Search results for: Alaoui Hamza
32 Exoskeleton for Hemiplegic Patients: Mechatronic Approach to Move One Disabled Lower Limb
Authors: Alaoui Hamza, Moutacalli Mohamed Tarik, Chebak Ahmed
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The number of people suffering from hemiplegia is growing each year. This lower limb disability affects all the aspects of their lives by taking away their autonomy. This implicates their close relatives, as well as the health system to provide the necessary care they need. The integration of exoskeletons in the medical field became a promising solution to resolve this issue. This paper presents an exoskeleton designed to help hemiplegic people get back the sensation and ability of normal walking. For this purpose, three step models have been created. The first step allows a simple forward movement of the leg. The second method is designed to overcome some obstacles in the patient path, and finally the third step model gives the patient total control over the device. Each of the control methods was designed to offer a solution to the challenges that the patients may face during the walking process.Keywords: Ability of normal walking, exoskeleton, hemiplegic patients, lower limb motion, mechatronics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 63631 Dual Construction of Stern-based Signature Scheme
Authors: Pierre-Louis Cayrel, Sidi Mohamed El Yousfi Alaoui
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In this paper, we propose a dual version of the first threshold ring signature scheme based on error-correcting code proposed by Aguilar et. al in [1]. Our scheme uses an improvement of Véron zero-knowledge identification scheme, which provide smaller public and private key sizes and better computation complexity than the Stern one. This scheme is secure in the random oracle model.Keywords: Stern algorithm, Véron algorithm, threshold ring signature, post-quantum cryptography.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 179130 Exponential Stability of Linear Systems under a Class of Unbounded Perturbations
Authors: Safae El Alaoui, Mohamed Ouzahra
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In this work, we investigate the exponential stability of a linear system described by x˙ (t) = Ax(t) − ρBx(t). Here, A generates a semigroup S(t) on a Hilbert space, the operator B is supposed to be of Desch-Schappacher type, which makes the investigation more interesting in many applications. The case of Miyadera-Voigt perturbations is also considered. Sufficient conditions are formulated in terms of admissibility and observability inequalities and the approach is based on some energy estimates. Finally, the obtained results are applied to prove the uniform exponential stabilization of bilinear partial differential equations.
Keywords: Exponential stabilization, unbounded operator, Desch-Schappacher, Miyadera-Voigt operator.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 34329 Effect of Temperature on the Performance of Multi-Stage Distillation
Authors: A. Diaf, H. Aburideh, Z.Tigrine, D. Tassalit, F.Alaoui
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The tray/multi-tray distillation process is a topic that has been investigated to great detail over the last decade by many teams such as Jubran et al. [1], Adhikari et al. [2], Mowla et al. [3], Shatat et al. [4] and Fath [5] to name a few. A significant amount of work and effort was spent focusing on modeling and/simulation of specific distillation hardware designs. In this work, we have focused our efforts on investigating and gathering experimental data on several engineering and design variables to quantify their influence on the yield of the multi-tray distillation process. Our goals are to generate experimental performance data to bridge some existing gaps in the design, engineering, optimization and theoretical modeling aspects of the multi-tray distillation process.Keywords: Distillation, Desalination, Multi-Stage still, Solar Energy
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 179728 Engineering Study and Equipment Design: Effects of Temperature and design variables on Yield of a Multi-Stage Distillator
Authors: A.Diaf, Z.Tigrine, H. Aburideh, D.Tassalit , F.Alaoui, B .Abbad
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The distillation process in the general sense is a relatively simple technique from the standpoints of its principles. When dedicating distillation to water treatment and specifically producing fresh water from sea, ocean and/ briny waters it is interesting to notice that distillation has no limitations or domains of applicability regarding the nature or the type of the feedstock water. This is not the case however for other techniques that are technologically quite complex, necessitate bigger capital investments and are limited in their usability. In a previous paper we have explored some of the effects of temperature on yield. In this paper, we continue building onto that knowledge base and focus on the effects of several additional engineering and design variables on productivity.Keywords: Distillation, Desalination, Multi-Stage still, Solar Energy
