In this study, an optimized extended Kalman filter (EKF), and an interval type-2 fuzzy sliding mode control (IT2FSMC) in presence of uncertainties and disturbances are presented for robotic manipulators. The main contribution is the proposal of a novel application of Biogeography-Based Optimization (BBO) to optimize the EKF in order to achieve high performance estimation of states. The parameters to be optimized are the covariance matrices Q and R, which play an important role in the performances of EKF. The interval type-2 fuzzy logic system is used to avoid chattering phenomenon in the sliding mode control (SMC). Lyapunov theorem is used to prove the stability of control system. The suggested control approach is demonstrated using a computer simulation of two-link manipulator. Finally, simulations results show the robustness and effectiveness of the proposed scheme, and exhibit a more superior performance than its conventional counterpart.

In this study, an optimized extended Kalman filter (EKF), and an interval type-2 fuzzy sliding mode control (IT2FSMC) in presence of uncertainties and disturbances are presented for robotic manipulators. The main contribution is the proposal of a novel application of Biogeography-Based Optimization (BBO) to optimize the EKF in order to achieve high performance estimation of states. The parameters to be optimized are the covariance matrices Q and R, which play an important role in the performances of EKF. The interval type-2 fuzzy logic system is used to avoid chattering phenomenon in the sliding mode control (SMC). Lyapunov theorem is used to prove the stability of control system. The suggested control approach is demonstrated using a computer simulation of two-link manipulator. Finally, simulations results show the robustness and effectiveness of the proposed scheme, and exhibit a more superior performance than its conventional counterpart.

In this study, an optimized extended Kalman filter (EKF), and an interval type-2 fuzzy sliding mode control (IT2FSMC) in presence of uncertainties and disturbances are presented for robotic manipulators. The main contribution is the proposal of a novel application of Biogeography-Based Optimization (BBO) to optimize the EKF in order to achieve high performance estimation of states. The parameters to be optimized are the covariance matrices Q and R, which play an important role in the performances of EKF. The interval type-2 fuzzy logic system is used to avoid chattering phenomenon in the sliding mode control (SMC). Lyapunov theorem is used to prove the stability of control system. The suggested control approach is demonstrated using a computer simulation of two-link manipulator. Finally, simulations results show the robustness and effectiveness of the proposed scheme, and exhibit a more superior performance than its conventional counterpart.

Automatic Speech Recognition can be considered as a transcription of spoken utterances into text which can be used to monitor/command a specific system. In this paper, we propose a general end-to-end approach to sequence learning that uses Long Short-Term Memory (LSTM) to deal with the non-uniform sequence length of the speech utterances. The neural architecture can recognize the Arabic spoken digit spelling of an isolated Arabic word using a classification methodology, with the aim to enable natural human-machine interaction. The proposed system consists to, first, extract the relevant features from the input speech signal using Mel Frequency Cepstral Coefficients (MFCC) and then these features are processed by a deep neural network able to deal with the non uniformity of the sequences length. A recurrent LSTM or GRU architecture is used to encode sequences of MFCC features as a fixed size vector that will feed a multilayer perceptron network to perform the classification. The whole neural network classifier is trained in an end-to-end manner. The proposed system outperforms by a large gap the previous published results on the same database.

Automatic Speech Recognition can be considered as a transcription of spoken utterances into text which can be used to monitor/command a specific system. In this paper, we propose a general end-to-end approach to sequence learning that uses Long Short-Term Memory (LSTM) to deal with the non-uniform sequence length of the speech utterances. The neural architecture can recognize the Arabic spoken digit spelling of an isolated Arabic word using a classification methodology, with the aim to enable natural human-machine interaction. The proposed system consists to, first, extract the relevant features from the input speech signal using Mel Frequency Cepstral Coefficients (MFCC) and then these features are processed by a deep neural network able to deal with the non uniformity of the sequences length. A recurrent LSTM or GRU architecture is used to encode sequences of MFCC features as a fixed size vector that will feed a multilayer perceptron network to perform the classification. The whole neural network classifier is trained in an end-to-end manner. The proposed system outperforms by a large gap the previous published results on the same database.

Automatic Speech Recognition can be considered as a transcription of spoken utterances into text which can be used to monitor/command a specific system. In this paper, we propose a general end-to-end approach to sequence learning that uses Long Short-Term Memory (LSTM) to deal with the non-uniform sequence length of the speech utterances. The neural architecture can recognize the Arabic spoken digit spelling of an isolated Arabic word using a classification methodology, with the aim to enable natural human-machine interaction. The proposed system consists to, first, extract the relevant features from the input speech signal using Mel Frequency Cepstral Coefficients (MFCC) and then these features are processed by a deep neural network able to deal with the non uniformity of the sequences length. A recurrent LSTM or GRU architecture is used to encode sequences of MFCC features as a fixed size vector that will feed a multilayer perceptron network to perform the classification. The whole neural network classifier is trained in an end-to-end manner. The proposed system outperforms by a large gap the previous published results on the same database.

Automatic Speech Recognition can be considered as a transcription of spoken utterances into text which can be used to monitor/command a specific system. In this paper, we propose a general end-to-end approach to sequence learning that uses Long Short-Term Memory (LSTM) to deal with the non-uniform sequence length of the speech utterances. The neural architecture can recognize the Arabic spoken digit spelling of an isolated Arabic word using a classification methodology, with the aim to enable natural human-machine interaction. The proposed system consists to, first, extract the relevant features from the input speech signal using Mel Frequency Cepstral Coefficients (MFCC) and then these features are processed by a deep neural network able to deal with the non uniformity of the sequences length. A recurrent LSTM or GRU architecture is used to encode sequences of MFCC features as a fixed size vector that will feed a multilayer perceptron network to perform the classification. The whole neural network classifier is trained in an end-to-end manner. The proposed system outperforms by a large gap the previous published results on the same database.