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The forward kinematic problem of parallel robots is always considered as a challenge in the field of parallel robots due to the obtained nonlinear system of equations. In this paper, the forward kinematic problem of planar parallel robots in their workspace is investigated using a neural network based approach. In order to increase the accuracy of this method, the workspace of the parallel robot is divided into a number of smaller subspaces using the classifier and the boundary overlap method. After estimating the corresponding subspace, two separate neural networks are used in each subspace to determine the position and orientation of the moving platform. This approach is implemented on a 3-PRR planar parallel robot and its results are compared with the results obtained from the MLP, WaveNet, GMDH, Dual and Independent neural networks. Moreover, in order to evaluate the efficiency of the proposed method, a circular motion path is simulated using this approach and its performance is compared with the five mentioned methods. The results obtained from the implementation of this approach and comparison with the conventional methods indicates that the proposed method analyzes the forward kinematic problem of planar parallel robot with proper accuracy.

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Today, differential relays are used in order to protect power transformers against all kinds of faults and events. Despite advances in relay fabrication technology, the detection and discrimination of different events is still one of the most important challenges for the protection engineers in this field. In this paper, an intelligent hybrid method has been proposed to detect and classify internal electrical faults, external faults while saturating Current Transformers (CTs) and inrush current in transformers. First, the internal and external fault currents and the inrush currents of power transformers are simulated by the Real-Time Digital Simulator (RTDS) and its software package (RSCAD). Then, the sampled signals in different events are transmitted to MATLAB software for detection and discrimination. At this stage, using the Bayesian Classifier method, which directly evaluates the training data information, external faults are separated from the other operating conditions of the transformer. Then, other events such as inrush current and internal electrical faults will be distinguished from each other by Decision Tree (DT) and Support Vector Machine (SVM) methods. The results show that the proposed intelligent hybrid protection method has the ability to detect and classify different disturbances in transformers in real time state with appropriate accuracy, which is one of the main innovations of this study compared to other published research.