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All Journal IAES International Journal of Robotics and Automation (IJRA) Indonesian Journal of Electrical Engineering and Computer Science
Djebbar, Bachir
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Automotive Engineering Electrical & Electronics Engineering

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Integrating artificial immune systems and multi-layer perceptron-biogeography-based optimization for enhanced inverse kinematics in robotic arm Serat, Amel; Djebbar, Bachir
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp401-409

Abstract

Determining required joint angles to achieve a desired position in a manipulator’s arm is a complicated problem without simple analytical solutions. This paper researches several computational methods based on artificial intelligence (AI) for calculating the joint positions of the 6-DOF robotic arm. We can extrapolate relevance, for example, to the crucial role that robotic manipulator arms play in industrial and medical applications, where enhanced precision and movement efficiency may sharply boost performance and expand applicability. Here, we investigate the effectiveness of methods, such as the artificial immune system (AIS) and multi-layer perceptron-biogeography-based optimization (MLP-BBO). Those AI-driven methods have been applied to determine joint angles for reaching desired positions through simulations for the robotic arm. The results show that the AIS and MLP-BBO approach can handle the intrinsic complexities of the task, thus testifying to the practicability and dependability of these two methods in this application. From the findings in the study, it was indicated that AI-driven techniques can effectively answer the complex problem of the robotic manipulator arm in finding joint angles.
Contextualized clinical anomaly detection with explainable AI and patient modeling Elketroussi, Amel; Djebbar, Bachir; Bekkouche, Ibtissem
Indonesian Journal of Electrical Engineering and Computer Science Vol 41, No 2: February 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v41.i2.pp614-623

Abstract

This study aims to reduce alarm fatigue and improve the clinical relevance of alerts in intensive care by combining sequential modeling, patient contextualization, explainable artificial intelligence (XAI), and probability calibration. To this end, we leverage the adult cohorts from MIMIC-III/IV, segmented into four-hour windows, explicitly handling missing data and constructing a context vector that integrates demographics, comorbidities, and therapeutic interventions. The approach relies on a tabular autoencoder, an long short-term memory (LSTM) autoencoder, and a transformer, complemented by an adjustment layer based on auditable clinical rules, local explanations (LIME/SHAP), and post-hoc calibration (temperature scaling). Evaluation involves receiver operating characteristic (ROC)/precision–recall (PR) area under the curve (AUC), F1-score, sensitivity and specificity, as well as calibration metrics (ECE, Brier score), alert burden, ablation studies, robustness tests, and subgroup fairness analyses. Across all experiments, the complete model (+Context+XAI+Calibration) outperforms baselines in AUPRC and F1, reduces alert burden, and improves calibration while providing understandable explanations. Specifically, the proposed model improves ROC AUC from 0.74 to 0.89 and reduces alert burden by approximately one third compared to clinical thresholds.
Co-Authors Bekkouche, Ibtissem Elketroussi, Amel Serat, Amel