Search results for: Hussein Nadhem Fadhel

Authors: Mohammed H. Rasheed, Hussein Nadhem Fadhel, Mohammed M. Siddeq

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In this paper we suggested image quality measuring metrics tools that can provide an accurate and close to the perceived quality sense of the tested images. Such tools give metrics that can be used to compare the performance of image compression algorithms. In this paper, two new metrics to measure the quality of decompressed images are proposed. The metric measurement based on combined data (CD) between an originals and decompressed images. Compared with other e.g., PSNR and RMSE, the proposed metrics gives values with the closest reflection of image quality perception by the human eye.

Keywords: RMSE, PSNR, image quality metrics, image compression

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Authors: Maryam Pirdehghan

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During the Ba'ath Party's rule in Iraq, propaganda was utilized to justify and to promote Saddam Hussein's image in the collective memory as the greatest Arab leader. Consequently, urban walls were routinely covered with images of Saddam. Relying on these images, the regime aimed to provide a basis for evoking meanings in the public opinion, which would supposedly strengthen Saddam’s power and reconstruct facts to legitimize his political ideology. Nonetheless, Saddam was not always portrayed with common and explicit elements but in certain periods of his rule, the paintings depicted him in an unusual context, where various historical and contemporary elements were combined in a narrative background. Therefore, an understanding of the implied socio-political references of these elements is required to fully elucidate the impact of these images on forming the memory and collective unconscious of the Iraqi people. To obtain such understanding, one needs to address the following questions: a) How Saddam Hussein is portrayed in mural during his rule? b) What of elements and mythical-historical narratives are found in the paintings? c) Which Saddam's political views were subject to the collective memory through mural? Employing visual semiotics, this study reveals that during Saddam Hussein's regime, the paintings were initially simple portraits but gradually transformed into narrative images, characterized by a complex network of historical, mythical and religious elements. These elements demonstrate the transformation of a secular-nationalist politician into a Muslim ruler who tried to instill three major policies in domestic and international relations i.e. the arabization of Iraq, as well as the propagation of pan-arabism ideology (first period), the implementation of anti-Israel policy (second period) and the implementation of anti-American-British policy (last period).

Keywords: Ba'ath Party, Saddam Hussein, mural, Iraq, propaganda, collective memory

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Authors: Siwar Fadhel, Imen Bahri, Man Zhang

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The switched reluctance machine (SRM) has undeniable qualities in terms of low cost and mechanical robustness. However, its highly nonlinear character and its uncertain parameters justify the development of complicated controls. In this paper, authors present the design of a robust H-infinity current controller for an 8/6 SRM with taking into account the nonlinearity of the SRM and with rejection of disturbances. The electromagnetic torque is indirectly regulated through the current controller. To show the performances of this control, a robustness analysis is performed by comparing the H-infinity and PI controller simulation results. This comparison demonstrates better performances for the presented controller. The effectiveness and robustness of the presented controller are also demonstrated by experimental tests.

Keywords: current regulation, experimentation, robust H-infinity control, switched reluctance machine

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Authors: Muhammad Saiful Fadhil Reyhan, Yusnita Rahayu, Fadhel Muhammadsyah

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This paper proposed a design of 16 elements, 8x2 linear fed patch antenna array with 16 ports, for 28 GHz, mm-wave band 5G for base station. The phased array covers along the azimuth plane to provide the coverage to the users in omnidirectional. The proposed antenna is designed RT Duroid 5880 substrate with the overall size of 85x35.6x0.787 mm³. The array is operating from 27.43 GHz to 28.34 GHz with a 910 MHz impedance bandwidth. The gain of the array is 18.3 dB, while the suppression of the side lobes is -1.0 dB. The main lobe direction of the array is 15 deg. The array shows a high array gain throughout the impedance bandwidth with overall of VSWR is below 1.12. The design will be proposed in single element and 16 elements antenna.

Keywords: 5G antenna, 28 GHz, MIMO, omnidirectional, phased array, base station, broadband

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Authors: Ali Fadhel Ahmed, Tuqa Abdulkareem Hameed

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Moringa oleifera (leaves and seeds) ethanolic and aqueous extracts were tested for antibacterial activity. The effect of plant extracts on three types of bacterial species: Staphylococcus aureus, Escherichia coli, and Klebsiella pneumoniae, was investigated. Using the agar well diffusion method, ethanolic extracts of Moringa oleifera demonstrated a significant antibacterial effect on the forty tested bacterial strains. Seed-induced inhibition zones (ethanolic extracts)were ranged from16 to 24 mm in diameter against S. aureus, respectively, whileE. coli and K. pneumonia had no effect. Gram-positive and Gram-negative bacteria were not affected by alcoholic and aqueous plant leaf extracts. The purpose of this present study was to look at the cytotoxic effects of M.Oleifera plant (alcoholic extracts).

