Higher technological institute

10of Ramadan
Mechatronics .Eng. Dept.

The Final report

B.Sc. Project 1(robot

arm) MTE 240-61

Submitted by:
Name ID
Mohammed Mustafa 20200082
Andrew Romany 20200037
Islam Ali Amen 20200354
Yasmin Ashraf 20200256

Submitted to:
Dr : Amal Ibrahim
Aug.2023
 Abstract
Today, technology is developing in the same direction in line with
rapidly increasing of human needs. The work done to meet these needs
makes life easier every day, and these studies are concentrated in
robotics studies. Actually in recent year’s scientists use the word
"Robot" to mean any man-made machine that can perform work or other
action normally performed by humans, either automatically or by remote
control because of this robot pervasive machine because of it is accuracy
of work and doing thing that people can’t do in addition robot can work
in dangerous regions that human can’t work in it because of all these
reason robot became one of the most popular thing that scientists still
persevere to make it better by finding new controllers and designs that
make robot more efficient and more reliable This project introduces a
model for Robotic Arm design with 4 degrees of freedom
Robotic arm is a device that operates in a similar way to a human
arm, with a number of joints that either move along an axis or can rotate
in certain directions. In fact, some robotic arms are anthropomorphic and
try and imitate the exact movements of human arms. They are, in most
cases programmable and used to perform specific tasks, most commonly
for manufacturing, fabrication, and industrial applications
The purpose of that robot is industrial purpose as it can be used in
moving or transferring the objects from initial position to the desired
one. The mechanical design of the model is constructed using Solid
works program. As the parts have been designed and analyzed according
to the stress upon them and the properties that should be got to obtain the
desired degrees of freedom.

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 Acknowledgment
At first, Thanks to ALLAH the most merciful the most
gracious, for this moment has come and this work has been
accomplished.
Thanks to the Higher Technological Institute of 10𝑡 ℎ Ramadan for
preparing us to be successful Engineers and lifting us up to achieve this
project in an environment that’s full of encouragement and motivation.
Our deepest gratitude is to be delivered to Dr. Amal Ibrahim, our role
model in engineering. She understood the nature of our thoughts and
guided us step by step till this work was brought to light. Endless trust in
our potential guided us till the end
Thank you
I would also like to pay attention to all members of the group for your
wonderful efforts and for what you have done in producing this
report.

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 Summary
This mid-semester report is a drawing of all parts of the project Robot
Arm using SolidWorks program, and it also worked for stress analysis
Robot Arm.
We also divide the report into two chapters, the first of which talks about
drawing all the parts of the robot arm, and the second part talks about the
stress analysis of the robot arm
Then we moved to the simulation stage, and we used the MATLAB
program in this stage to separate all the ports separately, then we used
the code used for the Mac Lab, then the results appeared and we wrote
them down
Then we moved to Chapter 4, we talked about the Bluetooth program
and its importance, and we used the Arduino board in order to start the
connection, and then put the code used in the Arduino and the motors
that were used and some important parts in the circuit such as the power
supply, then the circuit was connected and we put the results

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 Table of Contents
Abstract.....................................................................................................II
Acknowledgment.....................................................................................III
Summary.................................................................................................IV
Chapter 1: Mechanical Design..............................................................1
1.1-What’s Solid Work?........................................................................1
1.2-Robotic arm.....................................................................................2
1.2.1-Assembly of Robotic arm..........................................................3
1.3-Parts of Robotic arm........................................................................4
1.3.1- Fixed base.................................................................................4
1.3.2- Shoulder....................................................................................5
1.3.3- Arm with elbow........................................................................6
1.3.4- Arm with elbow........................................................................7
1.3.5- Wrist.........................................................................................8
1.3.6- 2nd Wrist..................................................................................9
1.3.7-Gripper.....................................................................................10
Chapter 2: Stress Analysis...................................................................11
2.1-What is Stress Analysis?...............................................................11
2.2-Stress analysis for Main Parts:......................................................12
2.2.1- Fixed base stress analysis.......................................................12
2.2.2- Shoulder stress analysis..........................................................13
2.2.3- Arm with elbow stress analysis..............................................14
2.2.4- Gripper stress analysis............................................................15
Chapter (3): Simulink........................................................................16
3.1 introduction...................................................................................16
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 3.2 Model and simulation....................................................................16
3.3 Results............................................................................................17
3.4 simulation code..............................................................................21
chapter (4) : Electronic circuit using proteus....................................25
4.1 introduction...................................................................................25
4.2 component.....................................................................................26
1.Arduino UNO.....................................................................................27
4.3 Full schematic and simulation......................................................32
4.4 Arduino code..................................................................................33
Conclusion.............................................................................................35
Reference................................................................................................36