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 179027 A Neural Approach for Color-Textured Images Segmentation
Authors: Khalid Salhi, El Miloud Jaara, Mohammed Talibi Alaoui
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In this paper, we present a neural approach for unsupervised natural color-texture image segmentation, which is based on both Kohonen maps and mathematical morphology, using a combination of the texture and the image color information of the image, namely, the fractal features based on fractal dimension are selected to present the information texture, and the color features presented in RGB color space. These features are then used to train the network Kohonen, which will be represented by the underlying probability density function, the segmentation of this map is made by morphological watershed transformation. The performance of our color-texture segmentation approach is compared first, to color-based methods or texture-based methods only, and then to k-means method.Keywords: Segmentation, color-texture, neural networks, fractal, watershed.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 136726 Knowledge Transfer and the Translation of Technical Texts
Authors: Ahmed Alaoui
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This paper contributes to the ongoing debate as to the relevance of translation studies to professional practitioners. It exposes the various misconceptions permeating the links between theory and practice in the translation landscape in the Arab World. It is a thesis of this paper that specialization in translation should be redefined; taking account of the fact, that specialized knowledge alone is neither crucial nor sufficient in technical translation. It should be tested against the readability of the translated text, the appropriateness of its style and the usability of its content by endusers to carry out their intended tasks. The paper also proposes a preliminary model to establish a working link between theory and practice from the perspective of professional trainers and practitioners, calling for the latter to participate in the production of knowledge in a systematic fashion. While this proposal is driven by a rather intuitive conviction, a research line is needed to specify the methodological moves to establish the mediation strategies that would relate the components in the model of knowledge transfer proposed in this paper.
Keywords: Knowledge transfer, misconceptions, specialized texts, translation theory, translation practice.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 378125 Analysis of Poverty Reduction Strategies as Mechanism for Development in Nigeria from 1999-2014
Authors: Ahmed Usman Egye, Hamza Muhammad
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Poverty alleviation is one of the most difficult challenges facing third world countries in their development efforts. Evidences in Nigeria showed that the number of those in poverty has continued to increase. This paper is aimed at analyzing the performance of poverty alleviation measures undertaken by successive administrations in Nigeria with a view to addressing the quagmire. The study identified the whole gamut of factors that served as stumbling blocks to the implementation of each of the strategies and recommended the involvement of local people in the identification and design of projects so that sufficient participation could be achieved.Keywords: Poverty, development, strategies, Nigeria.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 275824 Enhanced Traveling Salesman Problem Solving by Genetic Algorithm Technique (TSPGA)
Authors: Buthainah Fahran Al-Dulaimi, Hamza A. Ali
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The well known NP-complete problem of the Traveling Salesman Problem (TSP) is coded in genetic form. A software system is proposed to determine the optimum route for a Traveling Salesman Problem using Genetic Algorithm technique. The system starts from a matrix of the calculated Euclidean distances between the cities to be visited by the traveling salesman and a randomly chosen city order as the initial population. Then new generations are then created repeatedly until the proper path is reached upon reaching a stopping criterion. This search is guided by a solution evaluation function.