Keywords: moringa oleifera, escherichia coli, klebsiella pneumoniae, staphylococcus aureus

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Authors: Salah Eddine Ben Fadhel

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Lev Vygotsky (1896–1934) was one of the most significant psychologists of the twentieth century despite his short life. His cultural-historical theory is still inspiring many researchers today. At the same time, we observe in many studies a lack of understanding of his thoughts. Vygotsky poses in this theory the contribution of society to individual development and learning. Thus, it suggests that human learning is largely a social and cultural process, further mentioning the influence of interactions between people and the culture in which they live. In this presentation, we highlight, on the one hand, the strong points of the theory by highlighting the major questions it raises and its contribution to developmental psychology in general. On the other hand, we will demonstrate what Vygotsky's theory brings today to the understanding of the cognitive development of children and adolescents. The major objective is to better understand the cognitive mechanisms involved in the learning process in children and adolescents and, therefore, demonstrate the complex nature of psychological development. The main contribution is to provide conceptual insight, which allows us to better understand the importance of the theory and its major pedagogical implications.

Keywords: vygotsky, society, culture, history

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Authors: Mehdi Attia, Sana Ben Fadhel, Lamjed Bettaieb

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Mobile technology has become a part of our daily lives and assist learners (despite their level and age) in their leaning process using various apparatus and mobile devices (laptop, tablets, etc.). This paper presents a new learning framework based on tablets. This solution has been developed and tested in ESPRIT “Ecole Supérieure Privée d’Igénieurie et de Technologies”, a Tunisian school of engineering. This application is named ESSF: Esprit Smart School Framework. In this work, the main features of the proposed solution are listed, particularly its impact on the learners’ evaluation process. Learner’s assessment has always been a critical component of the learning process as it measures students’ knowledge. However, traditional evaluation methods in which the learner is evaluated once or twice each year cannot reflect his real level. This is why a continuous assessment (CA) process becomes necessary. In this context we have proved that ESSF offers many important features that enhance and facilitate the implementation of the CA process.

Keywords: continuous assessment, mobile learning, tablet based learning, smart school, ESSF

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Authors: Mahmoudi Marwa, Bahim Nadhem, Aydi Abdelwaheb, Issaoui Wissal, S. Najet

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This work represents a coupling between the geographic information system (GIS) and the multicriteria analysis aiming at the selection of an artificial recharge site by the treated wastewater for the Ariana governorate. On regional characteristics, bibliography and available data on artificial recharge, 13 constraints and 5 factors were hierarchically structured for the adequacy of an artificial recharge. The factors are subdivided into two main groups: environmental factors and economic factors. The adopted methodology allows a preliminary assessment of a recharge site, the weighted linear combination (WLC) and the analytical hierarchy process (AHP) in a GIS. The standardization of the criteria is carried out by the application of the different membership functions. The form and control points of the latter are defined by the consultation of the experts. The weighting of the selected criteria is allocated according to relative importance using the AHP methodology. The weighted linear combination (WLC) integrates the different criteria and factors to delineate the most suitable areas for artificial recharge site selection by treated wastewater. The results of this study showed three potential candidate sites that appear when environmental factors are more important than economic factors. These sites are ranked in descending order using the ELECTRE III method. Nevertheless, decision making for the selection of an artificial recharge site will depend on the decision makers in force.

Keywords: artificial recharge site, treated wastewater, analytical hierarchy process, ELECTRE III

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Authors: Abdou Mahmoud Abdou Hussein

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We attempt, in this paper, to spot the light on the difference between the two concepts (diglossia and bilingualism). Thus, we will show the definition of these two concepts among various perspectives. On the other hand, we will emphasize and highlight 'diglossa' in The Arabic language historically. Furthermore, we will illustrate the factors of the diglossia, the impact of diglossia on the learners of Arabic (native and non native speakers) and finally the suggested solutions for this issue.

