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Abstract

In this paper, neural networks are presented to solve the inverse kinematic models of continuum robots. Firstly, the forward kinematic models are calculated for variable curvature continuum robots. Then, the forward kinematic models are implemented in the neural networks which present the position of the continuum robot’s end effector. After that, the inverse kinematic models are solved through neural networks without setting up any constraints. In the same context, to validate the utility of the developed neural networks, various types of trajectories are proposed to be followed by continuum robots. It is found that the developed neural networks are powerful tool to deal with the high complexity of the non-linear equations, in particular when it comes to solving the inverse kinematics model of variable curvature continuum robots. To have a closer look at the efficiency of the developed neural network models during the follow up of the proposed trajectories, 3D simulation examples through Matlab have been carried out with different configurations. It is noteworthy to say that the developed models are a needed tool for real time application since it does not depend on the complexity of the continuum robots' inverse kinematic models.
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Authors and Affiliations

Abdelhamid Ghoul
1
Kamel Kara
1
Selman Djeffal
2
Mohamed Benrabah
3
Mohamed Laid Hadjili
4

  1. Université of Blida 1, Laboratoire des systèmes électriques et télécommande, Faculty of Technology, Blida, Algeria
  2. University of Larbi Ben M’hidi, Faculty of Science and Applied Sciences, Oum El Bouaghi, Algeria
  3. University of Sciences and Technology Houari Boumediene, Laboratoire des systèmes électriques et télécommande, Faculty of Electrical Engineering, Algiers, Algeria
  4. Haute Ecole Bruxelles, Ecole Supérieure d’Informatique, Brussels, Belgium
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Abstract

Introduction to History is a book written by the late Jerzy Topolski. The Author analyses two main problems that form the central theme of the book, namely the question of nature of the language and the question of historical truth. Examining these two problems, Topolski argues that the historical narratives have to be viewed as historian's constructions. It seems, however, that the author of the book does not answer the question: why should one carry on historical research if its results have only the same epistemological status as fictional literary texts.
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Authors and Affiliations

Krzysztof Jaskułowski
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Abstract

Author discusses Edward A. Mierzwa's textbook intended as an introduction to historical studies.
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Authors and Affiliations

Marcin Hlebowicz
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Abstract

The Author reviews A. Demandt's book Ungeschehene Geschichte in which the problem of alternative constructions (contrafactual approach) in history are presented in a popular way.
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Authors and Affiliations

Maciej Salamon
ORCID: ORCID
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Abstract

The discussed book takes microhistorical writings as a starting point for the author's considerations on ethical and epistemological problems of history. Ewa Domańska asks a vital question: what kind of historical knowledge and historical discourse do we need nowadays, entering the New Age? In this way the author is trying to move current metahistorical debate beyond the limits (in her opinion a bit outdated) of postmodern discourse. In her strivings to find the answer, the author discusses the latest trends in contemporary historiography (e.g. the impact of cultural anthropology, semiotics and postmodernism in general on historians). The author also looks at philosophical and methodological grounds for the creation of a new epistemological relation between a historian and his/her subjects (people from the past) which might be based on the idea of a dialogue and an encounter of equivalent partners.
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Authors and Affiliations

Tomasz Pawelec

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