A requirement for new robotic manipulators is the ability to detect and manipulate objects in their environments. Robotic manipulators are highly nonlinear systems, and an accurate mathematical model is difficult to obtain using conventional techniques. Therefore, an efficient technique is required to deal with these types of complex and dynamic systems. Differential Evolution (DE) algorithm is a very powerful optimization technique and has become popular in many fields. Arguably, it is now one of the most predominant stochastic algorithms for real-parameter optimization. However, DE is very sensitive to its control parameters of the mutation operation (F) and crossover operation (CR) in such a way that their fine tuning greatly affect DE performance. Fuzzy Adaptive DE (FADE) algorithm is one of the well known adaptive DE variants that show superiority and reliability in solving different types of optimization
Azeddien Kinsheel, Rawaa Dawoud Al-Dabbagh, Saad Mekhilef, Mohd Sapiyan Baba, Shahaboddin Shamshirband(12-2014)

Abstract Erosion wear is recognized as an engineering problem for slurry handling equipments. It plays an important role in design and operation of slurry transportation systems. The present work reports experimental and theoretical investigations of erosion wear of carbon steel and stainless steel in sandwater mixture. However, carbon steel (AISI-CS1060) and stainless steel (AISI-SS316L). They have been chosen as target materials, and then studied the effect of various parameters that may leads to good understanding to the erosion behavior of ductile materials such as impact angle, particle velocity as well as erosion time on erosion wear. The impingement jet erosion test rig built at our laboratory in order to carry out the experimental results. Aluminum oxide (Al2O3) is used as erodent particles after it mixed with water for slurry preparation at various impact angles of 15°, 30°, 60° and 90°, the solid concentration range of (10-30) wt%, for sized ranging between of 800µm to1700µm in the velocity range of 5 m/s to 24 m/s, with periodic time of 10 minutes at room temperature. The data points that collected in this work showed that the experimental values are agreement with the ductile erosion behavior for both materials, also showed that the erosion rate increasing linearly with increases in impact velocity and erosion time, also showed scars were characterized by an elliptical shape at 15° and 30° whereas a nearly circular shape was observed at 60° and 90° due to the horizontal component of velocity at shallow angles has value more than the normal component of velocity whereas in contrast at high angles.
فاضل رزق شحات (2014)

In this paper, an orthopedic robot-assisted drilling system is presented. The system consists of a six degree of freedom robot manipulator equipped with a multi axis force/torque sensor and an electrical drilling tool attached to the robot end-effector. The purpose of the system is to enable the orthopedic surgeons to drill the patient bone using the robot manipulator and automatically detect the bone breakthrough during bone fixation process. The breakthrough is detected by measuring the forces acting on the drilling tool tip. This will reduce/eliminate the need for X-rays imaging used in traditional bone fixation. The system has been tested on sheep bone. The result has shown that, the bone drilling operation can be handled by a robot manipulator to improve the quality of the drilling operation. With this system, the bone breakthrough can be easily detected and further damage of the healthy patient tissue would be avoided. This will lead to fast patient recovery and short hospital stay.
Azeddien Kinsheel, Zahari Taha, J. Lee(1-2008)