In this paper a novel strategy for the position control and trajectory tracking of robotic manipulators is proposed. This strategy consists of an independent two degree of freedom PID controller for a two links robotic arm. Due to the capability of two degree of freedom PID controllers to deal with disturbances, each link is controlled independently considering that the disturbance does not affect the system performance due to the robustness of the closed loop system. Then, a fuzzy type-2 centralized compensator is implemented to drive the orientation variables with the desired trajectory in

Committing robotics with artificial intelligence becomes mandatory collaboration with distinct environments. Omnidirectional Wheeled (Omni-WD) mobile robots are one of the robots that interact with humans in various circumstances, where it is important to function effectively and accurately. In this paper, the distinction of a 3WD-Omni model and control using machine vision is demonstrated. The use of fractional order (FO) calculus has been stated to increase the degrees of freedom of the controller over the integer ones. Hybridization of FO control and metaheuristics optimization is reported

Introduction: The hyper-catabolic state is a devastating pathophysiological response to severe injury, infection or burns. Nandrolone decanoate (ND) is a potent anabolic steroid have many clinical indications, but not investigated in burn injuries yet. Patients and methods: A prospective randomized control study included 40 burned patients who were treated in Burn unit from burn injuries ranged from 20 to 40%. Both groups are objectively assessed, clinically and laboratory during treatment period till full recovery from burns’ injury. Recall assessment of the drug safety after many years is

In this article a fractional order sliding mode PID controller and observer for the stabilization of continuous nonlinear switched systems is proposed. The design of the controller and observer is done following the separation principle, this means that the observer and controller are designed in a separate fashion, so a hybrid controller is implemented by designing the sliding mode controller part using an integral sliding mode surface along with a PIλDμ controller part which is the fractional order PID controller that is implemented to stabilizes the system. For the observer part, an

Binary convolutional neural networks (BCNN) have been proposed in the literature for resource-constrained IoTs nodes and mobile computing devices. Such computing platforms have strict constraints on the power budget, system performance, processing and memory capabilities. Nonetheless, the platforms are still required to efficiently perform classification and matching tasks needed in various applications. The memristor device has shown promising results when utilized for in-memory computing architectures, due to its ability to perform storage and computation using the same physical element

In cognitive radio (CR) networks, determining the optimal transmission power for the secondary users (SU) is crucial to achieving the goal of maximizing the secondary throughput while protecting the primary users (PU) from service disruption and interference. In this paper, we propose an adaptive transmission power scheme for cognitive terminals opportunistically accessing a primary channel. The PU operates over the channel in an unslotted manner switching activity at random times. The secondary transmitter (STx) adapts its transmission power according to its belief regarding the PU's state of

Current methods for building radio maps for wireless localization systems require a tedious, manual and error-prone calibration of the area of interest. Each time the layout of the environment is changed or different hardware is used, the whole process of location fingerprinting and constructing the radio map has to be repeated. The process gets more complicated in the case of localizing multiple entities in a device-free scenario, since the radio map needs to take all possible combinations of the location of the entities into account. In this demo, we present a novel system (AROMA) that is

In this work, the Artificial Neural Networks (ANN) are used to model a chaotic system. A method based on the Non-dominated Sorting Genetic Algorithm II (NSGA-II) is used to determine the best parameters of a Multilayer Perceptron (MLP) artificial neural network. Using NSGA-II, the optimal connection weights between the input layer and the hidden layer are obtained. Using NSGA-II, the connection weights between the hidden layer and the output layer are also obtained. This ensures the necessary learning to the neural network. The optimized functions by NSGA-II are the number of neurons in the

In this work, the Artificial Neural Networks (ANN) are used to model a chaotic system. A method based on the Non-dominated Sorting Genetic Algorithm II (NSGA-II) is used to determine the best parameters of a Multilayer Perceptron (MLP) artificial neural network. Using NSGA-II, the optimal connection weights between the input layer and the hidden layer are obtained. Using NSGA-II, the connection weights between the hidden layer and the output layer are also obtained. This ensures the necessary learning to the neural network. The optimized functions by NSGA-II are the number of neurons in the

The gaining sharing knowledge based optimization algorithm (GSK) is recently developed metaheuristic algorithm, which is based on how humans acquire and share knowledge during their life-time. This paper investigates a modified version of the GSK algorithm to find the best feature subsets. Firstly, it represents a binary variant of GSK algorithm by employing a probability estimation operator (Bi-GSK) on the two main pillars of GSK algorithm. And then, the chaotic maps are used to enhance the performance of the proposed algorithm. Ten different types of chaotic maps are considered to adapt the