Search

The use of renewable energy, especially wind power, is the most practical way to mitigate the environmental effects that various countries around the world are suffering from. To meet the growing need for electricity, wind energy is, nevertheless, being used more and more. Researchers have come to understand that a near-perfect output power estimate must be sacrificed. Variations in the weather influence wind energy, including wind speed, surface temperature, and pressure. In this study, the wind turbine output power was estimated using three approaches of artificial neural networks (ANNs). The multilayer feed-forward neural network (MLFFNN), cascaded forward neural network (CFNN), and recurrent neural network (RNN) were employed for estimating the entire output power of wind turbine farms in Egypt. Therefore, each built NN made use of wind speed, surface temperature, and pressure as inputs, while the wind turbine's output power served as its output. The data of 62 days were gathered from wind turbine farm for the training and efficiency examination techniques of every implemented ANN. The first 50 days' worth of data were utilized to train the three created NNs, and the last 12 days' worth of data were employed to assess the efficiency and generalization capacity of the trained NNs. The outcomes showed that the trained NNs were operating successfully and effectively estimated power. When analyzed alongside the other NNs, the RNN produced the best main square error (MSE) of 0.00012638, while the CFNN had the worst MSE of 0.00050805. A comparison between the other relevant research studies and our suggested approach was created. This comparison led us to the conclusion that the recommended method was simpler and had a lower MSE than the others. Additionally, the generalization ability was assessed and validated using the approved methodology. [ABSTRACT FROM AUTHOR]

Robotic manipulators have become very necessary in industrial applications all over the world. In this paper, a 5-DOF robotic manipulator is designed and manufactured to simulate a real industrial task. The manipulator is intended to transfer an object with a weight of 30 grams from a known place to another known one, which is a pick and place task. Firstly, all parts of the manipulator are designed using SolidWorks software. During the design, all parts' dimensions are considered. The end-effector of the manipulator is designed based on gear system. Secondly, 3D printing technology is used to manufacture these designed parts. The manufacturing process is very accurate and efficient. Servo motors are considered to do the motion of the manipulator, which are easily and directly connected to the control circuit. As, 5-DOF manipulator is manufactured, five servo motors are used: one motor for every joint. The motion of the motors is controlled by Arduino Uno unit which is a cheap and easy programming unit. Experiments are executed with the developed robot to show its effectiveness and success by preparing three boxes which the robot effectively transfers from one place to another. Eventually, the challenges during the design and manufacturing of this robot are mentioned in this paper. [ABSTRACT FROM AUTHOR]

In this paper, force sensor signals are classified using a pattern recognition neural network (PRNN). The signals are classified to show if there is a collision or not. In our previous work, the joints positions of a 2-DOF robot were used to estimate the external force sensor signal, which was attached at the robot end-effector, and the external joint torques of this robot based on a multilayer feedforward NN (MLFFNN). In the current work, the estimated force sensor signal and the external joints' torques from the previous work are used as the inputs to the proposed designed PRNN, and its output is whether a collision is found or not. The designed PRNN is trained using a scaled conjugate gradient backpropagation algorithm and tested and validated using different data from the training one. The results prove that the PRNN is effective in classifying the force signals. Its effectiveness for classifying the collision cases is 92.8%, and for the non-collisions cases is 99.4%. Therefore, the overall efficiency is 99.2%. The same methodology and work are repeated using a PRNN trained using another algorithm, which is the Levenberg–Marquardt (PRNN-LM). The results using this structure prove that the PRNN-LM is also effective in classifying the force signals, and its overall effectiveness is 99.3%, which is slightly higher than the first PRNN. Finally, a comparison of the effectiveness of the proposed PRNN and PRNN-LM with other previous different classifiers is included. This comparison shows the effectiveness of the proposed PRNN and PRNN-LM. [ABSTRACT FROM AUTHOR]

In this research paper, the multilayer feedforward neural network (MLFFNN) is architected and described for solving the forward and inverse kinematics of the 3-DOF articulated robot. When designing the MLFFNN network for forward kinematics, the joints' variables are used as inputs to the network, and the positions and orientations of the robot endeffector are used as outputs. In the case of inverse kinematics, the MLFFNN network is designed using only the positions of the robot endeffector as the inputs, whereas the joints' variables are the outputs. For both cases, the training of the proposed multilayer network is accomplished by Levenberg Marquardt (LM) method. A sinusoidal type of motion using variable frequencies is commanded to the three joints of the articulated manipulator, and then the data is collected for the training, testing, and validation processes. The experimental simulation results demonstrate that the proposed artificial neural network that is inspired by biological processes is trained very effectively, as indicated by the calculated mean squared error (MSE), which is approximately equal to zero. The resulted in smallest MSE in the case of the forward kinematics is 4.592 × 10-8 in the case of the inverse kinematics, is 9.071 × 10-7. This proves that the proposed MLFFNN artificial network is highly reliable and robust in minimizing error. The proposed method is applied to a 3-DOF manipulator and could be used in more complex types of robots like 6-DOF or 7-DOF robots. [ABSTRACT FROM AUTHOR]

SUMMARY: In this paper, a multilayer feedforward neural network (NN) is designed and trained, for human–robot collisions detection, using only the intrinsic joint position sensors of a manipulator. The topology of one NN is designed considering the coupled dynamics of the robot and trained, with and without external contacts, by Levenberg–Marquardt algorithm to detect unwanted collisions of the human operator with the manipulator and the link that is collided. The proposed approach could be applied to any industrial robot, where only the joint position signals are available. The designed NN is compared quantitatively and qualitatively with an NN, where both the intrinsic joint position and the torque sensors of the manipulator are used. The proposed method is evaluated experimentally with the KUKA LWR manipulator, which is considered as an example of the collaborative robots, using two of its joints in a planar horizontal motion. The results illustrate that the developed system is efficient and fast to detect the collisions and identify the collided link. [ABSTRACT FROM AUTHOR]