Keywords: Genetic algorithms, traveling salesman problem solving, optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 254623 A Mixture Model of Two Different Distributions Approach to the Analysis of Heterogeneous Survival Data
Authors: Ülkü Erişoğlu, Murat Erişoğlu, Hamza Erol
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In this paper we propose a mixture of two different distributions such as Exponential-Gamma, Exponential-Weibull and Gamma-Weibull to model heterogeneous survival data. Various properties of the proposed mixture of two different distributions are discussed. Maximum likelihood estimations of the parameters are obtained by using the EM algorithm. Illustrative example based on real data are also given.Keywords: Exponential-Gamma, Exponential-Weibull, Gamma-Weibull, EM Algorithm, Survival Analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 405222 WDM and OCDMA Systems under MAI Effects: A Comparison Analysis
Authors: Hilal A. Fadhil, Thanaa Hussein Abd, Hamza M. R. Al-Khafaji, S. A. Aljunid
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This paper presents a comparison between Spectrum- Sliced Wavelength Division Multiplexing (SS-WDM) and Spectrum Amplitude Coding Optical Code Division Multiple Access (SAC Optical CDMA) systems for different light sources. The performance of the system is shown in the simulated results of the bit error rate (BER) and the eye diagram of both systems. The comparison results indicate that the Multiple Access Interference (MAI) effects have a significant impact on SS-WDM over SAC Optical CDMA systems. Finally, in terms of spectral efficiency at constant BER of 10-12, SSWDM offers higher spectral efficiency than optical CDMA since no bandwidth expansion in needed.Keywords: WDM, OCDMA, BER, RD code
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 236821 Harmony Search-based K-Coverage Enhancement in Wireless Sensor Networks
Authors: Shaimaa M. Mohamed, Haitham S. Hamza, Imane A. Saroit
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Many wireless sensor network applications require K-coverage of the monitored area. In this paper, we propose a scalable harmony search based algorithm in terms of execution time, K-Coverage Enhancement Algorithm (KCEA), it attempts to enhance initial coverage, and achieve the required K-coverage degree for a specific application efficiently. Simulation results show that the proposed algorithm achieves coverage improvement of 5.34% compared to K-Coverage Rate Deployment (K-CRD), which achieves 1.31% when deploying one additional sensor. Moreover, the proposed algorithm is more time efficient.
Keywords: Wireless Sensor Networks (WSN), Harmony Search Algorithms, K-Coverage, Mobile WSN.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 215620 Ontology for Semantic Enrichment of Radio Frequency Identification Systems
Authors: Haitham S. Hamza, Mohamed Maher, Shourok Alaa, Aya Khattab, Hadeal Ismail, Kamilia Hosny
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Radio Frequency Identification (RFID) has become a key technology in the emerging concept of Internet of Things (IoT). Naturally, business applications would require the deployment of various RFID systems developed by different vendors that use different data formats and structures. This heterogeneity poses a challenge in developing real-life IoT systems with RFID, as integration is becoming very complex and challenging. Semantic integration is a key approach to deal with this challenge. To do so, ontology for RFID systems need to be developed in order to annotated semantically RFID systems, and hence, facilitate their integration. Accordingly, in this paper, we propose ontology for RFID systems. The proposed ontology can be used to semantically enrich RFID systems, and hence, improve their usage and reasoning.Keywords: IoT, RFID, Semantic, sparql, Ontology.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 186319 Landslide Susceptibility Mapping: A Comparison between Logistic Regression and Multivariate Adaptive Regression Spline Models in the Municipality of Oudka, Northern of Morocco
Authors: S. Benchelha, H. C. Aoudjehane, M. Hakdaoui, R. El Hamdouni, H. Mansouri, T. Benchelha, M. Layelmam, M. Alaoui
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The logistic regression (LR) and multivariate adaptive regression spline (MarSpline) are applied and verified for analysis of landslide susceptibility map in Oudka, Morocco, using geographical information system. From spatial database containing data such as landslide mapping, topography, soil, hydrology and lithology, the eight factors related to landslides such as elevation, slope, aspect, distance to streams, distance to road, distance to faults, lithology map and Normalized Difference Vegetation Index (NDVI) were calculated or extracted. Using these factors, landslide susceptibility indexes were calculated by the two mentioned methods. Before the calculation, this database was divided into two parts, the first for the formation of the model and the second for the validation. The results of the landslide susceptibility analysis were verified using success and prediction rates to evaluate the quality of these probabilistic models. The result of this verification was that the MarSpline model is the best model with a success rate (AUC = 0.963) and a prediction rate (AUC = 0.951) higher than the LR model (success rate AUC = 0.918, rate prediction AUC = 0.901).
