D. Maincer^1,*, 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 >

Elham Azadeh¹, Xinyi Chen², Antonio Pizzi^2,*, 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 >

Anitha Govindhan^1,*, 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 >

Lei Zhang^1,2,*, Shouzhi Huang^1,2, Zhaocai Du³, Guangyao Ouyang^1,2, 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 >

Wael Alosaimi^1,*, 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 >

Izzat Al-Darraji^1,2, Ayad A. Kakei², Ayad Ghany Ismaeel³, Georgios Tsaramirsis⁴, Fazal Qudus Khan⁵, Princy Randhawa⁶, Muath Alrammal⁴, Sadeeq Jan^7,*

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 >

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 >

Yanzan Han^1,*, 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 >

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 >

Neelam Gohar^1,*, 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 >