Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of th... more Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This research focuses on the design, implementation and analysis of a new modified proportional-integral-derivative (PID) hybrid fuzzy controller for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, modified PID controller in presence of boundary derivative part, computed torque controller (CTC) and fuzzy inference system are selected. Linear PID controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Pure CTC is used to estimate highly nonlinear parameters, this controller has an important drawback; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performanc...
N4-methylcytosine as one kind of modification of DNA has a critical role which alters genetic per... more N4-methylcytosine as one kind of modification of DNA has a critical role which alters genetic performance such as protein interactions, conformation, stability in DNA as well as the regulation of gene expression same cell developmental and genomic imprinting. Some different 4mC site identifiers have been proposed for various species. Herein, we proposed a computational model, DNC4mC-Deep, including six encoding techniques plus a deep learning model to predict 4mC sites in the genome of F. vesca, R. chinensis, and Cross-species dataset. It was demonstrated by the 10-fold cross-validation test to get superior performance. The DNC4mC-Deep obtained 0.829 and 0.929 of MCC on F. vesca and R. chinensis training dataset, respectively, and 0.814 on cross-species. This means the proposed method outperforms the state-of-the-art predictors at least 0.284 and 0.265 on F. vesca and R. chinensis training dataset in turn. Furthermore, the DNC4mC-Deep achieved 0.635 and 0.565 of MCC on F. vesca and ...
One of the most common and well studied post-transcription modifications in RNAs is N6-methyladen... more One of the most common and well studied post-transcription modifications in RNAs is N6-methyladenosine (m6A) which has been involved with a wide range of biological processes. Over the past decades, N6-methyladenosine produced some positive consequences through the high-throughput laboratory techniques but still, these lab processes are time consuming and costly. Diverse computational methods have been proposed to identify m6A sites accurately. In this paper, we proposed a computational model named iMethyl-deep to identify m6A Saccharomyces Cerevisiae on two benchmark datasets M6A2614 and M6A6540 by using single nucleotide resolution to convert RNA sequence into a high quality feature representation. The iMethyl-deep obtained 89.19% and 87.44% of accuracy on M6A2614 and M6A6540 respectively which show that our proposed method outperforms the state-of-the-art predictors, at least 8.44%, 8.96%, 8.69% and 0.173 on M6A2614 and 15.47%, 28.52%, 25.54 and 0.5 on M6A6540 higher in terms of ...
International Journal of Hybrid Information Technology, 2016
Many of fuzzy control applications require real-time operation; higher density programmable logic... more Many of fuzzy control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to fuzzifier algorithm with optimal-tunable gains method-using FPGA. The maximum frequency in FPGA-based design is about 72.4 MHz and the delay time in this design is about 13.78 ns. It is observed that this algorithm is able to make as a fast response at 13.78 clock period with 72.4 of a maximum frequency and 2.1 for minimum input arrival time after clock. From investigation and synthesis summary, 24.3 for maximum input arrival time after clock with 13.9 frequencies, this design has 13.78 delays for each controller to 46 logic elements and the offset before CLOCK is 82.1 .
International Journal of Hybrid Information Technology, 2016
Increasingly, algorithms are supplanting human decision-makers in pricing goods and services. To ... more Increasingly, algorithms are supplanting human decision-makers in pricing goods and services. To analyze the possible consequences, we study experimentally the behavior of algorithms powered by Artificial Intelligence (Q-learning) in a workhorse oligopoly model of repeated price competition. We find that the algorithms consistently learn to charge supracompetitive prices, without communicating with one another. The high prices are sustained by collusive strategies with a finite phase of punishment followed by a gradual return to cooperation. This finding is robust to asymmetries in cost or demand, changes in the number of players, and various forms of uncertainty.
International Journal of Hybrid Information Technology, 2015
Design a robust artificial intelligent nonlinear controller for second order nonlinear uncertain ... more Design a robust artificial intelligent nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a robust chattering free mathematical model-base artificial intelligence (fuzzy inference system) variable structure controller (MFVSC) for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, variable structure controller is selected. Pure variable structure controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. In order to reduce/eliminate the chattering, this research is used the artificial intelligence (fuzzy logic) theory. The results demonstrate that the model base fuzzy variable structure controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Lyapunov stability is proved in mathematical modelbased fuzzy variable structure controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.9 second, steady state error = 1.6e-8 and RMS error=4.8e-8).