Keywords: Landslide susceptibility mapping, regression logistic, multivariate adaptive regression spline, Oudka, Taounate, Morocco.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 97618 An Optimal Steganalysis Based Approach for Embedding Information in Image Cover Media with Security
Authors: Ahlem Fatnassi, Hamza Gharsellaoui, Sadok Bouamama
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This paper deals with the study of interest in the fields of Steganography and Steganalysis. Steganography involves hiding information in a cover media to obtain the stego media in such a way that the cover media is perceived not to have any embedded message for its unintended recipients. Steganalysis is the mechanism of detecting the presence of hidden information in the stego media and it can lead to the prevention of disastrous security incidents. In this paper, we provide a critical review of the steganalysis algorithms available to analyze the characteristics of an image stego media against the corresponding cover media and understand the process of embedding the information and its detection. We anticipate that this paper can also give a clear picture of the current trends in steganography so that we can develop and improvise appropriate steganalysis algorithms.Keywords: Optimization, heuristics and metaheuristics algorithms, embedded systems, low-power consumption, Steganalysis Heuristic approach.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 117217 Self Organizing Mixture Network in Mixture Discriminant Analysis: An Experimental Study
Authors: Nazif Çalış, Murat Erişoğlu, Hamza Erol, Tayfun Servi
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In the recent works related with mixture discriminant analysis (MDA), expectation and maximization (EM) algorithm is used to estimate parameters of Gaussian mixtures. But, initial values of EM algorithm affect the final parameters- estimates. Also, when EM algorithm is applied two times, for the same data set, it can be give different results for the estimate of parameters and this affect the classification accuracy of MDA. Forthcoming this problem, we use Self Organizing Mixture Network (SOMN) algorithm to estimate parameters of Gaussians mixtures in MDA that SOMN is more robust when random the initial values of the parameters are used [5]. We show effectiveness of this method on popular simulated waveform datasets and real glass data set.Keywords: Self Organizing Mixture Network, MixtureDiscriminant Analysis, Waveform Datasets, Glass Identification, Mixture of Multivariate Normal Distributions
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 150516 Online Prediction of Nonlinear Signal Processing Problems Based Kernel Adaptive Filtering
Authors: Hamza Nejib, Okba Taouali
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This paper presents two of the most knowing kernel adaptive filtering (KAF) approaches, the kernel least mean squares and the kernel recursive least squares, in order to predict a new output of nonlinear signal processing. Both of these methods implement a nonlinear transfer function using kernel methods in a particular space named reproducing kernel Hilbert space (RKHS) where the model is a linear combination of kernel functions applied to transform the observed data from the input space to a high dimensional feature space of vectors, this idea known as the kernel trick. Then KAF is the developing filters in RKHS. We use two nonlinear signal processing problems, Mackey Glass chaotic time series prediction and nonlinear channel equalization to figure the performance of the approaches presented and finally to result which of them is the adapted one.Keywords: KLMS, online prediction, KAF, signal processing, RKHS, Kernel methods, KRLS, KLMS.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 104315 Dynamic Bandwidth Allocation in Fiber-Wireless (FiWi) Networks
Authors: Eman I. Raslan, Haitham S. Hamza, Reda A. El-Khoribi
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Fiber-Wireless (FiWi) networks are a promising candidate for future broadband access networks. These networks combine the optical network as the back end where different passive optical network (PON) technologies are realized and the wireless network as the front end where different wireless technologies are adopted, e.g. LTE, WiMAX, Wi-Fi, and Wireless Mesh Networks (WMNs). The convergence of both optical and wireless technologies requires designing architectures with robust efficient and effective bandwidth allocation schemes. Different bandwidth allocation algorithms have been proposed in FiWi networks aiming to enhance the different segments of FiWi networks including wireless and optical subnetworks. In this survey, we focus on the differentiating between the different bandwidth allocation algorithms according to their enhancement segment of FiWi networks. We classify these techniques into wireless, optical and Hybrid bandwidth allocation techniques.
