In this study, the kinematic analysis including the forward and inverse kinematic developed for a 5 degree of freedom robotic arm. The forward kinematic is elaborated using Denavit-Hartenberg (DH) convention. Inverse Kinematic is established using Deep Neural Network (DNN) model with five hidden layer each contain 50 neurons fully connected using ReLu activation. A data of inputs and outputs are created and trained. The inputs are the end-effector position and orientation. The outputs are the joint angles of the manipulator. The data is generated by the forward kinematics, where a set of joint angles that limited by their corresponding ranges are inserted to the forward kinematic equations to result the end-effector positions and orientations. The results of the DNN are tested and show an accuracy of the approach with a Mean Square Error of 0.0002569 which means the approach is highly accurate.
An application of neural network technique was introduced in modeling the point efficiency of sieve tray, based on a
data bank of around 33l data points collected from the open literature.Two models proposed,using back-propagation
algorithm, the first model network consists: volumetric liquid flow rate (QL), F foctor for gas (FS), liquid density (pL),
gas density (pg), liquid viscosity (pL), gas viscosity (pg), hole diameter (dH), weir height (hw), pressure (P) and surface
tension between liquid phase and gas phase (o). In the second network, there are six parameters as dimensionless
group: Flowfactor (F), Reynolds number for liquid (ReL), Reynolds number for gas through hole (Reg), ratio of weir
height to hole diqmeter
The aim of this paper is to design suitable neural network (ANN) as an alternative accurate tool to evaluate concentration of Copper in contaminated soils. First, sixteen (4x4) soil samples were harvested from a phytoremediated contaminated site located in Baghdad city in Iraq. Second, a series of measurements were performed on the soil samples. Third, design an ANN and its performance was evaluated using a test data set and then applied to estimate the concentration of Copper. The performance of the ANN technique was compared with the traditional laboratory inspecting using the training and test data sets. The results of this study show that the ANN technique trained on experimental measurements can be successfully applied to the rapid est
... Show MoreThe increase globally fossil fuel consumption as it represents the main source of energy around the world, and the sources of heavy oil more than light, different techniques were used to reduce the viscosity and increase mobility of heavy crude oil. this study focusing on the experimental tests and modeling with Back Feed Forward Artificial Neural Network (BFF-ANN) of the dilution technique to reduce a heavy oil viscosity that was collected from the south- Iraq oil fields using organic solvents, organic diluents with different weight percentage (5, 10 and 20 wt.% ) of (n-heptane, toluene, and a mixture of different ratio
... Show MoreThe method of predicting the electricity load of a home using deep learning techniques is called intelligent home load prediction based on deep convolutional neural networks. This method uses convolutional neural networks to analyze data from various sources such as weather, time of day, and other factors to accurately predict the electricity load of a home. The purpose of this method is to help optimize energy usage and reduce energy costs. The article proposes a deep learning-based approach for nonpermanent residential electrical ener-gy load forecasting that employs temporal convolutional networks (TCN) to model historic load collection with timeseries traits and to study notably dynamic patterns of variants amongst attribute par
... Show MoreZiegler and Nichols proposed the well-known Ziegler-Nichols method to tune the coefficients of PID controller. This tuning method is simple and gives fixed values for the coefficients which make PID controller have weak adaptabilities for the model parameters variation and changing in operating conditions. In order to achieve adaptive controller, the Neural Network (NN) self-tuning PID control is proposed in this paper which combines conventional PID controller and Neural Network learning capabilities. The proportional, integral and derivative (KP, KI, KD) gains are self tuned on-line by the NN output which is obtained due to the error value on the desired output of the system under control. The conventio
... Show MoreIn this paper, precision agriculture system is introduced based on Wireless Sensor Network (WSN). Soil moisture considered one of environment factors that effect on crop. The period of irrigation must be monitored. Neural network capable of learning the behavior of the agricultural soil in absence of mathematical model. This paper introduced modified type of neural network that is known as Spiking Neural Network (SNN). In this work, the precision agriculture system is modeled, contains two SNNs which have been identified off-line based on logged data, one of these SNNs represents the monitor that located at sink where the period of irrigation is calculated and the other represents the soil. In addition, to reduce p
... Show MoreSoftware-defined networking (SDN) is an innovative network paradigm, offering substantial control of network operation through a network’s architecture. SDN is an ideal platform for implementing projects involving distributed applications, security solutions, and decentralized network administration in a multitenant data center environment due to its programmability. As its usage rapidly expands, network security threats are becoming more frequent, leading SDN security to be of significant concern. Machine-learning (ML) techniques for intrusion detection of DDoS attacks in SDN networks utilize standard datasets and fail to cover all classification aspects, resulting in under-coverage of attack diversity. This paper proposes a hybr
... Show More<p>Analyzing X-rays and computed tomography-scan (CT scan) images using a convolutional neural network (CNN) method is a very interesting subject, especially after coronavirus disease 2019 (COVID-19) pandemic. In this paper, a study is made on 423 patients’ CT scan images from Al-Kadhimiya (Madenat Al Emammain Al Kadhmain) hospital in Baghdad, Iraq, to diagnose if they have COVID or not using CNN. The total data being tested has 15000 CT-scan images chosen in a specific way to give a correct diagnosis. The activation function used in this research is the wavelet function, which differs from CNN activation functions. The convolutional wavelet neural network (CWNN) model proposed in this paper is compared with regular convol
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