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  • Open Access


    Multi-Objective Redundancy Optimization of Continuous-Point Robot Milling Path in Shipbuilding

    Jianjun Yao*, Chen Qian, Yikun Zhang, Geyang Yu

    CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.2, pp. 1283-1303, 2023, DOI:10.32604/cmes.2022.021328

    Abstract The 6-DOF manipulator provides a new option for traditional shipbuilding for its advantages of vast working space, low power consumption, and excellent flexibility. However, the rotation of the end effector along the tool axis is functionally redundant when using a robotic arm for five-axis machining. In the process of ship construction, the performance of the parts’ protective coating needs to be machined to meet the Performance Standard of Protective Coatings (PSPC). The arbitrary redundancy configuration in path planning will result in drastic fluctuations in the robot joint angle, greatly reducing machining quality and efficiency. There have been some studies on… More >

  • Open Access


    Amassing the Security: An Enhanced Authentication and Key Agreement Protocol for Remote Surgery in Healthcare Environment

    Tsu-Yang Wu1, Qian Meng1, Lei Yang1, Saru Kumari2, Matin Pirouz3,*

    CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.1, pp. 317-341, 2023, DOI:10.32604/cmes.2022.019595

    Abstract The development of the Internet of Things has facilitated the rapid development of various industries. With the improvement in people’s living standards, people’s health requirements are steadily improving. However, owing to the scarcity of medical and health care resources in some areas, the demand for remote surgery has gradually increased. In this paper, we investigate remote surgery in the healthcare environment. Surgeons can operate robotic arms to perform remote surgery for patients, which substantially facilitates successful surgeries and saves lives. Recently, Kamil et al. proposed a secure protocol for surgery in the healthcare environment. However, after cryptanalyzing their protocol, we… More >

  • Open Access


    Novel ARC-Fuzzy Coordinated Automatic Tracking Control of Four-Wheeled Mobile Robot

    G. Pandiaraj*, S. Muralidharan

    Intelligent Automation & Soft Computing, Vol.35, No.3, pp. 3713-3726, 2023, DOI:10.32604/iasc.2023.031463

    Abstract Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement. In this research work, a… More >

  • Open Access


    Early Detection of Heartbeat from Multimodal Data Using RPA Learning with KDNN-SAE

    A. K. S. Saranya1,*, T. Jaya2

    Computer Systems Science and Engineering, Vol.45, No.1, pp. 545-562, 2023, DOI:10.32604/csse.2023.029975

    Abstract Heartbeat detection stays central to cardiovascular an electrocardiogram (ECG) is used to help with disease diagnosis and management. Existing Convolutional Neural Network (CNN)-based methods suffer from the less generalization problem thus; the effectiveness and robustness of the traditional heartbeat detector methods cannot be guaranteed. In contrast, this work proposes a heartbeat detector Krill based Deep Neural Network Stacked Auto Encoders (KDNN-SAE) that computes the disease before the exact heart rate by combining features from multiple ECG Signals. Heartbeats are classified independently and multiple signals are fused to estimate life threatening conditions earlier without any error in classification of heart beat.… More >

  • Open Access


    Controlling Remote Robots Based on Zidan’s Quantum Computing Model

    Biswaranjan Panda1, Nitin Kumar Tripathy1, Shibashankar Sahu1, Bikash K. Behera2, Walaa E. Elhady3,*

    CMC-Computers, Materials & Continua, Vol.73, No.3, pp. 6225-6236, 2022, DOI:10.32604/cmc.2022.028394

    Abstract In this paper, we propose a novel algorithm based on Zidan’s quantum computing model for remotely controlling the direction of a quantum-controlled mobile robot equipped with n-movements. The proposed algorithm is based on the measurement of concurrence value for the different movements of the robot. Consider a faraway robot that moves in the deep space (e.g., moves toward a galaxy), and it is required to control the direction of this robot from a ground station by some person Alice. She sends an unknown qubit α |0⟩ + β |1⟩ via the teleportation protocol to the robot. Then, the proposed algorithm decodes the… More >