Keywords: Fiber-Wireless (FiWi), dynamic bandwidth allocation (DBA), passive optical networks (PON), media access control (MAC).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 211314 The Effect of Dopamine D2 Receptor TAQ A1 Allele on Sprinter and Endurance Athlete
Authors: Öznur Özge Özcan, Canan Sercan, Hamza Kulaksız, Mesut Karahan, Korkut Ulucan
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Genetic structure is very important to understand the brain dopamine system which is related to athletic performance. Hopefully, there will be enough studies about athletics performance in the terms of addiction-related genetic markers in the future. In the present study, we intended to investigate the Receptor-2 Gene (DRD2) rs1800497, which is related to brain dopaminergic system. 10 sprinter and 10 endurance athletes were enrolled in the study. Real-Time Polymerase Chain Reaction method was used for genotyping. According to results, A1A1, A1A2 and A2A2 genotypes in athletes were 0 (%0), 3 (%15) and 17 (%85). A1A1 genotype was not found and A2 allele was counted as the dominating allele in our cohort. These findings show that dopaminergic mechanism effects on sport genetic may be explained by the polygenic and multifactorial view.
Keywords: Addiction, athletic performance, genotype, polymorphism, sport genetics.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 103813 The Investigation of the Possible Connections between Acculturation and the Acquisition of a Second Language on Libyan Teenage Students
Authors: Hamza M. A. Muftah
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The study investigates the possible connections between acculturation and the acquisition of a second language on Libyan teenage students in Australia. Specifically, the study examined how various socio-psychological variables influenced English oral proficiency (oral communicative competence and native-like pronunciation) of the participants. In addition, it looked at whether or not SLA affects acculturation towards the target language group. This is achieved by analysing data obtained from semi-structured interviews and oral proficiency interviews. The present study found a definite link between the students’ acculturation process and their oral communicative competence but not native-like pronunciation. The results also provided evidence that SLL process has an impact on integration into the host society as well as the acquisition of a second language culture. Yet, it did not draw a clear conclusion with respect to how such a process affects these aspects.
Keywords: Acculturation, Native-like pronunciation, Oral communicative competence, Second language acquisition, Second language learners.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 267012 Thermal Regeneration of CO2 Spent Palm Shell-Polyetheretherketone Activated Carbon Sorbents
Authors: Usman D. Hamza, Noor S. Nasri, Mohammed Jibril, Husna Mohd Zain
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Activated carbons (M4P0, M4P2, and M5P2) used in this research were produced from palm shell and polyetherether ketone (PEEK) via carbonization, impregnation and microwave activation. The adsorption/desorption process was carried out using static volumetric adsorption. Regeneration is important in the overall economy of the process and waste minimization. This work focuses on the thermal regeneration of the CO2 exhausted microwave activated carbons. The regeneration strategy adopted was thermal with nitrogen purge desorption with N2 feed flow rate of 20 ml/min for 1 h at atmospheric pressure followed by drying at 150oC.Seven successive adsorption/regeneration processes were carried out on the material. It was found that after seven adsorption regeneration cycles; the regeneration efficiency (RE) for CO2 activated carbon from palm shell only (M4P0) was more than 90% while that of hybrid palm shell-PEEK (M4P2, M5P2) was above 95%. The cyclic adsorption and regeneration shows the stability of the adsorbent materials.