Keywords: Arabic linguistics, diglossia, bilingualism, native and non-native speakers

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Authors: Khalil H. Al-Bayati, G. Nasma, Hussein Ban H. Adel

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The purpose of the present work is to calculate the expectation value of potential energy for different spin states (ααα ≡ βββ, αβα ≡ βαβ) and compare it with spin states (αββ, ααβ ) for lithium excited state (1s2s3s) and Li-like ions (Be+, B+2) using Hartree-Fock wave function by partitioning technique. The result of inter particle expectation value shows linear behaviour with atomic number and for each atom and ion the shows the trend ααα < ααβ < αββ < αβα.

Keywords: lithium excited state, potential energy, 1s2s3s, mathematical physics

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Authors: Abdul Rawuf Hussein, Rusnani Abdul Kadir, Mona Adlina Binti Adanan

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Guidance program has been an essential approach in helping professions from many institutions of learning as well as communities, organizations, and clinical settings. Although the term varies depending on the approaches, objectives, and theories, the core and central element is typically developmental in nature. In this conceptual paper, the researcher will review literature on the concept of group guidance, its impact on students’ and individual’s development, developing a guidance module and proposing a synthesised framework for group guidance program.

Keywords: concept, framework, group guidance, module development

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Authors: Hussein Hakim, Zainab Al-Ramadhan, Ahmed Hashim

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Polymer nano composites of polyvinylpyrrolidone and poly-ethylene glycol with different concentrations of aluminum oxide (Al2O3) nano particles have been prepared by solution cast method. The optical characterizations have been done by analyzing the absorption (A) spectra in the 300–800 nm spectral region. It was found that the optical energy gap decreases with the increasing of Al2O3 nano particles content. The optical constants (refractive index, extinction coefficient, real and imaginary parts of the dielectric constant) are changing with increasing aluminum oxide nano particle concentrations.

Keywords: nanocomposites, polyvinylpyrrolidone, optical constants, polymers, blend

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Authors: S. Bouafia Chergui, Nihal Oturan, Hussein Khalaf, Mehmet A. Oturan

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The aim of this work was to compare the degradation of a mixture of three cationic dyes by advanced oxidation processes (electro-Fenton, photo-Fenton) in aqueous solution. These processes are based on the in situ production of hydroxyl radical, a highly strong oxidant, which allows the degradation of organic pollutants until their mineralization into CO2 and H2O. Under optimal operating conditions, the evolution of total organic carbon (TOC) and electrical energy efficiency have been investigated for the two processes.

Keywords: photo-fenton, electro-fenton, energy efficiency, water treatment

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Authors: Hany. A. Mohamed, M. Attalla, M. Salem, Hussein M. Mghrabie, E. Specht

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An experiment al investigation is made to determine the effects of the nozzle dimensions and the inlet pressure on the heating and cooling performance of the counter flow Ranque–Hilsch vortex tube when air used as a working fluid. The all results were taking under inlet pressures were adjusted from 200 kPa to 600 kPa with 100 kPa increments. The conventional tangential generator with number of nuzzle of 6 was used and inner diameter of 7.5 mm. During the experiments, a vortex tube is used with an L/D ratio varied from 10 to 30. Finally, it is observed that the effect of the nuzzle aspect ratio on the energy separation changes according to the value of L/D.

Keywords: Ranque-Hilsch, vortex tube, aspect ratio, energy separation

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Authors: Sandro Samir Nasief, Hussein Hamed Ghouz, Mohamed Fathy

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A compact ultra-wide band micro-strip MIMO antenna is introduced. The antenna consists of two elements each of size 24X24 mm2 (square millimetre) while the total MIMO size is 58X24 mm2 after the spacing between MIMO elements and adding a decouple circuit. The first one covers from 3.29 to 6.9 GHZ using digital ground and the second antenna covers from 8.76 to 13.27 GHZ using defective ground. This type of antenna is used for 3G and 4G applications. The introduction for the antenna structure and the parametric study (reflection coefficients, gain, coupling and decoupling) will be introduced.