  • Open Access


    Fault Diagnosis in Robot Manipulators Using SVM and KNN

    D. Maincer1,*, Y. Benmahamed2, M. Mansour1, Mosleh Alharthi3, Sherif S. M. Ghonein3

    Intelligent Automation & Soft Computing, Vol.35, No.2, pp. 1957-1969, 2023, DOI:10.32604/iasc.2023.029210

    Abstract In this paper, Support Vector Machine (SVM) and K-Nearest Neighbor (KNN) based methods are to be applied on fault diagnosis in a robot manipulator. A comparative study between the two classifiers in terms of successfully detecting and isolating the seven classes of sensor faults is considered in this work. For both classifiers, the torque, the position and the speed of the manipulator have been employed as the input vector. However, it is to mention that a large database is needed and used for the training and testing phases. The SVM method used in this paper is based on the Gaussian… More >

  • Open Access


    Deep Learning-Based 3D Instance and Semantic Segmentation: A Review

    Siddiqui Muhammad Yasir1, Hyunsik Ahn2,*

    Journal on Artificial Intelligence, Vol.4, No.2, pp. 99-114, 2022, DOI:10.32604/jai.2022.031235

    Abstract The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial redundancy, fluctuating sample density and lack of apparent organization. The research area has a wide range of robotics applications, including intelligent vehicles, autonomous mapping and navigation. A number of researchers have introduced various methodologies and algorithms. Deep learning has been successfully used to a spectrum of 2D vision domains as a prevailing A.I. methods. However, due to the specific problems of processing point clouds… More >

  • Open Access


    Metaheuristic Optimization for Mobile Robot Navigation Based on Path Planning

    El-Sayed M. El-kenawy1,2, Zeeshan Shafi Khan3,*, Abdelhameed Ibrahim4, Bandar Abdullah Aloyaydi5, Hesham Arafat Ali2,4, Ali E. Takieldeen2

    CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 2241-2255, 2022, DOI:10.32604/cmc.2022.026672

    Abstract Recently, the path planning problem may be considered one of the most interesting researched topics in autonomous robotics. That is why finding a safe path in a cluttered environment for a mobile robot is a significant requisite. A promising route planning for mobile robots on one side saves time and, on the other side, reduces the wear and tear on the robot, saving the capital investment. Numerous route planning methods for the mobile robot have been developed and applied. According to our best knowledge, no method offers an optimum solution among the existing methods. Particle Swarm Optimization (PSO), a numerical… More >

  • Open Access


    Development of Voice Control Algorithm for Robotic Wheelchair Using NIN and LSTM Models

    Mohsen Bakouri1,2,*

    CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 2441-2456, 2022, DOI:10.32604/cmc.2022.025106

    Abstract In this work, we developed and implemented a voice control algorithm to steer smart robotic wheelchairs (SRW) using the neural network technique. This technique used a network in network (NIN) and long short-term memory (LSTM) structure integrated with a built-in voice recognition algorithm. An Android Smartphone application was designed and configured with the proposed method. A Wi-Fi hotspot was used to connect the software and hardware components of the system in an offline mode. To operate and guide SRW, the design technique proposed employing five voice commands (yes, no, left, right, no, and stop) via the Raspberry Pi and DC… More >

  • Open Access


    Artificial Potential Field Incorporated Deep-Q-Network Algorithm for Mobile Robot Path Prediction

    A. Sivaranjani1,*, B. Vinod2

    Intelligent Automation & Soft Computing, Vol.35, No.1, pp. 1135-1150, 2023, DOI:10.32604/iasc.2023.028126

    Abstract Autonomous navigation of mobile robots is a challenging task that requires them to travel from their initial position to their destination without collision in an environment. Reinforcement Learning methods enable a state action function in mobile robots suited to their environment. During trial-and-error interaction with its surroundings, it helps a robot to find an ideal behavior on its own. The Deep Q Network (DQN) algorithm is used in TurtleBot 3 (TB3) to achieve the goal by successfully avoiding the obstacles. But it requires a large number of training iterations. This research mainly focuses on a mobility robot’s best path prediction… More >

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