Preferred Language
Articles
/
SRYySIcBVTCNdQwCr0Es
Function approximation technique-based adaptive virtual decomposition control for a serial-chain manipulator
...Show More Authors
SUMMARY<p>The virtual decomposition control (VDC) is an efficient tool suitable to deal with the full-dynamics-based control problem of complex robots. However, the regressor-based adaptive control used by VDC to control every subsystem and to estimate the unknown parameters demands specific knowledge about the system physics. Therefore, in this paper, we focus on reorganizing the equation of the VDC for a serial chain manipulator using the adaptive function approximation technique (FAT) without needing specific system physics. The dynamic matrices of the dynamic equation of every subsystem (e.g. link and joint) are approximated by orthogonal functions due to the minimum approximation errors produced. The control, the virtual stability of every subsystem and the stability of the entire robotic system are proved in this work. Then the computational complexity of the FAT is compared with the regressor-based approach. Despite the apparent advantage of the FAT in avoiding the regressor matrix, its computational complexity can result in difficulties in the implementation because of the representation of the dynamic matrices of the link subsystem by two large sparse matrices. In effect, the FAT-based adaptive VDC requires further work for improving the representation of the dynamic matrices of the target subsystem. Two case studies are simulated by Matlab/Simulink: a 2-R manipulator and a 6-DOF planar biped robot for verification purposes.</p>
Scopus Clarivate Crossref
View Publication
Publication Date
Thu May 30 2024
Journal Name
Journal Of Interdisciplinary Mathematics
Analytical approximate solutions of random integro differential equations with laplace decomposition method
...Show More Authors

An efficient combination of Adomian Decomposition iterative technique coupled with Laplace transformation to solve non-linear Random Integro differential equation (NRIDE) is introduced in a novel way to get an accurate analytical solution. This technique is an elegant combination of theLaplace transform, and the Adomian polynomial. The suggested method will convert differential equations into iterative algebraic equations, thus reducing processing and analytical work. The technique solves the problem of calculating the Adomian polynomials. The method’s efficiency was investigated using some numerical instances, and the findings demonstrate that it is easier to use than many other numerical procedures. It has also been established that (LT

... Show More
Scopus (3)
Scopus
Publication Date
Tue Aug 04 2009
Journal Name
Journal Of The College Of Basic Education, Al-mustansiriyah University
cyclic decomposition of SL(2,p) where p=9, 25 and 27
...Show More Authors

Publication Date
Sun Sep 01 2019
Journal Name
Journal Of Physics: Conference Series
Integral transforms defined by a new fractional class of analytic function in a complex Banach space
...Show More Authors
Abstract<p>In this effort, we define a new class of fractional analytic functions containing functional parameters in the open unit disk. By employing this class, we introduce two types of fractional operators, differential and integral. The fractional differential operator is considered to be in the sense of Ruscheweyh differential operator, while the fractional integral operator is in the sense of Noor integral. The boundedness and compactness in a complex Banach space are discussed. Other studies are illustrated in the sequel.</p>
View Publication
Scopus (2)
Scopus Crossref
Publication Date
Sun Dec 01 2019
Journal Name
Baghdad Science Journal
Comparison of Some Suggested Estimators Based on Differencing Technique in the Partial Linear Model Using Simulation
...Show More Authors

In this paper new methods were presented based on technique of differences which is the difference- based modified jackknifed generalized ridge regression estimator(DMJGR) and difference-based generalized  jackknifed ridge regression estimator(DGJR), in estimating the parameters of linear part of the partially linear model. As for the nonlinear part represented by the nonparametric function, it was estimated using Nadaraya Watson smoother. The partially linear model was compared using these proposed methods with other estimators based on differencing technique through the MSE comparison criterion in simulation study.