Keywords: micro-strip antenna, MIMO, digital ground, defective ground, decouple circuit, bandwidth

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Authors: Yaseein S. Hussein, Victor P. Gil Jiménez, Abdulmajeed Al-Jumaily

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Due to the rapid advancement of technology, there is an increasing demand for wireless connections that are both fast and reliable, with minimal latency. New wireless communication standards are developed every decade, and the year 2030 is expected to see the introduction of 6G. The primary objectives of 6G network and terminal designs are focused on sustainability and environmental friendliness. The International Telecommunication Union-Recommendation division (ITU-R) has established the minimum requirements for 6G, with peak and user data rates of 1 Tbps and 10-100 Gbps, respectively. In this context, Light Fidelity (Li-Fi) technology is the most promising candidate to meet these requirements. This article will explore the various advantages, features, and potential applications of Li-Fi technology, and compare it with 5G networking, to showcase its potential impact among other emerging technologies that aim to enable 6G networks.

Keywords: 6G networks, artificial intelligence (AI), Li-Fi technology, Terahertz (THz) communication, visible light communication (VLC)

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Authors: Hussein Al-bayaty

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This paper presents a novel idea to show the ability to benefit of the harmonic currents which are produced on the load side of the power grid. The proposed circuit contributes in reduction of the total harmonic distortion (THD) percentage through adding a high pass filter to draw harmonic currents with 150 Hz and multiple frequencies a and convert them to DC current and then reconvert it to AC current with 50 Hz frequency in order to feed different loads. The circuit has been designed, investigated and simulated in the MATLAB, Simulink program; the results will be assessed and compared the two cases: firstly, the system without adding the new circuit. Secondly, with adding the high pas filter circuit to the power system.

Keywords: harmonics elimination, passive filters, Total Harmonic Distortion (THD), filter circuit

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Authors: Slah Eddine Ben Fadhel

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Despite the development of new pedagogic methods, current teaching practices put more emphasis on the learning products than on the processes learners deploy. In school syllabi, for instance, very little time is devoted to both the explanation and analysis of strategies aimed at resolving problems by means of targeting students’ metacognitive procedures. Within a cognitive framework, teaching/learning contexts are conceived of in terms of cognitive, metacognitive and affective activities intended for the treatment of information. During these activities, learners come to develop an array of knowledge and strategies which can be subsumed within an active and constructive process. Through the investigation of strategies and metacognition concepts, the purpose is to reflect upon the modalities at the heart of the learning process and to demonstrate, similarly, the inherent significance of a cognitive approach to learning. The scope of this paper is predicated on a study where the population is a group of 76 primary school pupils who experienced difficulty with learning French. The population was divided into two groups: the first group was submitted during three months to a strategy-based training to learn French. All through this phase, the teachers centred class activities round making learners aware of the strategies the latter deployed and geared them towards appraising the steps these learners had themselves taken by means of a variety of tools, most prominent among which is the logbook. The second group was submitted to the usual learning context with no recourse whatsoever to any strategy-oriented tasks. The results of both groups point out the improvement of linguistic competences in the French language in the case of those pupils who were trained by means of strategic procedures. Furthermore, this improvement was noted in relation with the native language (Arabic), a fact that tends to highlight the importance of the interdisciplinary investigation of (meta-)cognitive strategies. These results show that strategic learning promotes in pupils the development of a better awareness of their own processes, which contributes to improving their general linguistic competences.

Keywords: constructive approach, cognitive strategies, metacognition, learning

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Authors: Mohammed Hussein, Abualseoud Hanani

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In Low Earth Orbit (LEO) satellite constellation system, routing data from the source all the way to the destination constitutes a daunting challenge because LEO satellite constellation resources are spare and the high speed movement of LEO satellites results in a highly dynamic network topology. This situation limits the applicability of traditional routing approaches that rely on exchanging topology information upon change or setup of a connection. Consequently, in recent years, many routing algorithms and implementation strategies for satellite constellation networks with Inter Satellite Links (ISLs) have been proposed. In this article, we summarize and classify some of the most representative solutions according to their objectives, and discuss their advantages and disadvantages. Finally, with a look into the future, we present some of the new challenges and opportunities for LEO satellite constellations in general and routing protocols in particular.

Keywords: LEO satellite constellations, dynamic topology, IP routing, inter-satellite-links

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Authors: Osama Terra, Mariesa Nel, Hatem Hussein

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Calibration of Optical Time Domain Reflectometer (OTDR) has a crucial role for the accurate determination of fault locations and the accurate calculation of loss budget of long-haul optical fibre links during installation and repair. A comparison has been made between the Egyptian National Institute for Standards (NIS-Egypt) and the National Metrology institute of South Africa (NMISA-South Africa) for the calibration of an OTDR. The distance and the attenuation scales of a transfer OTDR have been calibrated by both institutes using their standards according to the standard IEC 61746-1 (2009). The results of this comparison have been compiled in this report.

