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The purpose of this paper is to accurately obtain the deformation of a hybrid robot and rapidly enable real-time compensation in friction stir welding (FSW). In this paper, a prediction algorithm based on the back-propagation neural network (BPNN) optimized by the adaptive genetic algorithm (GA) is presented.

Via the algorithm, the deformations of a five-degree-of-freedom (5-DOF) hybrid robot TriMule800 at a limited number of positions are taken as the training set. The current position of the robot and the axial force it is subjected to are used as the input; the deformation of the robot is taken as the output to construct a BPNN; and an adaptive GA is adopted to optimize the weights and thresholds of the BPNN.

This algorithm can quickly predict the deformation of a robot at any point in the workspace. In this study, a force-deformation experiment bench is built, and the experiment proves that the correspondence between the simulated and actual deformations is as high as 98%; therefore, the simulation data can be used as the actual deformation. Finally, 40 sets of data are taken as examples for the prediction, the errors of predicted and simulated deformations are calculated and the accuracy of the prediction algorithm is verified.

The entire algorithm is verified by the laboratory-developed 5-DOF hybrid robot, and it can be applied to other hybrid robots as well.

Robots have been widely used in FSW. Traditional series robots cannot bear the large axial force during welding, and the deformation of the robot will affect the machining quality. In some research studies, hybrid robots have been used in FSW. However, the deformation of a hybrid robot in thick-plate welding applications cannot be ignored. Presently, there is no research on the deformation of hybrid robots in FSW, let alone the analysis and prediction of their deformation. This research provides a feasible methodology for analysing the deformation and compensation of hybrid robots in FSW. This makes it possible to calculate the deformation of the hybrid robot in FSW without external sensors.

The quality and properties of Inconel 718 (IN718) from selective laser melting (SLM), a major additive manufacturing (AM) process, have been studied extensively. Among all aspects of quality, relative density (RD) is most widely investigated, and it significantly affects the mechanical properties of SLM-ed materials. This study aims to develop robust RD prediction models based on the data accumulated in literature using machining learning approaches.

By mining the literature of SLM-ed IN718, a comprehensive data set is created, which consists of the four major process parameters of laser power, scan speed, hatch spacing, layer thickness and RD data. A back propagation neural network (BPNN) model, along with its two optimized models: genetic algorithm (GA) optimized BPNN (GA-BPNN) and adaptive GA optimized BPNN (AGA-BPNN) models are created for predicting the RD of SLM-ed IN718, and their prediction performances are compared.

Overall, satisfactory prediction accuracies are obtained – the R² values of the built BPNN, GA-BPNN and AGA-BPNN models are 73.5%, 75.3% and 79.9%, respectively. This also shows that by incorporating the optimization technique, the prediction accuracy of BPNN is improved and AGA-BPNN has the highest accuracy. Moreover, SLM experiments are conducted to test the model predictability. It is found that the predictions generally agree well with the experiment data, and the order of the model prediction accuracies is consistent with that based on the literature data.

This research highlights that by mining literature data, prediction models of RD of SLM-ed IN718 can be obtained with satisfactory performance, which consider more process parameters and cover wider parameter ranges than any individual studies, in a cost-effective manner.

To achieve stable gait planning and enhance the motion performance of quadruped robot, this paper aims to propose a motion control strategy based on central pattern generator (CPG) and back-propagation neural network (BPNN).

First, the Kuramoto phase oscillator is used to construct the CPG network model, and a piecewise continuous phase difference matrix is designed to optimize the duty cycle of walk gait, so as to realize the gait planning and smooth switching. Second, the mapper between CPG output and joint drive is established based on BP neural network, so that the quadruped robot based on CPG control has better foot trajectory to enhance the motion performance. Finally, to obtain better mapping effect, an evaluation function is resigned to evaluate the proximity between the actual foot trajectory and the ideal foot trajectory. Genetic algorithm and particle swarm optimization are used to optimize the initial weights and thresholds of BPNN to obtain more accurate foot trajectory.

The method provides a solution for the smooth gait switching and foot trajectory of the robot. The quintic polynomial trajectory is selected to testify the validity and practicability of the method through simulation and prototype experiment.

The paper solved the incorrect duty cycle under the walk gait of CPG network constructed by Kuramoto phase oscillator, and made the robot have a better foot trajectory by mapper to enhance its motion performance.

The purpose of this paper is to generate grinding trajectory of unknown model parts simply and efficiently. In this paper, a method of grinding trajectory generation of hybrid robot based on Cartesian space direct teaching technology is proposed.

This method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed control more freely when dragging the robot, the sensor data is processed by Kalman filter, and a variable admittance control model is established. And the joint constraint processing is given during teaching. After that, the path points are modified and fitted into double B-splines, and the speed planning is performed to generate the final grinding trajectory.

Experiment verifies the feasibility of using direct teaching technology in Cartesian space to generate grinding trajectory of unknown model parts. By fitting all the teaching points into cubic B-spline, the smoothness of the grinding trajectory is improved.

The whole method is verified by the self-developed TriMule-600 hybrid robot, and it can also be applied to other industrial robots.

The main contribution of this paper is to realize the direct teaching and trajectory generation of the hybrid robot in Cartesian space, which provides an effective new method for the robot to generate grinding trajectory of unknown model parts.

Digital computing and machine learning-driven predictive analysis in the diagnosis of non-communicable diseases are gaining significance. Globally many research studies are focusing on developing comprehensive models for such detection. Categorically in the proposed diagnosis for arrhythmia, which is a critical diagnosis to prevent cardiac-related deaths, any constructive models can be a value proposition. In this study, the focus is on developing a holistic system that predicts the scope of arrhythmia from the given electrocardiogram report. The proposed method is using the sequential patterns of the electrocardiogram elements as features.

Considering the decision accuracy of the contemporary classification methods, which is not adequate to use in clinical practices, this manuscript coined a new dimension of features to perform supervised learning and classification using the AdaBoost classifier. The proposed method has titled “Electrocardiogram stream level correlated patterns as features (ESCPFs),” which takes electrocardiograms (ECGs) signal streams as input records to perform supervised learning-based classification to detect the arrhythmia scope in given ECG record.

From the results and comparative reports generated for the study, it is evident that the model is performing with higher accuracy compared to some of the earlier models. However, focusing on the emerging solutions and technologies, if the accuracy factors for the model can be improved, it can lead to compelling predictions and accurate outcome from the process.

The authors represent complete automatic and rapid arrhythmia as classifier, which could be applied online and examine long ECG records sequence efficiently. By releasing the needs for extraction of features, the authors project an application based on raw signals, one result to heart rates date, whose objective is to lessen computation time when attaining minimum classification error outcomes.