A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degree... more A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake” along a path or around an obstacle – hence the name “snake-arm”. The ability to reach into confined spaces lends itself to many applications involving access problems. Continuum robots are used in many applications such as; industry, nuclear, aerospace, automotive, security, and robotic surgery. Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery. Major advances aided by surgical robots have been remote surgery, minimally invasive surgery and unmanned surgery. Due to robotic use, the surgery is done with precision, miniaturization, smaller incisions; decreased blo...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
International Journal of Modern Education and Computer Science, 2013
The Proportional Integral Derivative (PID) Fuzzy hybrid (switching mode computed torque sliding m... more The Proportional Integral Derivative (PID) Fuzzy hybrid (switching mode computed torque sliding mode) Controller is presented in this research. The popularity of PID FHC controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID FHC controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strategies have gained importance over other strategies because of their consistent performance over wide range of process models and their flexibility. This paper analyses the manual tuning techniques and compares the same with Gradient Descent tuning methods for tuning PID FHC controllers for flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of th... more Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This research focuses on the design, implementation and analysis of a new modified proportional-integral-derivative (PID) hybrid fuzzy controller for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, modified PID controller in presence of boundary derivative part, computed torque controller (CTC) and fuzzy inference system are selected. Linear PID controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Pure CTC is used to estimate highly nonlinear parameters, this controller has an important drawback; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani's performance/error-based fuzzy logic methodology with one input and one output and 7 rules is applied to proposed methodology. The results demonstrate that the proposed method is a partly model-free controller which works well in certain and partly uncertain system.
International Journal of Engineering and Manufacturing, 2013
Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) p lu... more Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) p lus gravity controller is proposed for highly nonlinear continuum robot manipulator. Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most impo rtant challenging works. In order to provide high performance in nonlinear systems, switching partly slid ing mode plus gravity controller is selected. Pure switching partly slid ing mode p lus gravity controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. Conversely, this method is used in many applications; it must to solve chattering phenomenon which it can cause some problems such as saturation and heat the mechanical parts of continuum robot man ipulators or drivers. In order to solve the chattering phenomenon, implement easily and avoid mathemat ical model base controller, Mamdani's performance/erro rbased fuzzy logic methodology with two inputs and one output and 49 rules is parallel applied to pure switching partly sliding mode plus gravity controller. The results demonstrate that this method is a model-free controllers which works well in certain and partly uncertain system.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of th... more Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This research focuses on the design, implementation and analysis of a new modified proportional-integral-derivative (PID) hybrid fuzzy controller for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, modified PID controller in presence of boundary derivative part, computed torque controller (CTC) and fuzzy inference system are selected. Linear PID controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Pure CTC is used to estimate highly nonlinear parameters, this controller has an important drawback; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performanc...
N4-methylcytosine as one kind of modification of DNA has a critical role which alters genetic per... more N4-methylcytosine as one kind of modification of DNA has a critical role which alters genetic performance such as protein interactions, conformation, stability in DNA as well as the regulation of gene expression same cell developmental and genomic imprinting. Some different 4mC site identifiers have been proposed for various species. Herein, we proposed a computational model, DNC4mC-Deep, including six encoding techniques plus a deep learning model to predict 4mC sites in the genome of F. vesca, R. chinensis, and Cross-species dataset. It was demonstrated by the 10-fold cross-validation test to get superior performance. The DNC4mC-Deep obtained 0.829 and 0.929 of MCC on F. vesca and R. chinensis training dataset, respectively, and 0.814 on cross-species. This means the proposed method outperforms the state-of-the-art predictors at least 0.284 and 0.265 on F. vesca and R. chinensis training dataset in turn. Furthermore, the DNC4mC-Deep achieved 0.635 and 0.565 of MCC on F. vesca and ...
One of the most common and well studied post-transcription modifications in RNAs is N6-methyladen... more One of the most common and well studied post-transcription modifications in RNAs is N6-methyladenosine (m6A) which has been involved with a wide range of biological processes. Over the past decades, N6-methyladenosine produced some positive consequences through the high-throughput laboratory techniques but still, these lab processes are time consuming and costly. Diverse computational methods have been proposed to identify m6A sites accurately. In this paper, we proposed a computational model named iMethyl-deep to identify m6A Saccharomyces Cerevisiae on two benchmark datasets M6A2614 and M6A6540 by using single nucleotide resolution to convert RNA sequence into a high quality feature representation. The iMethyl-deep obtained 89.19% and 87.44% of accuracy on M6A2614 and M6A6540 respectively which show that our proposed method outperforms the state-of-the-art predictors, at least 8.44%, 8.96%, 8.69% and 0.173 on M6A2614 and 15.47%, 28.52%, 25.54 and 0.5 on M6A6540 higher in terms of ...
International Journal of Hybrid Information Technology, 2016
Many of fuzzy control applications require real-time operation; higher density programmable logic... more Many of fuzzy control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to fuzzifier algorithm with optimal-tunable gains method-using FPGA. The maximum frequency in FPGA-based design is about 72.4 MHz and the delay time in this design is about 13.78 ns. It is observed that this algorithm is able to make as a fast response at 13.78 clock period with 72.4 of a maximum frequency and 2.1 for minimum input arrival time after clock. From investigation and synthesis summary, 24.3 for maximum input arrival time after clock with 13.9 frequencies, this design has 13.78 delays for each controller to 46 logic elements and the offset before CLOCK is 82.1 .
International Journal of Hybrid Information Technology, 2016
Increasingly, algorithms are supplanting human decision-makers in pricing goods and services. To ... more Increasingly, algorithms are supplanting human decision-makers in pricing goods and services. To analyze the possible consequences, we study experimentally the behavior of algorithms powered by Artificial Intelligence (Q-learning) in a workhorse oligopoly model of repeated price competition. We find that the algorithms consistently learn to charge supracompetitive prices, without communicating with one another. The high prices are sustained by collusive strategies with a finite phase of punishment followed by a gradual return to cooperation. This finding is robust to asymmetries in cost or demand, changes in the number of players, and various forms of uncertainty.
