This work introduces an accurate and fast approach for optimizing the parameters of robot manipulator controller. The approach of sliding mode control (SMC) was proposed as it documented an effective tool for designing robust controllers for complex high-order linear and nonlinear dynamic systems operating under uncertain conditions. In this work Intelligent particle swarm optimization (PSO) and social spider optimization (SSO) were used for obtaining the best values for the parameters of sliding mode control (SMC) to achieve consistency, stability and robustness. Additional design of integral sliding mode control (ISMC) was implemented to the dynamic system to achieve the high control theory of sliding mode controller. For designing particle swarm optimizer (PSO) and social spider optimization (SSO) processes, mean square error performances index was considered. The effectiveness of the proposed system was tested with six degrees of freedom robot manipulator by using (PUMA) robot. The iteration of SSO and PSO algorithms with mean square error and objective function were obtained, with best fitness for (SSO) =4.4876 𝑒^-6 and (PSO)=3.4948 𝑒^-4.

The most significant challenge facing the researcher in the field of robotics is to control the robot manipulator with appropriate overall performance. This paper focuses mainly on the novel Intelligent Particle Swarm Optimization (PSO) algorithm that was used for optimizing and tuning the gain of conventional Proportional Integral Derivative (PID), and improve the parameters of dynamic design in Sliding Mode Control (SMC), which is considered a strong nonlinear controller for controlling highly nonlinear systems, particularly for multi-degree serial link robot manipulator. Additional modified Integral Sliding Mode Controller (ISMC) was implemented to the design of dynamic system with high control theory of sliding mode controller. Intelligent Particle Swarm Optimization (PSO) algorithm was introduced for developing the nonlinear controller. The algorithm demonstrates superior performance in determining the appropriate gains and parameters value in harmony with robot scheme dynamic layout in order to achieve suitable and stable nonlinear controller, besides reduce the chattering phenomenon. PUMA robot manipulator that was used as study case in this work, shows perfect result in step response, with acceptable steady state, and overshoot, besides, eliminating the disadvantage of chattering in conventional SMC. Matlab / Simulink presents to increase the speed of matrix calculation in forward, inverse kinematics and dynamic model of manipulator. Comparison was made between the proposed method with existing methods. Result shows that integral sliding mode with PSO (ISMC/PSO) gave best result for stable step response, minimum mean square error with best objective function, and stable torque.

Early stage detection of lung cancer is important for successful controlling of the diseases, also to offer additional chance to the patients in order to survive. So , algorithms that are related with computer vision and Image processing are extremely important for early medical diagnosis of lung cancer. In current work () computed tomography scan images were collected from several patients Classification was done using Back Propagation Artificial Neural Network ( ).It is considered as a powerful artificially intelligent technique with training rule for optimization to update the weights of the overall connections in order to determine the abnormal image. Several pre-processing operations and morphologic techniques were introduced to improve the condition of the image and make it suitable for detection cancer.Histogram and () Gray Level Co-occurrence Matrix were applied toget best features extraction analysis from lung image.Three types of activation functions(trainlm ,trainbr ,traingd) were used which gives a significant accuracy for detecting cancer in  scan lung image related to the suggested algorithm. Best results were obtained with accuracy rate 95.9 % in trainlm activation function.. Graphic User Interface ( ) was displaying to show the final diagnosis  for lung.