A Practical Neuro-fuzzy Mapping and Control for a 2 DOF Robotic Arm System

Mattar, Ebrahim

doi:10.12785/ijcds/020302

Cited by 4 publications

(4 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As illustrated in Fig. 4, each layer is made of interconnected nodes; for instance, input layers are interconnected with hidden layers and hidden layers are interconnected with output layers, where the actual processing is done using a system of weighted connections [22], [23]. f) Random Forest (RF) -Random forest is a supervised machine-learning algorithm based on decision trees.…”

Section: E) Multilayer Perceptron (Mlp) -Multilayermentioning

confidence: 99%

A Novel Holistic Disease Prediction Tool Using Best Fit Data Mining Techniques

Diwani¹

2017

IJCDS

View full text Add to dashboard Cite

Given that, today, the healthcare ecosystem is an information rich industry, there is an increasing demand for data mining (DM) tools to improve the quantity and quality of delivered healthcare; especially in handling patients suffering from deadly diseases such as HIV, Breast Cancer, Diabetes, Tuberculosis (TB), Heart diseases and Liver disorder. Given the fatality nature of these diseases when they remain undetected until at advanced stages, there remains a demand for best classifier tools to assist in diagnosing, detecting and treatment of these life-threatening diseases at their early stages. Complementary to this demand is the fact that the healthcare industry today generates large amounts of complex data about patients, hospital resources and disease diagnosis. Consequently, the healthcare ecosystem is warehousing large amount of medical data, which is an asset for healthcare organizations if properly utilized. The large amount of patient and disease related data could be processed and analyzed for knowledge extraction that enables support for cost savings and decision making towards delivery of timely and quality healthcare. In this paper, we report on an ongoing research work to develop and test a holistic DM disease prediction (Diagnosis and prognosis) tool, equipped with processes for preprocessing patients' data and a learning procedure for selecting a disease-specific best classifier, for disease prediction and delivery of speedy and cost effective diagnostic interventions and patient follow up in a hospital environment. As diseases are diagnosed, the predictive tool helps medical doctors in decision-making about what disease case it is and suggests possible treatment strategies within a much-reduced time. Test results for breast cancer and HIV data sets are reported. Achieved from the reported work are classification accuracies of 97.0752% (Classifier acting singly); 97.6323% (fusion of three classifiers). These results are better than those reported in the literature. The results show that the proposed DM disease prediction tool has potential to greatly impact on current patient management, care and future interventions against deadly diseases.

show abstract

Section: E) Multilayer Perceptron (Mlp) -Multilayermentioning

confidence: 99%

A Novel Holistic Disease Prediction Tool Using Best Fit Data Mining Techniques

Diwani¹

2017

IJCDS

View full text Add to dashboard Cite

show abstract

“…For the Iterative method, [1] and [4] state that the solution is entirely dependent on the starting point. It has also been pointed out by [3,5] that Jacobian's method for IK does not provide all the solutions when joint velocities of the configurations become large upon following the desired posture in a Cartesian plane. As a result, state of the art algorithms come into picture now.…”

Section: Introductionmentioning

confidence: 99%

“…An anthropomorphic configuration of the robotic arm has been mathematically modeled via studying a human arm along with its DOF. Finally, it is also recommended by [1,[3][4][5][6]9]that hybrid systems e.g. combination of ANN and Fuzzy Logic (FL), combination of GA and FL typically provide robust solutions to IK problems.…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u

Kumar

Chand

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

View full text Add to dashboard Cite

This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables the inverse kinematic solution to be found. The algorithm is tested on hardware (SCORBOT-ER 4u) and reliable results are obtained. The modeling and simulations are done using MATLAB 8.0 software.

show abstract

“…(Left): Integrating ANN with a two links robotics arm, (UoB-Arm), refer to Mattar[9] for details. (Right): UoB-Arm, a two links robotic manipulator with known dynamics, Including uncertainties.…”

mentioning

confidence: 99%

Neural Net Control of High Nonlinear 2-DOF Nonlinear Robotic Arm

2015

2015 the 5th International Workshop on Computer Science and Engineering-Information Processing and Control Engineering

View full text Add to dashboard Cite

A robust ANN system to enhance the control performance and robustness of a Two links robotic system (UoB-Arm) is presented. The UoB-Arm control architecture consists of a classical (PD) controller, independent of the high nonlinear dynamics of the two links robotic model, in parallel with a trainable ANN architecture. ANN architecture is used to identify the whole robotic arm inverse dynamics for arm control compensation. The (PD) controller is used to guarantee the stability and robustness of the whole control system, hence achieve a pré cised tracking accuracy.

show abstract

A Practical Neuro-fuzzy Mapping and Control for a 2 DOF Robotic Arm System

Cited by 4 publications

References 6 publications

A Novel Holistic Disease Prediction Tool Using Best Fit Data Mining Techniques

A Novel Holistic Disease Prediction Tool Using Best Fit Data Mining Techniques

Inverse kinematics solution for trajectory tracking using artificial neural networks for SCORBOT ER-4u

Neural Net Control of High Nonlinear 2-DOF Nonlinear Robotic Arm

Contact Info

Product

Resources

About