View Publication Preview PDF
Crossref (1)
Scopus Clarivate Crossref
Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
FACE IDENTIFICATION USING BACK-PROPAGATION ADAPTIVE MULTIWAVENET
...Show More Authors

Face Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a

... Show More
View Publication Preview PDF
Crossref
Publication Date
Fri Jul 21 2023
Journal Name
Journal Of Engineering
Face Identification Using Back-Propagation Adaptive Multiwavenet
...Show More Authors

Face Identification is an important research topic in the field of computer vision and pattern recognition and has become a very active research area in recent decades. Recently multiwavelet-based neural networks (multiwavenets) have been used for function approximation and recognition, but to our best knowledge it has not been used for face Identification. This paper presents a novel approach for the Identification of human faces using Back-Propagation Adaptive Multiwavenet. The proposed multiwavenet has a structure similar to a multilayer perceptron (MLP) neural network with three layers, but the activation function of hidden layer is replaced with multiscaling functions. In experiments performed on the ORL face database it achieved a

... Show More
View Publication Preview PDF
Publication Date
Fri Mar 24 2023
Journal Name
Arab World English Journal
Essential Traits of Influential Professors in Virtual Teaching from EFLLs’ Perspectives
...Show More Authors

There are numerous ways to define the traits of influential professors, including behavior (such as warmth, civility, and clarity), knowledge (of subject matter and students), and beliefs, among many others. According to research; influential teaching can also defined as the capacity to improve student achievement. This; is only one way to express effectiveness, as stated. However; the preferred definition of high-quality teaching in the United States and many other countries is teacher effects on student achievement. Therefore; this study aimed to determine the characteristics of influential professors in Online Teaching at the English department. This study; believed to be significant for college professors who will show them how

... Show More
View Publication Preview PDF
Scopus (1)
Scopus Clarivate Crossref
Publication Date
Tue Apr 30 2024
Journal Name
Iraqi Journal Of Science
Topology-Based Modularity and Modularity Density for Detecting Protein Complexes: A Comparative Study
...Show More Authors

     Binary relations or interactions among bio-entities, such as proteins, set up the essential part of any living biological system. Protein-protein interactions are usually structured in a graph data structure called "protein-protein interaction networks" (PPINs). Analysis of PPINs into complexes tries to lay out the significant knowledge needed to answer many unresolved questions, including how cells are organized and how proteins work. However, complex detection problems fall under the category of non-deterministic polynomial-time hard (NP-Hard) problems due to their computational complexity. To accommodate such combinatorial explosions, evolutionary algorithms (EAs) are proven effective alternatives to heuristics in solvin

... Show More
View Publication
Scopus Crossref
Publication Date
Tue Dec 01 2020
Journal Name
International Journal Of Electrical And Computer Engineering (ijece)
A Haptic feedback system based on leap motion controller for prosthetic hand application
...Show More Authors

Leap Motion Controller (LMC) is a gesture sensor consists of three infrared light emitters and two infrared stereo cameras as tracking sensors. LMC translates hand movements into graphical data that are used in a variety of applications such as virtual/augmented reality and object movements control. In this work, we intend to control the movements of a prosthetic hand via (LMC) in which fingers are flexed or extended in response to hand movements. This will be carried out by passing in the data from the Leap Motion to a processing unit that processes the raw data by an open-source package (Processing i3) in order to control five servo motors using a micro-controller board. In addition, haptic setup is proposed using force sensors (F

... Show More
View Publication
Scopus (3)
Crossref (2)
Scopus Crossref
Publication Date
Thu Jun 01 2023
Journal Name
Bulletin Of Electrical Engineering And Informatics
A missing data imputation method based on salp swarm algorithm for diabetes disease
...Show More Authors

Most of the medical datasets suffer from missing data, due to the expense of some tests or human faults while recording these tests. This issue affects the performance of the machine learning models because the values of some features will be missing. Therefore, there is a need for a specific type of methods for imputing these missing data. In this research, the salp swarm algorithm (SSA) is used for generating and imputing the missing values in the pain in my ass (also known Pima) Indian diabetes disease (PIDD) dataset, the proposed algorithm is called (ISSA). The obtained results showed that the classification performance of three different classifiers which are support vector machine (SVM), K-nearest neighbour (KNN), and Naïve B

... Show More
View Publication
Scopus (6)
Crossref (1)
Scopus Crossref