Scholarly Research Excellence

Member

Publications

3

Publications

3
713
Neural Networks Approaches for Computing the Forward Kinematics of a Redundant Parallel Manipulator
Abstract:
In this paper, different approaches to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator are presented. On the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using neural networks identification with different structures to solve the problem. The accuracy of the results of each method is analyzed in detail and the advantages and the disadvantages of them in computing the forward kinematic map of the given mechanism is discussed in detail. It is concluded that ANFIS presents the best performance compared to MLP, RBF and PNN networks in this particular application.
Keywords:
Forward Kinematics, Neural Networks, Numerical Solution, Parallel Manipulators.
2
2887
Database Modelling Using WSML in the Specification of a Banking Application
Abstract:
We demonstrate through a sample application, Ebanking, that the Web Service Modelling Language Ontology component can be used as a very powerful object-oriented database design language with logic capabilities. Its conceptual syntax allows the definition of class hierarchies, and logic syntax allows the definition of constraints in the database. Relations, which are available for modelling relations of three or more concepts, can be connected to logical expressions, allowing the implicit specification of database content. Using a reasoning tool, logic queries can also be made against the database in simulation mode.
Keywords:
Semantic web, ontology, E-banking, database, WSML, WSMO, E-R diagram.
1
7537
Mathematical Modeling of SISO based Timoshenko Structures – A Case Study
Abstract:

This paper features the mathematical modeling of a single input single output based Timoshenko smart beam. Further, this mathematical model is used to design a multirate output feedback based discrete sliding mode controller using Bartoszewicz law to suppress the flexural vibrations. The first 2 dominant vibratory modes is retained. Here, an application of the discrete sliding mode control in smart systems is presented. The algorithm uses a fast output sampling based sliding mode control strategy that would avoid the use of switching in the control input and hence avoids chattering. This method does not need the measurement of the system states for feedback as it makes use of only the output samples for designing the controller. Thus, this methodology is more practical and easy to implement.

Keywords:
Smart structure, Timoshenko beam theory, Discretesliding mode control, Bartoszewicz law, Finite Element Method,State space model, Vibration control, Mathematical model, SISO.