Keywords: Activated carbon, Palm shell-PEEK, Regeneration, thermal.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 240211 Improved Processing Speed for Text Watermarking Algorithm in Color Images
Authors: Hamza A. Al-Sewadi, Akram N. A. Aldakari
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Copyright protection and ownership proof of digital multimedia are achieved nowadays by digital watermarking techniques. A text watermarking algorithm for protecting the property rights and ownership judgment of color images is proposed in this paper. Embedding is achieved by inserting texts elements randomly into the color image as noise. The YIQ image processing model is found to be faster than other image processing methods, and hence, it is adopted for the embedding process. An optional choice of encrypting the text watermark before embedding is also suggested (in case required by some applications), where, the text can is encrypted using any enciphering technique adding more difficulty to hackers. Experiments resulted in embedding speed improvement of more than double the speed of other considered systems (such as least significant bit method, and separate color code methods), and a fairly acceptable level of peak signal to noise ratio (PSNR) with low mean square error values for watermarking purposes.
Keywords: Steganography, watermarking, private keys, time complexity measurements.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 80910 Adsorption Refrigeration Working Pairs: The State-of-the-Art in the Application
Authors: Ahmed N. Shmroukh, Ahmed Hamza H. Ali, Ali K. Abel-Rahman
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Adsorption refrigeration working pair is a vital and is the main component in the adsorption refrigeration machine. Therefore the development key is laying on the adsorption pair that leads to the improvement of the adsorption refrigeration machine. In this study the state-of-the-art in the application of the adsorption refrigeration working pairs in both classical and modern adsorption pairs are presented, compared and summarized. It is found that the maximum adsorption capacity for the classical working pairs was 0.259kg/kg for activated carbon/methanol and that for the modern working pairs was 2kg/kg for maxsorb III/R-134a. The study concluded that, the performances of the adsorption working pairs of adsorption cooling systems are still need further investigations as well as developing adsorption pairs having higher sorption capacity with low or no impact on environmental, to build compact, efficient, reliable and long life performance adsorption chillier. Also, future researches need to be focused on designing the adsorption system that provide efficient heating and cooling for the adsorbent materials through distributing the adsorbent material over heat exchanger surface, to allow good heat and mass transfer between the adsorbent and the refrigerant.
Keywords: Adsorption, Adsorbent/Adsorbate Pairs, Refrigeration.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 47599 Deterministic Random Number Generator Algorithm for Cryptosystem Keys
Authors: Adi A. Maaita, Hamza A. A. Al_Sewadi
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One of the crucial parameters of digital cryptographic systems is the selection of the keys used and their distribution. The randomness of the keys has a strong impact on the system’s security strength being difficult to be predicted, guessed, reproduced, or discovered by a cryptanalyst. Therefore, adequate key randomness generation is still sought for the benefit of stronger cryptosystems. This paper suggests an algorithm designed to generate and test pseudo random number sequences intended for cryptographic applications. This algorithm is based on mathematically manipulating a publically agreed upon information between sender and receiver over a public channel. This information is used as a seed for performing some mathematical functions in order to generate a sequence of pseudorandom numbers that will be used for encryption/decryption purposes. This manipulation involves permutations and substitutions that fulfill Shannon’s principle of “confusion and diffusion”. ASCII code characters were utilized in the generation process instead of using bit strings initially, which adds more flexibility in testing different seed values. Finally, the obtained results would indicate sound difficulty of guessing keys by attackers.Keywords: Cryptosystems, Information Security agreement, Key distribution, Random numbers.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 34208 Combined Model Predictive Controller Technique for Enhancing NAO Gait Stabilization
Authors: Brahim Brahmi, Mohammed Hamza Laraki, Mohammad Habibur Rahman, Islam M. Rasedul, M. Assad Uz-Zaman
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The humanoid robot, specifically the NAO robot must be able to provide a highly dynamic performance on the soccer field. Maintaining the balance of the humanoid robot during the required motion is considered as one of a challenging problems especially when the robot is subject to external disturbances, as contact with other robots. In this paper, a dynamic controller is proposed in order to ensure a robust walking (stabilization) and to improve the dynamic balance of the robot during its contact with the environment (external disturbances). The generation of the trajectory of the center of mass (CoM) is done by a model predictive controller (MPC) conjoined with zero moment point (ZMP) technique. Taking into account the properties of the rotational dynamics of the whole-body system, a modified previous control mixed with feedback control is employed to manage the angular momentum and the CoM’s acceleration, respectively. This latter is dedicated to provide a robust gait of the robot in the presence of the external disturbances. Simulation results are presented to show the feasibility of the proposed strategy.Keywords: Preview control, walking, stabilization, humanoid robot.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 5817 A Framework for Scalable Autonomous P2P Resource Discovery for the Grid Implementation