Keywords: OTDR calibration, recirculating loop, concatenated method, standard fiber

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Authors: Nour Charara, Hussein Charara, Omar Abou Khaled, Hani Abdallah, Elena Mugellini

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In this paper, we present a human behavior modeling approach in videos scenes. This approach is used to model the normal behaviors in the conference halls. We exploited the Probabilistic Latent Semantic Analysis technique (PLSA), using the 'Bag-of-Terms' paradigm, as a tool for exploring video data to learn the model by grouping similar activities. Our term vocabulary consists of 3D spatio-temporal patch groups assigned by the direction of motion. Our video representation ensures the spatial information, the object trajectory, and the motion. The main importance of this approach is that it can be adapted to detect abnormal behaviors in order to ensure and enhance human security.

Keywords: activity modeling, clustering, PLSA, video representation

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Authors: Ahmed Z. Gabr, Ahmed A. Helal, Hussein E. Said

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With the incessant increase of power systems capacity and voltage grade, the safety of grounding grid becomes more and more prominent. In this paper, the designing substation grounding grid is presented by means of genetic algorithm (GA). This approach purposes to control the grounding cost of the power system with the aid of controlling grounding rod number and conductor lengths under the same safety limitations. The proposed technique is used for the design of the substation grounding grid in Khalda Petroleum Company “El-Qasr” power plant and the design was simulated by using CYMGRD software for results verification. The result of the design is highly complying with IEEE 80-2000 standard requirements.

Keywords: genetic algorithm, optimum grounding grid design, power system analysis, power system protection, single layer model, substation

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Authors: Omar Hussein El Ayadi, Ali Mustafa Alkekly, Nader Ahmad Musa

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Search and evaluate locale source of raw material which can be used as drilling fluid is one of most important economical target. Hopefully, to use Libyan clay that cost less than importing it from outside. Resistivity measurement and control is of primary concern in connection with electrical logging. The influences of resistivity utilizing Umm Arrazam clay were laboratory investigated at ambient condition (room temperature, atmospheric pressure) to fulfill the aim of the study. Several tests were carried-out on three sets of mud mixture with different densities (8.7, 9.0, and 9.3 ppg) as base mud. The resistivity of mud, mud filtrate, and mud cake were measured using resistivity- meter. Mud water losses were also measured. Several results obtained to describe the relationship between the resistivity ratios of mud filtrate to the mud, and the mud cake to mud. The summary of conclusion is that there are no great differences were obtained during comparison of resistivity and water loss of Umm Arrazam and Wyoming Clay.

Keywords: petroleum, drilling, mug, geological engineering

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Authors: Osama Terra, Hatem Hussein, Adriaan Van Brakel

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Dense wavelength division multiplexing (DWDM) technology requires tight specification and therefore measurement of wavelength accuracy and stability of the telecommunication lasers. Thus, calibration of the used Optical Spectrum Analyzers (OSAs) that are used to measure wavelength is of a great importance. Proficiency testing must be performed on such measuring activity to insure the accuracy of the measurement results. In this paper, a new comparison scheme is introduced to test the performance of such calibrations. This comparison scheme is implemented between NIS-Egypt and NMISA-South Africa for the calibration of the wavelength scale of an OSA. Both institutes employ reference gas cell to calibrate OSA according to the standard IEC/ BS EN 62129 (2006). The result of this comparison is compiled in this paper.

Keywords: OSA calibration, HCN gas cell, DWDM technology, wavelength measurement

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Authors: Alia Al Nuaimi, Ayesha Al Aberi, Faiza Al Marzouqi, Shaikha Salem Ali Al Yahyaee, Ala Hussein

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In this paper, a PV micro-storage system for residential applications is proposed. The term micro refers to the size of the PV storage system, which is in the range of few kilo-watts, compared to the grid size (~GWs). Usually, in a typical load profile of a residential unit, two peak demand periods exist: one at morning and the other at evening time. The morning peak can be partly covered by the PV energy directly, while the evening peak cannot be covered by the PV alone. Therefore, an energy storage system that stores solar energy during daytime and use this stored energy when the sun is absent is a must. A complete design procedure including theoretical analysis followed by simulation verification and economic feasibility evaluation is addressed in this paper.

