Adaptive Meta-heuristic Framework for Real-time Dynamic Obstacle Avoidance in Redundant Robot Manipulators DOI Open Access

Sheik Masthan Shahul Abdul Rahim,

G. Kanagaraj,

Mohammed Shafi Kundiladi

et al.

Annals of Emerging Technologies in Computing, Journal Year: 2024, Volume and Issue: 8(3), P. 1 - 16

Published: July 1, 2024

Robotic manipulator faces a challenge in navigating dynamic environments while ensuring collision-free trajectories, especially for redundant manipulators. Inverse kinematics involves finding joint angles to reach specific point 3D space. The shift from classical analytical and numerical methods optimization heuristic algorithms is driven by the increasing complexity of robotic systems demand more versatile adaptive solutions. Meta-heuristic offer transformative approach framing inverse problem as an challenge, providing flexible robust means navigate complex solution spaces. Metaheuristic algorithms, known their ability explore high-dimensional search spaces avoid local optima, solutions these challenges. They enhance computational efficiency, enabling real-time decision-making obstacle avoidance, making them ideal applications. These characteristics metaheuristic can used developing integrated framework that offers complete robot This research article presents generalized leveraging meta-heuristic address avoidance uses solver, trajectory planner, mechanism, encompassing both static obstacles. proposed gives user select type manipulator, with any number links custom within workspace manipulator. Also, algorithm be framework. implemented MATLAB’s app designer simulation six different algorithms. effectiveness was evaluated terms its capability generate 3d path, follow generated trajectory, seamlessly adapting dynamically changing environments. Through simulation, showcased performance workspaces moving obstacles, motion

Language: Английский

Comparative analysis for accurate multi-classification of brain tumor based on significant deep learning models DOI
Mohamed S. Elhadidy,

Abdelrahman T. Elgohr,

Marwa El-geneedy

et al.

Computers in Biology and Medicine, Journal Year: 2025, Volume and Issue: 188, P. 109872 - 109872

Published: Feb. 18, 2025

Language: Английский

Citations

3
Enhancing conical solar stills with aluminum ball energy storage: Optimal distance for improved performance DOI
Mohammed El Hadi Attia, A.E. Kabeel,

Abdelrahman T. Elgohr

et al.

Journal of Energy Storage, Journal Year: 2024, Volume and Issue: 103, P. 114313 - 114313

Published: Oct. 24, 2024

Language: Английский

Citations

8
Assessing the accuracy and efficiency of kinematic analysis tools for six-DOF industrial manipulators: The KUKA robot case study DOI Creative Commons

Mohamed S. Elhadidy,

Waleed S. Abdalla, Alaa A. Abdelrahman

et al.

AIMS Mathematics, Journal Year: 2024, Volume and Issue: 9(6), P. 13944 - 13979

Published: Jan. 1, 2024

<abstract><p>Accuracy is an important factor to consider when evaluating the performance of a manipulator. The accuracy manipulator determined by its ability accurately move and position objects in precise manner. This research paper aims evaluate different methods for kinematic analysis manipulators. study employs four distinct techniques, namely mathematical modeling using closed form solutions method, roboanalyzer, Peter Corke toolbox, particle swarm optimization, perform KUKA industrial used as illustrative case this due widespread use various applications addition high precision stability. Its wide usage industry makes results highly relevant allows thorough evaluation being studied. Furthermore, understanding can also help improving increasing efficiency robot tasks. conducts comparison methods, indicate that optimization most accurate method. RoboAnalyzer approach achieved fastest execution time.</p></abstract>

Language: Английский

Citations

7
A Novel Hybrid Deep Neural Network Classifier for EEG Emotional Brain Signals DOI Open Access
M.A. Mousa,

Abdelrahman T. Elgohr,

Hatem A. Khater

et al.

International Journal of Advanced Computer Science and Applications, Journal Year: 2024, Volume and Issue: 15(6)

Published: Jan. 1, 2024

The field of brain computer interface (BCI) is one the most exciting areas in scientific research, as it can overlap with all fields that need intelligent control, especially medical industry. In order to deal and its different signals, there are many ways collect a dataset important which collection signals using non-invasive EEG method. This group data has been collected must be classified, features affecting changes selected become useful for use control capabilities. Due some used BCI have high accuracy speed comply environment's motion sequences, this paper explores classification their usage Brain Computer Interface aim integrating them into systems. objective study investigate signal techniques such Long Short-Term Memory (LSTM), Convolutional Neural Networks (CNN), well machine learning approach represented by Support Vector Machine (SVM). We also present novel hybrid technique called CNN-LSTM combines CNNs LSTM networks. proposed model processes input through or more CNN's convolutional layers identify spatial patterns output fed capture temporal dependencies sequential patterns. combination uses CNNs' feature extraction LSTMs' modelling achieve efficacy across domains. A test was done determine effective classifying emotional indicate user's state. research generated from widely available MUSE headgear four dry extra-cranial electrodes. comparison came favor (CNN-LSTM) first place an 98.5% step 244 milliseconds/step; CNN second 98.03% 58 third place, recorded 97.35% 2 sec/step; finally, last SVM 87.5% 39 milliseconds/step running speed.