International Journal of Hybrid Information Technology, 2015
Design a robust artificial intelligent nonlinear controller for second order nonlinear uncertain ... more Design a robust artificial intelligent nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This paper focuses on the design of a robust chattering free mathematical model-base artificial intelligence (fuzzy inference system) variable structure controller (MFVSC) for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, variable structure controller is selected. Pure variable structure controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. In order to reduce/eliminate the chattering, this research is used the artificial intelligence (fuzzy logic) theory. The results demonstrate that the model base fuzzy variable structure controller with switching function is a model-based controllers which works well in certain and partly uncertain system. Lyapunov stability is proved in mathematical modelbased fuzzy variable structure controller with switching (sign) function. This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.9 second, steady state error = 1.6e-8 and RMS error=4.8e-8).
A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degree... more A Continuum robot manipulator is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake” along a path or around an obstacle – hence the name “snake-arm”. The ability to reach into confined spaces lends itself to many applications involving access problems. Continuum robots are used in many applications such as; industry, nuclear, aerospace, automotive, security, and robotic surgery. Robotic surgery, computer-assisted surgery, and robotically-assisted surgery are terms for technological developments that use robotic systems to aid in surgical procedures. Robotically-assisted surgery was developed to overcome the limitations of minimally-invasive surgery and to enhance the capabilities of surgeons performing open surgery. Major advances aided by surgical robots have been remote surgery, minimally invasive surgery and unmanned surgery. Due to robotic use, the surgery is done with precision, miniaturization, smaller incisions; decreased blo...
A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports ... more A Field Programmable Gate Array (FPGAs) is a small Field Programmable Device (FPD) that supports thousands of logic gates. FPGA is a high speed, low cost, short time to market and small device size. Technically speaking an FPGA can be used to solve any problem which is computable. This is trivially proven by the fact FPGA can be used to implement a Soft microprocessor. Their advantage lies in that they are sometimes significantly faster for some applications due to their parallel nature and optimality in terms of the number of gates used for a certain process. Specific applications of FPGAs include digital signal processing, software-defined radio, ASIC prototyping, medical imaging, computer vision, speech recognition, nonlinear control, cryptography, bioinformatics, computer hardware emulation, radio astronomy, metal detection and a growing range of other areas. Traditionally, FPGAs have been reserved for specific vertical applications where the volume of production is small. For t...
International Journal of Modern Education and Computer Science, 2013
The Proportional Integral Derivative (PID) Fuzzy hybrid (switching mode computed torque sliding m... more The Proportional Integral Derivative (PID) Fuzzy hybrid (switching mode computed torque sliding mode) Controller is presented in this research. The popularity of PID FHC controllers can be attributed to their robust performance in a wide range of operating conditions and partly to their functional simplicity. The process of setting of PID FHC controller can be determined as an optimization task. Over the years, use of intelligent strategies for tuning of these controllers has been growing. Biologically inspired evolutionary strategies have gained importance over other strategies because of their consistent performance over wide range of process models and their flexibility. This paper analyses the manual tuning techniques and compares the same with Gradient Descent tuning methods for tuning PID FHC controllers for flexible robot manipulator system and testing of the quality of process control in the simulation environment of MATLAB/SIMULINK Simulator.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of th... more Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This research focuses on the design, implementation and analysis of a new modified proportional-integral-derivative (PID) hybrid fuzzy controller for highly nonlinear dynamic continuum robot manipulator, in presence of uncertainties. In order to provide high performance nonlinear methodology, modified PID controller in presence of boundary derivative part, computed torque controller (CTC) and fuzzy inference system are selected. Linear PID controller can be used to control of partly known nonlinear dynamic parameters of robot manipulator. Pure CTC is used to estimate highly nonlinear parameters, this controller has an important drawback; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani's performance/error-based fuzzy logic methodology with one input and one output and 7 rules is applied to proposed methodology. The results demonstrate that the proposed method is a partly model-free controller which works well in certain and partly uncertain system.
International Journal of Engineering and Manufacturing, 2013
Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) p lu... more Refer to this research, an intelligent fuzzy parallel switching Proportional-Derivative (PD) p lus gravity controller is proposed for highly nonlinear continuum robot manipulator. Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most impo rtant challenging works. In order to provide high performance in nonlinear systems, switching partly slid ing mode plus gravity controller is selected. Pure switching partly slid ing mode p lus gravity controller can be used to control of partly known nonlinear dynamic parameters of continuum robot manipulator. Conversely, this method is used in many applications; it must to solve chattering phenomenon which it can cause some problems such as saturation and heat the mechanical parts of continuum robot man ipulators or drivers. In order to solve the chattering phenomenon, implement easily and avoid mathemat ical model base controller, Mamdani's performance/erro rbased fuzzy logic methodology with two inputs and one output and 49 rules is parallel applied to pure switching partly sliding mode plus gravity controller. The results demonstrate that this method is a model-free controllers which works well in certain and partly uncertain system.
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