Keywords: battery, energy storage, photovoltaic, peak shaving, smart grid

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Authors: Hussein Shaman

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This study introduces an innovative design for an RF phase shifter that can maintain a consistent phase shift across a broad spectrum of frequencies. The proposed design integrates an adaptive control system into a reflective-type phase shifter, typically showing frequency-related variations. Adjusting the DC voltage according to the frequency ensures a more reliable phase shift across the frequency span of operation. In contrast, conventional frequency-dependent reflective-type phase shifters may exhibit significant fluctuations in phase shifts exceeding 60 degrees in the same bandwidth. The proposed phase shifter is configured to deliver a 90-degree operation with an expected deviation of around 15 degrees. The fabrication of the phase shifter and adaptive control circuit has been verified through experimentation, with the measured outcomes aligning with the simulation results.

Keywords: phase shifter, adaptive control, varactors, electronic circuits.

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Authors: Abdolghader Pourali, Mohammad V. Malakooti, Muhammad Hussein Yektaie

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A mobile payment system in mobile e-commerce generally have high security so that the user can trust it for doing business deals, sales, paying financial transactions, etc. in the mobile payment system. Since an architecture or payment model in e-commerce only shows the way of interaction and collaboration among users and mortgagers and does not present any evaluation of effectiveness and confidence about financial transactions to stakeholders. In this paper, we try to present a detailed assessment of the reliability of a mobile payment model in the mobile e-commerce using formal models and colored Petri nets. Finally, we demonstrate that the reliability of this system has high value (case study: a secure payment model in mobile commerce.

Keywords: reliability, colored Petri net, assessment, payment models, m-commerce

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Authors: Karim Matter, Heba Fayed, Ahmed Abd-Elaziz, Moustafa Hussein

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Due to the exponential growth of mobile devices and wireless services, a huge demand for radiofrequency has increased. The presence of several frequencies causes interference between cells, which must be minimized to get the lower Bit Error Rate (BER). For this reason, it is of great interest to use visible light communication (VLC). This paper suggests a VLC system that decreases the BER by applying a new LED distribution with a hexagonal shape using a Frequency Reuse (FR) concept to mitigate the interference between the reused frequencies inside the hexagonal shape. The BER is measured in two scenarios, Line of Sight (LoS) and Non-Line of Sight (Non-LoS), for each technique that we used. The recommended values of BER in the proposed model for Soft Frequency Reuse (SFR) in the case of Los at 4, 8, and 10 dB signal to noise ratio (SNR), are 3.6×10⁻⁶, 6.03×10⁻¹³, and 2.66×10⁻¹⁸, respectively.

Keywords: visible light communication (VLC), field of view (FoV), hexagonal array, frequency reuse

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Authors: Daham Owaid Matrood, Naqaa Hussein Raheem

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Evolutionary algorithms and Artificial neural networks (ANN) are two relatively young research areas that were subject to a steadily growing interest during the past years. This paper examines the use of Particle Swarm Optimization (PSO) to train a multi-layer feed forward neural network for demand forecasting. We use in this paper weekly demand data for packed cement and towels, which have been outfitted by the Northern General Company for Cement and General Company of prepared clothes respectively. The results showed superiority of trained neural networks using particle swarm optimization on neural networks trained using error back propagation because their ability to escape from local optima.

Keywords: artificial neural network, demand forecasting, particle swarm optimization, weight optimization

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Authors: Hussein Altartouri

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In this paper the kinematic and kinetic models of an omnidirectional holonomic mobile robot is presented. The kinematic and kinetic models form the OmniDrive model. Therefore, a mathematical model for the robot equipped with three- omnidirectional wheels is derived. This model which takes into consideration the kinematics and kinetics of the robot, is developed to state space representation. Relative analysis of the velocities and displacements is used for the kinematics of the robot. Lagrange’s approach is considered in this study for deriving the equation of motion. The drive train and the mechanical assembly only of the Festo Robotino® is considered in this model. Mainly the model is developed for motion control. Furthermore, the model can be used for simulation purposes in different virtual environments not only Robotino® View. Further use of the model is in the mechatronics research fields with the aim of teaching and learning the advanced control theories.

Keywords: mobile robot, omni-direction wheel, mathematical model, holonomic mobile robot

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