Language: Английский

Citations

6
Whale-Based Trajectory Optimization Algorithm for 6 DOF Robotic Arm DOI Open Access
M.A. Mousa,

Abdelrahman T. Elgohr,

Hatem A. Khater

et al.

Annals of Emerging Technologies in Computing, Journal Year: 2024, Volume and Issue: 8(4), P. 99 - 114

Published: Oct. 1, 2024

Trajectory optimal control for a robotic arm with high degree of freedom (DOF) is challenging. The design space that problem complex and the search an solution demanding. arm's trajectory based on solving inverse kinematics problem, considering additional refinements influenced by factors like total rotating angle, reachability time, minimum execution obstacle avoidance, energy consumption minimization. Due to complexity space, in this paper, genetic algorithm (GA) optimization whale (WOA) have been used achieve while maintaining time. To validate suggested techniques, case study was conducted 6 DOF KUKA KR 4 R600 robot subject its constraints. Sets consecutive points forming four different paths were inputted algorithms. goal reach all these points, order, As result we shown provides better performance than factor more 2.5 satisfying

Language: Английский

Citations

5
Trajectory Optimization for 6 DOF Robotic Arm Using WOA, GA, and Novel WGA Techniques DOI Creative Commons

Abdelrahman T. Elgohr,

Hatem A. Khater, M.A. Mousa

et al.

Results in Engineering, Journal Year: 2025, Volume and Issue: unknown, P. 104511 - 104511

Published: Feb. 1, 2025

Language: Английский

Citations

0
Advancements in photovoltaic technology: A comprehensive review of recent advances and future prospects DOI Creative Commons

Abdelrahman O. Ali,

Abdelrahman T. Elgohr,

Mostafa H. El-Mahdy

et al.

Energy Conversion and Management X, Journal Year: 2025, Volume and Issue: 26, P. 100952 - 100952

Published: March 4, 2025

Language: Английский

Citations

0
Evaluating Energy Efficiency and Optimal Positioning of Industrial Robots in Sustainable Manufacturing DOI Creative Commons
Roman Ružarovský, Tibor Horák, Róbert Bočák

et al.

Journal of Manufacturing and Materials Processing, Journal Year: 2024, Volume and Issue: 8(6), P. 276 - 276

Published: Dec. 1, 2024

Optimizing the energy efficiency of robotic workstations is a key aspect industrial automation. This study focuses on analysis relationship between position robot base and its consumption time aspects. A number 6-axis robots, including ABB IRB 120 robot, were investigated in this research by combining measurements simulations using measurement module RobotStudio 2024.1.1 environment. The objective was to develop an model that can identify optimal positions minimize costs losses. results suggest strategic positioning has significant impact performance efficiency. These demonstrate ideal working distance robots approximately 50% maximum range, displacements along X Z axes affect consumption. findings existence trade-off efficiency, providing basis for further into optimization systems. Thus, work offers new perspectives design efficient cross-sensory applications.

Language: Английский

Citations

2
Adaptive Meta-heuristic Framework for Real-time Dynamic Obstacle Avoidance in Redundant Robot Manipulators DOI Open Access

Sheik Masthan Shahul Abdul Rahim,

G. Kanagaraj,

Mohammed Shafi Kundiladi

et al.

Annals of Emerging Technologies in Computing, Journal Year: 2024, Volume and Issue: 8(3), P. 1 - 16

Published: July 1, 2024

Robotic manipulator faces a challenge in navigating dynamic environments while ensuring collision-free trajectories, especially for redundant manipulators. Inverse kinematics involves finding joint angles to reach specific point 3D space. The shift from classical analytical and numerical methods optimization heuristic algorithms is driven by the increasing complexity of robotic systems demand more versatile adaptive solutions. Meta-heuristic offer transformative approach framing inverse problem as an challenge, providing flexible robust means navigate complex solution spaces. Metaheuristic algorithms, known their ability explore high-dimensional search spaces avoid local optima, solutions these challenges. They enhance computational efficiency, enabling real-time decision-making obstacle avoidance, making them ideal applications. These characteristics metaheuristic can used developing integrated framework that offers complete robot This research article presents generalized leveraging meta-heuristic address avoidance uses solver, trajectory planner, mechanism, encompassing both static obstacles. proposed gives user select type manipulator, with any number links custom within workspace manipulator. Also, algorithm be framework. implemented MATLAB’s app designer simulation six different algorithms. effectiveness was evaluated terms its capability generate 3d path, follow generated trajectory, seamlessly adapting dynamically changing environments. Through simulation, showcased performance workspaces moving obstacles, motion

Language: Английский

Citations

1