Al-Khwarizmi Engineering Journal

The inverse kinematics of redundant manipulators has infinite solutions by using
conventional methods, so that, this work presents applicability of intelligent tool (artificial neural
network ANN) for finding one desired solution from these solutions. The inverse analysis and
trajectory planning of a three link redundant planar robot have been studied in this work using a
proposed dual neural networks model (DNNM), which shows a predictable time decreasing in the
training session. The effect of the number of the training sets on the DNNM output and the number
of NN layers have been studied. Several trajectories have been implemented using point to point
trajectory planning algorithm with DNNM and the result shows good accuracy of the end effector
position for the desired trajectory.

There is a variety of artificial foot designs variable for use with prosthetic legs . Most of
the design can be divided into two classes, articulated and non-articulated feet. one
common non-articulated foot is the SACH . The solid ankle cushion heel foot referred to as
the SACH foot has a rigid keel .
One key or the key factor in designing a new prosthesis is in the analysis of a patients
response .
This view is the most important because if the foot does not provide functional ,
practical or cosmetically acceptable characteristics the patient will not feel comfortable
with the prosthesis , therefore design and manufacturing a new foot is essential, this foot
made from polyethylene, its different shape and characteristics
The characteristics deemed important by patients in achieving natural gait motion
include:

Dorsiflexion
Energy return
Fatigue test
In this study, including all these characteristics test, design fatigue foot tester
according to ISO 10328 and design new foot .Also, the testometric crosshead was modified
to find dorsiflexion angle and energy return .The fatigue criteria for polymer was proposed,
in mathematical solution.
Finally , the characteristics of SACH foot was compared with new foot by
mathematical solution and used visual basic program and experimental method by different
tests. From these test that the new foot is better than SACH foot for all test .

The steady state performance of the counter rotating floating ring Journal bearing is analyzed with
isothermal finite bearing theory. The effect of different parameters affecting the performance of the
bearing (namely speed ratio, clearance ratio and radii ratio), have been investigated. The load carrying
capacity of the bearing increasing with decreasing the radii ratio (R2/R1) of the ring and clearance ratio
(c1/c2), in the other hand, the coefficient of friction increases with increasing the clearance and radii ratios,
while decreases with incre4asing the bearing to journal speed ratio (γ). It is shown during this work that
different operating conditions are greatly enhanced the performance of such bearings.

Most researchers concentrate their studies on the design, stress and pressure
distributions of the prosthetic socket. A little attention is considered for the stiffness of the
various materials of the prosthetic sockets. Prosthetic laminated sockets in Iraq are costly to
be manufactured while polypropylene socket is relatively cheap in comparing with the
laminates.
Experimental study is conducted to compare the stiffness of five prosthetic sockets
made of different materials. Compression, three point flexural and tensile tests are
implemented by the Testometric machine. The laminate sockets give better results in
compression than polypropylene. Polypropylene gives good results in bending compared
with the laminate sockets. When the socket loads are mainly in compression i.e. the low
activity level patients, it seems that any of the tested sockets could be used, however, when
the load will be not only in compression but in flexion as well i.e. high activity patients,
socket No.1 and 5 could be used.

Although the Wiener filtering is the optimal tradeoff of inverse filtering and
noise smoothing, in the case when the blurring filter is singular, the Wiener filtering
actually amplify the noise. This suggests that a denoising step is needed to remove the
amplified noise .Wavelet-based denoising scheme provides a natural technique for
this purpose .
In this paper a new image restoration scheme is proposed, the scheme
contains two separate steps : Fourier-domain inverse filtering and wavelet-domain
image denoising. The first stage is Wiener filtering of the input image , the filtered
image is inputted to adaptive threshold wavelet denoising stage . The choice of the
threshold estimation is carried out by analyzing the statistical parameters of the
wavelet sub band coefficients like standard deviation, arithmetic mean and
geometrical mean . The noisy image is first decomposed into many levels to obtain
different frequency bands. Then soft thresholding method is used to remove the noisy
coefficients, by fixing the optimum thresholding value by this method .
Experimental results on test image by using this method show that this method
yields significantly superior image quality and better Peak Signal to Noise Ratio
(PSNR). Here, to prove the efficiency of this method in image restoration , we have
compared this with various restoration methods like Wiener filter alone and inverse
filter.

In the present work, steady two – dimensional laminar natural convection heat
transfer of Newtonian and non-Newtonian fluids inside isosceles triangular enclosure has
been analyzed numerically for a wide range of the modified Rayleigh numbers of (103 ≤ Ra
≤ 105
), with non-dimensional parameter (NE) of Prandtl – Eyring model ranging from (0 to
10), and modified Prandtl number take in the range (Pr* =1,10, and 100). Two types of
boundary conditions have been considered. The first, when the inclined walls are heated
with different uniform temperatures and the lower wall is insulated. The second, when the
bottom wall is heated by applying a uniform heat flux while the inclined walls at the
constant cold temperature. Also, the non-Newtonian fluids under consideration were
assumed to obey the Prandtl – Eyring model..The results are presented in terms of
isotherms and streamlines to show the behavior of the fluid flow and temperature fields. In
addition, some graphics are presented the relation between average Nusselt number and the
various parameters. The results show the effect of non – dimensional parameter (NE) on the
velocity and temperature profiles. They also show that the average Nusselt number is a
strong function of modified Rayleigh number, modified Prandtl number, non-dimensional
parameter, and the boundary conditions. Four different correlations have been made to
show the dependence of the average Nusselt number on the non-dimensional parameter, the
modified Rayleigh and Prandtl numbers.

The first successful implementation of Artificial Neural Networks (ANNs) was published a
little over a decade ago. It is time to review the progress that has been made in this research area. This
paper provides taxonomy for classifying Field Programmable Gate Arrays (FPGAs) implementation of
ANNs. Different implementation techniques and design issues are discussed, such as obtaining a
suitable activation function and numerical truncation technique trade-off, the improvement of the
learning algorithm to reduce the cost of neuron and in result the total cost and the total speed of the
complete ANN. Finally, the implementation of a complete very fast circuit for the pattern of English
Digit Numbers NN has four layers of 70 nodes (neurons) on single chip using Xilinx FPGA technique
is given.
The main goal of this paper is how to achieve the suitable activation function and weights for
this network that gives minimum hardware cost when all stages of this ANN algorithm is implemented
on FPGA.