Authors: Hesham A. Ali, Mofreh M. Salem, Ahmed A. Hamza
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Recently, there have been considerable efforts towards the convergence between P2P and Grid computing in order to reach a solution that takes the best of both worlds by exploiting the advantages that each offers. Augmenting the peer-to-peer model to the services of the Grid promises to eliminate bottlenecks and ensure greater scalability, availability, and fault-tolerance. The Grid Information Service (GIS) directly influences quality of service for grid platforms. Most of the proposed solutions for decentralizing the GIS are based on completely flat overlays. The main contributions for this paper are: the investigation of a novel resource discovery framework for Grid implementations based on a hierarchy of structured peer-to-peer overlay networks, and introducing a discovery algorithm utilizing the proposed framework. Validation of the framework-s performance is done via simulation. Experimental results show that the proposed organization has the advantage of being scalable while providing fault-isolation, effective bandwidth utilization, and hierarchical access control. In addition, it will lead to a reliable, guaranteed sub-linear search which returns results within a bounded interval of time and with a smaller amount of generated traffic within each domain.
Keywords: Grid computing, grid information service, P2P, resource discovery.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19656 Ligand-Depended Adsorption Characteristics of Silver Nanoparticles on Activated Carbon
Authors: Hamza Simsir, Nurettin Eltugral, Selhan Karagoz
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Surface modification and functionalization has been an important tool for scientists in order to open new frontiers in nanoscience and nanotechnology. Desired surface characteristics for the intended applications can be achieved with surface functionalization. In this work, the effect of water soluble ligands on the adsorption capabilities of silver nanoparticles onto AC which was synthesized from German beech wood was investigated. Sodium borohydride (NaBH4) and polyvinyl alcohol (PVA) were used as the ligands. Silver nanoparticles with different surface coatings have average sizes range from 10 to 13 nm. They were synthesized in aqueous media by reducing Ag (I) ion in the presence of ligands. These particles displayed adsorption tendencies towards AC when they were mixed together and shaken in distilled water. Silver nanoparticles (NaBH4-AgNPs) reduced and stabilized by NaBH4 adsorbed onto AC with a homogenous dispersion of aggregates with sizes in the range of 100-400 nm. Beside, silver nanoparticles, which were prepared in the presence of both NaBH4 and PVA (NaBH4/PVA-Ag NPs), demonstrated that NaBH4/PVA-Ag NPs adsorbed and dispersed homogenously but, they aggregated with larger sizes on the AC surface (range from 300 to 600 nm). In addition, desorption resistance of Ag nanoparticles were investigated in distilled water. According to the results AgNPs were not desorbed on the AC surface in distilled water.
Keywords: Activated carbon, adsorption, ligand, silver nanoparticles.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 34055 Experimental Study on Adsorption Capacity of Activated Carbon Pairs with Different Refrigerants
Authors: Ahmed N. Shmroukh, Ahmed Hamza H. Ali, Ali K. Abel-Rahman
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This study is experimentally targeting to develop effective in heat and mass transfer processes for the adsorbate to obtain applicable adsorption capacity data. This is done by using fin and tube heat exchanger core and the adsorbate is adhesive over its surface and located as the core of the adsorber. The pairs are activated carbon powder/R-134a, activated carbon powder/R-407c, activated carbon powder/R-507A, activated carbon granules/R-507A, activated carbon granules/R-407c and activated carbon granules/R-134a, at different adsorption temperatures of 25, 30, 35 and 50°C. The following is results is obtained: at adsorption temperature of 25 °C the maximum adsorption capacity is found to be 0.8352kg/kg for activated carbon powder with R-134a and the minimum adsorption capacity found to be 0.1583kg/kg for activated carbon granules with R-407c. While, at adsorption temperature of 50°C the maximum adsorption capacity is found to be 0.3207kg/kg for activated carbon powder with R-134a and the minimum adsorption capacity found to be 0.0609kg/kg for activated carbon granules with R-407c. Therefore, the activated carbon powder/R-134a pair is highly recommended to be used as adsorption refrigeration working pair because of its higher maximum adsorption capacity than the other tested pairs, to produce a compact, efficient and reliable for long life performance adsorption refrigeration system.
