Due to many applications need the management of spatial data; clustering large spatial databases is an important problem which tries to find the densely populated regions in the feature space to be used in data mining, knowledge discovery, or efficient information retrieval. A good clustering approach should be efficient and detect clusters of arbitrary shapes. It must be insensitive to the outliers (noise) and the order of input data. In this paper Cosine Cluster is proposed based on cosine transformation, which satisfies all the above requirements. Using multi-resolution property of cosine transforms, arbitrary shape clusters can be effectively identified at different degrees of accuracy. Cosine Cluster is also approved to be highly efficient in terms of time complexity. Experimental results on very large data sets are presented, which show the efficiency and effectiveness of the proposed approach compared to other recent clustering methods.

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Cost-effective Robotic Arm Simulation and System Verification

Apostolos Tsagaris, Charalampos Polychroniadis, Anastasios Tzotzis, Panagiotis Kyratsis

Статья научная

In recent years, the utilization of virtual environments in industry 4.0 has witnessed significant growth, particularly in the design, implementation, and management of robotic systems. This paper addresses the need for enhanced control in robotic arms by presenting the design and implementation of a 5DoF robotic arm transformed into a digital platform through specialized software. The methods employed involve detailed direct and inverse kinematic modeling to replicate the physical arm in a digital environment. Our measurements indicate an impressive accuracy ranging from 97% to 100% in the movements of the digital model, closely mirroring its physical counterpart. This research not only contributes to the development of simulation systems but also holds promise for the broader adoption of digital twins. The paper discusses the background, outlines the methodology, highlights key findings, and concludes with the potential future impact of this work on the advancement of robotic systems and simulation technologies.

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