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 List of figure
Figure 1. Solid work..................................................................................1
Figure 2. Assembly of Robotic arm..........................................................3
Figure 3. Fixed base..................................................................................4
Figure 4. Fixed base 2D............................................................................4
Figure 5. Shoulder.....................................................................................5
Figure 6. Shoulder 2D...............................................................................5
Figure 7. The shoulder 2 with the arm......................................................6
Figure 8. The shoulder 2 with the arm 2D................................................6
Figure 9. Arm with elbow.........................................................................7
Figure 10. Arm with elbow 2D.................................................................7
Figure 11. Wrist.........................................................................................8
Figure 12. Wrist 2D...................................................................................8
Figure 13. 2nd Wrist..................................................................................9
Figure 14. 2nd Wrist 2D............................................................................9
Figure 15. -Gripper..................................................................................10
Figure 16. Fixed base stress analysis......................................................12
Figure 17. Shoulder stress analysis.........................................................13
Figure 18. Arm with elbow stress analysis..............................................14
Figure 19. Gripper stress analysis...........................................................15
Figure 20. Model and simulation............................................................16
Figure 21. Results 1.................................................................................17
Figure 22. Results 2.................................................................................17
Figure 23. Movement joint 1..................................................................18
Figure 24. Movement joint 2..................................................................18
Figure 25. Movement joint 3..................................................................18
Figure 26. Movement joint 4..................................................................19
Figure 27. Movement gripper 5..............................................................19
Figure 28. Torque joint 1.........................................................................20
Figure 29. Torque joint 2.........................................................................20

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Figure 30. Torque joint 3.........................................................................20
Figure 31. Torque joint 4.........................................................................20
Figure 32- Torque gripper 5....................................................................21
Figure 33- Arduino UNO..........................................................................27
Figure 34-Diagram...................................................................................28
Figure 35. Servomotor............................................................................29
Figure 36.Diagram of Servomotor..........................................................30
Figure 37. Power supply..........................................................................31
Figure 38- simulation..............................................................................32

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 Chapter 1: Mechanical Design
1.1-What’s Solid Work?
Mechatronics, the combination of robotics, electronics, computer,
and control systems, has resulted in a variety of amazing products from
smartphones to self-driving cars. In order to create those products, they
need to be digitally modeled and developed. SOLIDWORKS, a solid
modeling computer-aided design, and computer-aided engineering
program are one of the most popular software options for mechatronics
engineers.
SOLIDWORKS was developed by MIT graduate Jon Hirsch tick
and was bought by Assault Systems in 1997. The software now
encompasses a number of programs that can be used for both 2D and 3D
design
SOLIDWORKS is used to develop mechatronics systems from
beginning to end. At the initial stage, the software is used for planning,
visual ideation, modeling, feasibility assessment, prototyping, and
project management. The software is then used for the design and
building of mechanical, electrical, and software elements. Finally, the
software can be used for management, including device management,
analytics, data automation, and cloud services.

Figure 1. Solid work

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 1.2-Robotic arm
Robotic arms are machines that are programmed to execute a
specific task or job quickly, efficiently, and extremely accurately.
Generally, motordriven, they’re most often used for the rapid, consistent
performance of heavy and/or highly repetitive procedures over extended
periods of time, and are especially valued in the industrial production,
manufacturing, machining, and assembly sectors.

A typical industrial robot arm includes a series of joints,

articulations, and manipulators that work together to closely resemble
the motion and functionality of a human arm (at least from a purely
mechanical perspective). A programmable robotic arm can be a
complete machine in and of itself, or it can function as an individual
robot part of a larger and more complex piece of equipment.

