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A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)
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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.

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Publication Date
Wed Feb 01 2023
Journal Name
Baghdad Science Journal
Efficient Approach for Solving (2+1) D- Differential Equations
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     In this article, a new efficient approach is presented to solve a type of partial differential equations, such (2+1)-dimensional differential equations non-linear, and nonhomogeneous. The procedure of the new approach is suggested to solve important types of differential equations and get accurate analytic solutions i.e., exact solutions. The effectiveness of the suggested approach based on its properties compared with other approaches has been used to solve this type of differential equations such as the Adomain decomposition method, homotopy perturbation method, homotopy analysis method, and variation iteration method. The advantage of the present method has been illustrated by some examples.

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Publication Date
Sun May 01 2016
Journal Name
Journal Of Engineering
Prediction of Ryznar Index for the treated water from WTPs on Al-Karakh side of Baghdad City using Artificial Neural Network (ANN) technique
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In this research an Artificial Neural Network (ANN) technique was applied for the prediction of Ryznar Index (RI) of the flowing water from WTPs in Al-Karakh side (left side) in Baghdad city for year 2013. Three models (ANN1, ANN2 and ANN3) have been developed and tested using data from Baghdad Mayoralty (Amanat Baghdad) including drinking water quality for the period 2004 to 2013. The results indicate that it is quite possible to use an artificial neural networks in predicting the stability index (RI) with a good degree of accuracy. Where ANN 2 model could be used to predict RI for the effluents from Al-Karakh, Al-Qadisiya and Al-Karama WTPs as the highest correlation coefficient were obtained 92.4, 82.9 and 79.1% respectively. For

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Publication Date
Fri Feb 01 2019
Journal Name
Environmental Technology & Innovation
The use of Artificial Neural Network (ANN) for modeling of Cu (II) ion removal from aqueous solution by flotation and sorptive flotation process
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Publication Date
Sun Jun 01 2008
Journal Name
2008 Ieee International Joint Conference On Neural Networks (ieee World Congress On Computational Intelligence)
Linear block code decoder using neural network
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Publication Date
Sat Aug 03 2024
Journal Name
Proceedings Of Ninth International Congress On Information And Communication Technology
Offline Signature Verification Based on Neural Network
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The investigation of signature validation is crucial to the field of personal authenticity. The biometrics-based system has been developed to support some information security features.Aperson’s signature, an essential biometric trait of a human being, can be used to verify their identification. In this study, a mechanism for automatically verifying signatures has been suggested. The offline properties of handwritten signatures are highlighted in this study which aims to verify the authenticity of handwritten signatures whether they are real or forged using computer-based machine learning techniques. The main goal of developing such systems is to verify people through the validity of their signatures. In this research, images of a group o

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Publication Date
Wed Jan 01 2025
Journal Name
Journal Of Intelligent Systems And Internet Of Things
Enhancing Convolutional Neural Network for Image Retrieval
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With the continuous progress of image retrieval technology, the speed of searching for the required image from a large amount of image data has become an important issue. Convolutional neural networks (CNNs) have been used in image retrieval. However, many image retrieval systems based on CNNs have poor ability to express image features. Content-based Image Retrieval (CBIR) is a method of finding desired images from image databases. However, CBIR suffers from lower accuracy in retrieving images from large-scale image databases. In this paper, the proposed system is an improvement of the convolutional neural network for greater accuracy and a machine learning tool that can be used for automatic image retrieval. It includes two phases

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Publication Date
Mon Jan 01 2024
Journal Name
Aims Mathematics
Solving quaternion nonsymmetric algebraic Riccati equations through zeroing neural networks
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<abstract><p>Many variations of the algebraic Riccati equation (ARE) have been used to study nonlinear system stability in the control domain in great detail. Taking the quaternion nonsymmetric ARE (QNARE) as a generalized version of ARE, the time-varying QNARE (TQNARE) is introduced. This brings us to the main objective of this work: finding the TQNARE solution. The zeroing neural network (ZNN) technique, which has demonstrated a high degree of effectiveness in handling time-varying problems, is used to do this. Specifically, the TQNARE can be solved using the high order ZNN (HZNN) design, which is a member of the family of ZNN models that correlate to hyperpower iterative techniques. As a result, a novel

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Publication Date
Mon Jul 18 2022
Journal Name
Ieee Access
Moderately Multispike Return Neural Network for SDN Accurate Traffic Awareness in Effective 5G Network Slicing
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Due to the huge variety of 5G services, Network slicing is promising mechanism for dividing the physical network resources in to multiple logical network slices according to the requirements of each user. Highly accurate and fast traffic classification algorithm is required to ensure better Quality of Service (QoS) and effective network slicing. Fine-grained resource allocation can be realized by Software Defined Networking (SDN) with centralized controlling of network resources. However, the relevant research activities have concentrated on the deep learning systems which consume enormous computation and storage requirements of SDN controller that results in limitations of speed and accuracy of traffic classification mechanism. To fill thi

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Publication Date
Thu Feb 07 2019
Journal Name
Journal Of The College Of Education For Women
SPEECH RECOGNITION OF ARABIC WORDS USING ARTIFICIAL NEURAL NETWORKS
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The speech recognition system has been widely used by many researchers using different
methods to fulfill a fast and accurate system. Speech signal recognition is a typical
classification problem, which generally includes two main parts: feature extraction and
classification. In this paper, a new approach to achieve speech recognition task is proposed by
using transformation techniques for feature extraction methods; namely, slantlet transform
(SLT), discrete wavelet transforms (DWT) type Daubechies Db1 and Db4. Furthermore, a
modified artificial neural network (ANN) with dynamic time warping (DTW) algorithm is
developed to train a speech recognition system to be used for classification and recognition
purposes. T

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Publication Date
Tue Jun 03 2025
Journal Name
Periodicals Of Engineering And Natural Sciences (pen)
Comparison of some artificial neural networks for graduate students
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Artificial Neural Networks (ANN) is one of the important statistical methods that are widely used in a range of applications in various fields, which simulates the work of the human brain in terms of receiving a signal, processing data in a human cell and sending to the next cell. It is a system consisting of a number of modules (layers) linked together (input, hidden, output). A comparison was made between three types of neural networks (Feed Forward Neural Network (FFNN), Back propagation network (BPL), Recurrent Neural Network (RNN). he study found that the lowest false prediction rate was for the recurrentt network architecture and using the Data on graduate students at the College of Administration and Economics, Univer

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