

    Journal of Renewable Materials, Vol.10, No.12, pp. 3217-3227, 2022, DOI:10.32604/jrm.2022.022740

    Abstract Non-isocyanate polyurethane (NIPU) foams using a hydrolysable tannin, also vulgarly called tannic acid, namely here commercial chestnut wood tannin extract was prepared. Compression strength did not appear to depend on the foam apparent density while the formulation composition of the NIPU foams has been shown to be more determinant. These NIPU foams appeared to be self-extinguishing once the high temperature flame is removed. The ignition time gave encouraging results but for improved fire resistance the foams may need some fire-retardant addition. FTIR spectrometry showed the formation of non-isocyanate urethane linkages. Thermogravimetric analysis indicated a good thermal resistance of these foams,… More >

  • Open Access


    A Custom Manipulator for Dental Implantation Through Model-Based Design

    Anitha Govindhan1,*, Karnam Anantha Sunitha2, Sivanathan Kandhasamy3

    Intelligent Automation & Soft Computing, Vol.35, No.1, pp. 351-365, 2023, DOI:10.32604/iasc.2023.026361

    Abstract This paper presents a Model-Based Design (MBD) approach for the design and control of a customized manipulator intended for drilling and positioning of dental implants accurately with minimal human intervention. While performing an intra-oral surgery for a prolonged duration within a limited oral cavity, the tremor of dentist's hand is inevitable. As a result, wielding the drilling tool and inserting the dental implants safely in accurate position and orientation is highly challenging even for experienced dentists. Therefore, we introduce a customized manipulator that is designed ergonomically by taking in to account the dental chair specifications and anthropomorphic data such that… More >

  • Open Access


    Motion-Planning Algorithm for a Hyper-Redundant Manipulator in Narrow Spaces

    Lei Zhang1,2,*, Shouzhi Huang1,2, Zhaocai Du3, Guangyao Ouyang1,2, Heping Chen4

    CMC-Computers, Materials & Continua, Vol.72, No.3, pp. 4817-4832, 2022, DOI:10.32604/cmc.2022.026845

    Abstract In this study, a hyper-redundant manipulator was designed for detection and searching in narrow spaces for aerospace and earthquake rescue applications. A forward kinematics equation for the hyper-redundant manipulator was derived using the homogeneous coordinate transformation method. Based on the modal function backbone curve method and the known path, an improved modal method for the backbone curves was proposed. First, the configuration of the backbone curve for the hyper-redundant manipulator was divided into two parts: a mode function curve segment of the mode function and a known path segment. By changing the discrete points along the known path, the backbone… More >

  • Open Access


    Efficient Data Augmentation Techniques for Improved Classification in Limited Data Set of Oral Squamous Cell Carcinoma

    Wael Alosaimi1,*, M. Irfan Uddin2

    CMES-Computer Modeling in Engineering & Sciences, Vol.131, No.3, pp. 1387-1401, 2022, DOI:10.32604/cmes.2022.018433

    Abstract Deep Learning (DL) techniques as a subfield of data science are getting overwhelming attention mainly because of their ability to understand the underlying pattern of data in making classifications. These techniques require a considerable amount of data to efficiently train the DL models. Generally, when the data size is larger, the DL models perform better. However, it is not possible to have a considerable amount of data in different domains such as healthcare. In healthcare, it is impossible to have a substantial amount of data to solve medical problems using Artificial Intelligence, mainly due to ethical issues and the privacy… More >

  • Open Access


    Takagi–Sugeno Fuzzy Modeling and Control for Effective Robotic Manipulator Motion

    Izzat Al-Darraji1,2, Ayad A. Kakei2, Ayad Ghany Ismaeel3, Georgios Tsaramirsis4, Fazal Qudus Khan5, Princy Randhawa6, Muath Alrammal4, Sadeeq Jan7,*

    CMC-Computers, Materials & Continua, Vol.71, No.1, pp. 1011-1024, 2022, DOI:10.32604/cmc.2022.022451