A great many smaller robotic arms used in countless industries and

workplace applications today are bench top-mounted and controlled
electronically. Larger versions might be floor-mounted, but either way,
they tend to be constructed from sturdy and durable metal (often steel or
cast iron), and most will feature between 4-6 articulating joints. Again,
from a mechanical perspective, the key joints on a robotic arm are
designed to closely resemble the main parts of its human equivalent -
including the shoulder, elbow, forearm, and wrist

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 1.2.1-Assembly of Robotic arm

Figure 2. Assembly of Robotic arm

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 1.3-Parts of Robotic arm
1.3.1- Fixed base

Figure 3. Fixed base

Figure 4. Fixed base 2D

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 1.3.2- Shoulder

Figure 5. Shoulder

Figure 6. Shoulder 2D

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 1.3.3- Arm with elbow

Figure 7. The shoulder 2 with the arm

Figure 8. The shoulder 2 with the arm 2D

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 1.3.4- Arm with elbow

Figure 9. Arm with elbow

Figure 10. Arm with elbow 2D

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 1.3.5- Wrist

Figure 11. Wrist

Figure 12. Wrist 2D

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 1.3.6- 2nd Wrist

Figure 13. 2nd Wrist

Figure 14. 2nd Wrist 2D

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 1.3.7-Gripper

Figure 15. -Gripper

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 Chapter 2: Stress Analysis
2.1-What is Stress Analysis?
Stress analysis (or stress-strain analysis) is an engineering discipline that
uses several methods to determine stresses and strains in materials and structures
subjected to forces. In continuum mechanics, stress is a physical quantity that
expresses the internal forces by which particles of adjacent continuous materials
act on each other, and strain is a measure of the deformation of a substance.

Stress analysis is an essential task for civil, mechanical, and aerospace

engineers who design structures of various sizes, such as tunnels, bridges, dams,
aircraft, missile bodies, mechanical parts, even cutlery and clamps. Stress analysis
is also used in the maintenance of such structures, and in the study of the causes of
structural failure

In a simple sense, we can define stress as the resistance force per unit area,
which the body provides against deformation. Stress is the ratio of the amount of
force applied to the cross-sectional area (stress = strength ÷ cross-sectional area).
Strain is the ratio of the change in length to the original length when an external
force is applied to an object (strain = change in length ÷ original length).

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 2.2-Stress analysis for Main Parts:
2.2.1- Fixed base stress analysis

Figure 16. Fixed base stress analysis

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 2.2.2- Shoulder stress analysis

Figure 17. Shoulder stress analysis

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 2.2.3- Arm with elbow stress analysis

Figure 18. Arm with elbow stress analysis

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 2.2.4- Gripper stress analysis

Figure 19. Gripper stress analysis

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 Chapter (3): Simulink
3.1-introduction
Simulink is a MATLAB-based graphical programming environment for modeling,
simulating and analyzing multidomain dynamical systems. Its primary interface is a
graphical block diagramming tool and a customizable set of block libraries. It offers tight
integration with the rest of the MATLAB environment and can either drive MATLAB or be
scripted from it.
Simulink is widely used in automatic control and digital signal processing for multidomain
simulation and model-based design,

3.2-Model and simulation

The model created in this simulation uses Simulink in MATLAB with the Robotics
System Toolbox library. The Simulink form that has been formed can be seen in the
following image

Figure 20. Model and simulation

From this figure, it can be seen that the first step in simulating is to create a path for the
movement of the robot where the path is made by determining the points that will be
combined and form a path. In this simulation, we will use a path for the movement of

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 the

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 robot that has been combine horizontally and vertically and uses the ball as an object that
carried by the robot from one point to another as shown below.

3.3-Results

Figure 21. Results 1

Figure 22. Results 2

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 The results of the movement with the torque obtained using the simulation on the
MATLAB can be seen in the graph as follows:

1. Robot movement graphics

Figure 23. Movement joint 1

Figure 3.5 show the robot arm’s wrist movement, the graphic start to go up when the joint 1 is
moving

Figure 24. Movement joint 2

Figure 25. Movement joint 3

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 Figure 26. Movement joint 4

Figure 3.6 until 3.8 shows the joints movement that can stabilizing the arm robot movement. So,
the arm robot movement will be stable if the graphic of robot simulation looks like Figure 3.6 until
3.8.

Figure 27. Movement gripper 5

The gripper of robot arm just has two movement, to grip and release. As we can see in
the Figure 3.9 that explain the movement of robot arm’s gripper.