Keywords: Adsorption, Adsorbent/Adsorbate Pairs, Adsorption Capacity, Refrigeration.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 48284 Dynamic Threshold Adjustment Approach For Neural Networks
Authors: Hamza A. Ali, Waleed A. J. Rasheed
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The use of neural networks for recognition application is generally constrained by their inherent parameters inflexibility after the training phase. This means no adaptation is accommodated for input variations that have any influence on the network parameters. Attempts were made in this work to design a neural network that includes an additional mechanism that adjusts the threshold values according to the input pattern variations. The new approach is based on splitting the whole network into two subnets; main traditional net and a supportive net. The first deals with the required output of trained patterns with predefined settings, while the second tolerates output generation dynamically with tuning capability for any newly applied input. This tuning comes in the form of an adjustment to the threshold values. Two levels of supportive net were studied; one implements an extended additional layer with adjustable neuronal threshold setting mechanism, while the second implements an auxiliary net with traditional architecture performs dynamic adjustment to the threshold value of the main net that is constructed in dual-layer architecture. Experiment results and analysis of the proposed designs have given quite satisfactory conducts. The supportive layer approach achieved over 90% recognition rate, while the multiple network technique shows more effective and acceptable level of recognition. However, this is achieved at the price of network complexity and computation time. Recognition generalization may be also improved by accommodating capabilities involving all the innate structures in conjugation with Intelligence abilities with the needs of further advanced learning phases.
Keywords: Classification, Recognition, Neural Networks, Pattern Recognition, Generalization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16183 Effect of Thickness on Structural and Electrical Properties of CuAlS2 Thin Films Grown by Two Stage Vacuum Thermal Evaporation Technique
Authors: A. U. Moreh, M. Momoh, H. N. Yahya, B. Hamza, I. G. Saidu, S. Abdullahi
Abstract:
This work studies the effect of thickness on structural and electrical properties of CuAlS2 thin films grown by two stage vacuum thermal evaporation technique. CuAlS2 thin films of thicknesses 50nm, 100nm and 200nm were deposited on suitably cleaned corning 7059 glass substrate at room temperature (RT). In the first stage Cu-Al precursors were grown at room temperature by thermal evaporation and in the second stage Cu-Al precursors were converted to CuAlS2 thin films by sulfurisation under sulfur atmosphere at the temperature of 673K. The structural properties of the films were examined by X-ray diffraction (XRD) technique while electrical properties of the specimens were studied using four point probe method. The XRD studies revealed that the films are of crystalline in nature having tetragonal structure. The variations of the micro-structural parameters, such as crystallite size (D), dislocation density ( ), and micro-strain ( ), with film thickness were investigated. The results showed that the crystallite sizes increase as the thickness of the film increases. The dislocation density and micro-strain decreases as the thickness increases. The resistivity ( ) of CuAlS2 film is found to decrease with increase in film thickness, which is related to the increase of carrier concentration with film thickness. Thus thicker films exhibit the lowest resistivity and high carrier concentration, implying these are the most conductive films. Low electrical resistivity and high carrier concentration are widely used as the essential components in various optoelectronic devices such as light-emitting diode and photovoltaic cells.Keywords: Crystalline, CuAlS2, evaporation, resistivity, sulfurisation, thickness.
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