    Abstract Robotic manipulators are widely used in applications that require fast and precise motion. Such devices, however, are prompt to nonlinear control issues due to the flexibility in joints and the friction in the motors within the dynamics of their rigid part. To address these issues, the Linear Matrix Inequalities (LMIs) and Parallel Distributed Compensation (PDC) approaches are implemented in the Takagy–Sugeno Fuzzy Model (T-SFM). We propose the following methodology; initially, the state space equations of the nonlinear manipulator model are derived. Next, a Takagy–Sugeno Fuzzy Model (T-SFM) technique is used for linearizing the state space equations of the nonlinear manipulator.… More >

  • Open Access


    Image Manipulation Detection Through Laterally Linked Pixels and Kernel Algorithms

    K. K. Thyagharajan, G. Nirmala*

    Computer Systems Science and Engineering, Vol.41, No.1, pp. 357-371, 2022, DOI:10.32604/csse.2022.020258

    Abstract In this paper, copy-move forgery in image is detected for single image with multiple manipulations such as blurring, noise addition, gray scale conversion, brightness modifications, rotation, Hu adjustment, color adjustment, contrast changes and JPEG Compression. However, traditional algorithms detect only copy-move attacks in image and never for different manipulation in single image. The proposed LLP (Laterally linked pixel) algorithm has two dimensional arrays and single layer is obtained through unit linking pulsed neural network for detection of copied region and kernel tricks is applied for detection of multiple manipulations in single forged image. LLP algorithm consists of two channels such… More >

  • Open Access


    An Adaptive Fuzzy Control Model for Multi-Joint Manipulators

    Yanzan Han1,*, Huawen Zhang1, Zengfang Shi1, Shuang Liang2

    Computer Systems Science and Engineering, Vol.40, No.3, pp. 1043-1057, 2022, DOI:10.32604/csse.2022.017742

    Abstract Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics, random disturbances and load variations. To account for uncertain disturbances in the operation of manipulators, we propose an adaptive manipulator control method based on a multi-joint fuzzy system, in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable. The control algorithm of the system is a MIMO (multi-input-multi-output) fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error. It can ensure the stability… More >

  • Open Access


    Manipulating Chladni Patterns of Ferromagnetic Materials by an External Magnetic Field

    Kenneth R. Podolak*, Vihan A.W. Wickramasinghe, Gareth A. Mansfield, Alex M. Tuller

    Sound & Vibration, Vol.55, No.3, pp. 235-240, 2021, DOI:10.32604/sv.2021.015008

    Abstract Ernst Chladni is called the father of acoustics for his work, which includes investigating patterns formed by vibrating plates. Understanding these patterns helps research involving standing waves and other harmonic behaviors, including studies of single electron orbits in atoms. Our experiment vibrates circular plates which result in well-known patterns. Alternatively to traditional experiments that used sand or salt, we use magnetic materials, namely iron filings and nickel powder. We then manipulate the patterns by applying a localized external magnetic field to one of the rings that moves a segment of the magnetic material in that ring to the next inner… More >

  • Open Access


    Analysis of Iterative Process for Nauru Voting System

    Neelam Gohar1,*, Sidra Niaz1, Mamoona Naveed Asghar2, Salma Noor1

    Intelligent Automation & Soft Computing, Vol.28, No.1, pp. 241-259, 2021, DOI:10.32604/iasc.2021.015461

    Abstract Game theory is a popular area of artificial intelligence in which the voter acknowledges his own desires and favors the person he wants to be his representative. In multi-agent systems, social choice functions help aggregate agents’ different preferences over alternatives into a single choice. Since all voting rules are susceptible to manipulation, the analysis of elections is complicated by the possibility of voter manipulation attempts. One approach to understanding elections is to treat them as an iterative process and see if we can reach an equilibrium point. Meir et al. proposed an iterative process to reach a stable outcome, i.e.,… More >

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