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 2. Robot Torque Graphics

Figure 28. Torque joint 1

Figure 29. Torque joint 2

Figure 30. Torque joint 3

Figure 31. Torque joint 4

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 Figure 32- Torque gripper 5

By knowing the torque of robot arm, we can make improvisation of the robot arm’s movement.
We can verify the kinematic effectiveness and optimizing the torque for robot movement.
3.4-simulation code

clc;
clear;

% Ask the user what type of problem needs to be solved (Fkine or Ikine)
problemType = input('Enter the problem type (Fkine or Ikine): ', 's');

if strcmpi(problemType, 'Fkine')
% Forward Kinematics

% Ask the user about the number of joints in the manipulator

numJoints = input('Enter the number of joints in the manipulator: ');

% Initialize the DH parameters array

DH_parameters = zeros(numJoints, 4);

% Ask the user to enter the DH parameters for each

joint for i = 1:numJoints
fprintf('Enter the DH parameters for Joint %d:\n', i);

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 DH_parameters(i, 1) = input('a: ');
DH_parameters(i, 2) = input('alpha: ');
DH_parameters(i, 3) = input('d: ');
DH_parameters(i, 4) = input('theta: ');
end

% Calculate the forward kinematics

T = eye(4);

for i = 1:numJoints
a = DH_parameters(i, 1);
alpha = DH_parameters(i, 2);
d = DH_parameters(i, 3);
theta = DH_parameters(i, 4);

A = [cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha), a*cos(theta);

sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), a*sin(theta);
0, sin(alpha), cos(alpha), d;
0, 0, 0, 1];

T = T * A;
end

% Extract position and orientation from the transformation matrix

x = T(1, 4);
y = T(2, 4);
z = T(3, 4);

roll = atan2(T(3, 2), T(3, 3));

pitch = atan2(-T(3, 1), sqrt(T(3, 2)^2 + T(3, 3)^2));
yaw = atan2(T(2, 1), T(1, 1));

% Display the results

disp('Forward Kinematics Results:');
disp(['Position (x, y, z): ', num2str(x), ', ', num2str(y), ', ', num2str(z)]);
disp(['Orientation (roll, pitch, yaw): ', num2str(roll), ', ', num2str(pitch), ', ',
num2str(yaw)]);

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 disp('Transformation Matrix:');
disp(T);

elseif strcmpi(problemType, 'Ikine')

% Inverse Kinematics (3DOF maximum)

% Ask the user about the number of joints in the manipulator and the type of
each joint
numJoints = input('Enter the number of joints in the manipulator: ');
jointTypes = input('Enter the joint types (R for revolute or P for prismatic)
[R/R/R]: ', 's');

% Initialize the DH parameters array

DH_parameters = sym('DH', [numJoints 4]);

% Ask the user to enter the DH parameters for each

joint for i = 1:numJoints
fprintf('Enter the DH parameters for Joint %d:\n', i);

DH_parameters(i, 1) = input('a: ');

DH_parameters(i, 2) = input('alpha: ');
DH_parameters(i, 3) = input('d: ');
DH_parameters(i, 4) = input('theta: ');
end

% Ask the user about the end-effector position (x, y, z)

disp('Enter the end-effector position:');
x = input('x: ');
y = input('y: ');
z = input('z: ');

% Initialize the joint variables array

jointVariables = sym('q', [numJoints 1]);

% Calculate the inverse kinematics

T = eye(4);

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 for i = 1:numJoints
a = DH_parameters(i, 1);
alpha = DH_parameters(i, 2);
d = DH_parameters(i, 3);
theta = DH_parameters(i, 4);

if jointTypes(i) == 'R' || jointTypes(i) == 'r'

% Revolute joint
T = T * [cos(theta), -sin(theta)*cos(alpha), sin(theta)*sin(alpha),
a*cos(theta);
sin(theta), cos(theta)*cos(alpha), -cos(theta)*sin(alpha), a*sin(theta);
0, sin(alpha), cos(alpha), d;
0, 0, 0, 1];
elseif jointTypes(i) == 'P' || jointTypes(i) == 'p'
% Prismatic joint
T = T * [1, 0, 0,
a;
0, cos(alpha), -sin(alpha), -d*sin(alpha);
0, sin(alpha), cos(alpha), d*cos(alpha);
0, 0, 0, 1];
end

% Solve for joint variables using inverse kinematics equations

jointVariables(i) = atan2(T(2, 1), T(1, 1));
end

% Display the results

disp('Inverse Kinematics Results:');
disp(['Joint Variables: ',
char(jointVariables)]);

else
disp('Invalid problem type!');
end

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 Chapter (4): Electronic circuit using proteus

4.1-introduction
When we talk about robots, people tend to think that robots are only suitable to use in
the industry or just for scientists to test new technologies. However, the main function
of robots is to help humans in doing work either in the industries or just helping out
doing normal household chores. To bridge the gap of the normal perception of “robots
are for the industries only”, the internet will be used. This paper presents the
development of an internet- controlled robotic arm. The movement of the robot arm can
be controlled by a computer via the internet. This robot can be used to demonstrate that
a robot can be used inside a home for daily human chores. The robot is controlled by
Arduino Uno which interfaced with the internet using Arduino Ethernet Shield. Two
types of analysis were done for this project that is servo motor analysis and accuracy
test. The accuracy test shows that the results of the actual output of the servo motor as
compared to the input sent to Arduino Uno via the internet are between 97% to 99%.
This prototype of the robot showed that the operation was successful. This user-friendly
robot is expected to bridge the gap between the robot and household chores.
The electrical circuit of the robot arm consists of the five servo motors actuators and
Supply units controlled by an Arduino UNO and a potentiometer

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 4.2-component

Microcontroller ATmega1280

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limits) 6-20V

Digital I/O Pins 54 (of which 15 provide PWM output)

Analog Input Pins 16

DC Current per I/O Pin 40 mA

DC Current for 3.3V Pin 50 mA

Flash Memory 128 KB of which 4 KB used by bootloader

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 SRAM 8 KB

EEPROM 4 KB

1- Arduino UNO
Arduino Uno is known as an open-source development board as it allows you to
use the board to interact with real-world things by uploading programs on this board.
There are many other microcontrollers like PIC microcontrollers, ST microcontrollers,
Texas microcontrollers but Arduino is used mostly as it is inexpensive and can be used
in various forms. It is based on ATMEL ATmega328p microcontroller.

It can interact with anything that is controlled by electricity in any way. It can also
interact with motors, sensors, and electromagnets. In short, we can make devices that
react and respond to the world by using this board. In short, we can say that Arduino is
the brain of thousands of projects.

Figure 33- Arduino UNO

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 Pinout diagram shows that each pin has multiple functions such as PWM, interrupts,
general-purpose input-output and analog channel. But we can use only one function of
each pin at a time. It consists of a total of 14 GPIO pins.
Not all pins have a PWM feature.

Figure 34-Diagram

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 2- Servomotor
A servomotor is a rotary actuator or linear actuator that allows for precise control
of angular or linear position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servomotors.
Servomotors are not a specific class of motor, although the term servomotor is often
used to refer to a motor suitable for use in a closed-loop control system. Servomotors
are used in applications such as robotics, CNC machinery or automated manufacturing.

Figure 35. Servomotor

A servomotor is a closed-loop servomechanism that uses position feedback to

control its motion and final position. The input to its control is a signal (either analogue
or digital) representing the position commanded for the output shaft. The motor is
paired with some type of position encoder to provide position and speed feedback. In
the simplest case, only the position is measured. The measured position of the output is
compared to the command position, the external input to the controller. If the output
position differs from that required, an error signal is generated which then causes the

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 motor to rotate in either direction, as needed to bring the output shaft to the appropriate
position.

As the positions approach, the error signal reduces to zero and the motor stops. The
very simplest servomotors use position-only sensing via a potentiometer and bang-bang
control of their motor; the motor always rotates at full speed (or is stopped).

Figure 36.Diagram of Servomotor

3- Power supply
A power supply is an electrical device that supplies electric power to an electrical
load. The main purpose of a power supply is to convert electric current from a source to
the correct voltage, current, and frequency to power the load. As a result, power
supplies are sometimes referred to as electric power converters. Some power supplies
are separate standalone pieces of equipment, while others are built into the load
appliances that they power. Examples of the latter include power supplies found in
desktop computers and consumer electronics devices.

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 Other functions that power supplies may perform include limiting the current
drawn by the load to safe levels, shutting off the current in the event of an electrical
fault, power conditioning to prevent electronic noise or voltage surges on the input from
reaching the load, power- factor correction, and storing energy so it can continue to
power the load in the event of a temporary interruption in the source power
(uninterruptible power supply).

Power supplies are categorized in various ways, including by functional

features. For example, a regulated power supply is one that maintains constant output
voltage or current despite variations in load current or input voltage. Conversely, the
output of an unregulated power supply can change significantly when its input voltage
or load current changes. Adjustable power supplies allow the output voltage or current
to be programmed by mechanical controls (e.g., knobs on the power supply front panel),
or by means of a control input, or both. An adjustable regulated power supply is one that
is both adjustable and regulated. An isolated power supply has a power output that is
electrically independent of its power input; this is in contrast to other power supplies
that share a common connection between power input and output.

Figure 37. Power supply

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 4.3 Full schematic and simulation

Using proteus which is a proprietary software tool suite used primarily

for electronic design automation. The software is used mainly by electronic design
engineers and technicians to create schematics and electronic prints for
manufacturing printed circuit boards.

Figure 38- simulation

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 4.4 Arduino code
#include <Servo.h>
#include<EEPROM.h>
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4; Servo servo5; int pin1=0; int
pin2=1; int pin3=2; int pin4=3; int pin5=4;
int value; int data;

void setup() {
// put your setup code here, to run once:
servo1.attach(11); servo2.attach(10); servo3.attach(9);
servo4.attach(6); servo5.attach(5);
}

void loop() {
// put your main code here, to run repeatedly:

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 value = analogRead(pin1); value = map(value,0,1023,0,180);
EEPROM.write(data,value); servo1.write(value);
delay(1);

value = analogRead(pin2); value = map(value,0,1023,0,180);

EEPROM.write(data,value); servo2.write(value);
delay(1);

value = analogRead(pin3); value = map(value,0,1023,0,180);

EEPROM.write(data,value); servo3.write(value);
delay(1);

value = analogRead(pin4); value = map(value,0,1023,0,180);

EEPROM.write(data,value); servo4.write(value);
delay(1);

value = analogRead(pin5); value = map(value,0,1023,0,180);

EEPROM.write(data,value); servo5.write(value); delay(1);
}

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 Conclusion
At the end of our project, we came to understand a lot more about
mechatronics systems like our industrial robotic, how the interchangeability among
lots of disciplines can help achieve complex control tasks by simple steps regarding
matters of mechanical, electrical, and control, to have a 5 DOF unit controlled by
the operator with the help of control option whether it is by potentiometer or by
hand while providing our actuators with the power needed to start and do the work
efficiently on top of it we explored predictive maintenance techniques to help
determine and save our actuators from their failure, we designed our robot for its
mechanical purpose with a pre-determined envelope in mind. We then chose the
specifications of our actuators and the control being applied to them while
communicating with our controller by our ground control (PC) to achieve our goals.

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 Reference
1. Springer Handbook of RoboticsNovember 2007, Bruno Siciliano, Oussama Khatib, Springer-
VerlagBerlin, Heidelberg
2. IoT Streams for Data-Driven Predictive Maintenance and IoT, Edge, and Mobile for Embedded
Machine Learning, Joao GamaSepideh PashamiAlbert BifetMoamar Sayed-MouchaweHolger
FröningFranz PernkopfGregor SchieleMichaela Blott, Springer; 1st ed. 2020 edition (January
9, 2021)
3. Power Electronics Handbook, Muhammad H. Rashid, Butterworth-Heinemann; 3rd edition (January 13,
2011)
4. Electronics Fundamentals: Circuits, Devices & Applications 8th Edition, Thomas Floyd David Buchla ,
(June 23, 2009)
5. Arduino Cookbook: Recipes to Begin, Expand, and Enhance Your Projects 3rd Edition, by Michael Margolis
, Brian Jepson Nicholas Robert Weldin , O'Reilly Media; 3rd edition (June 9, 2020)
6. Hands-On Machine Learning with Scikit-Learn and TensorFlow: Concepts, Tools, and
Techniques to Build Intelligent Systems, aurelien geron, O'Reilly Media; 2nd edition (October 15, 2019)

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