Search results for: Mohamed G. Darwish

Authors: Gamal Darwish, Ahmed ElShafee, Dina Darwish

Abstract:

This paper proposes the requirements and design of RFID based system for SFC (Shop Floor Control) in order to achieve the factory real time controllability, Allowing to develop EManufacturing System. The detailed logical specifications of the core functions and the design diagrams of RFID based system are developed. Then RFID deployment in E-Manufacturing systems is investigated..

Keywords: RFID, E-Manufacturing System, Requirementsspecifications, Design Diagrams, real time controllability.

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Authors: Mona A. Fouad, Fatma M. Bayoumi, Hoda M. Onsi, Mohamed G. Darwish

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Digital libraries become more and more necessary in order to support users with powerful and easy-to-use tools for searching, browsing and retrieving media information. The starting point for these tasks is the segmentation of video content into shots. To segment MPEG video streams into shots, a fully automatic procedure to detect both abrupt and gradual transitions (dissolve and fade-groups) with minimal decoding in real time is developed in this study. Each was explored through two phases: macro-block type's analysis in B-frames, and on-demand intensity information analysis. The experimental results show remarkable performance in detecting gradual transitions of some kinds of input data and comparable results of the rest of the examined video streams. Almost all abrupt transitions could be detected with very few false positive alarms.

Keywords: Adaptive threshold, abrupt transitions, gradual transitions, MPEG video streams.

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Authors: Ben Mohamed Ahemed Mohamed, Yassine Adnan

Abstract:

The problem of bin-packing in two dimensions (2BP) consists in placing a given set of rectangular items in a minimum number of rectangular and identical containers, called bins. This article treats the case of objects with a free orientation of 90Ôùª. We propose an approach of resolution combining optimization by colony of ants (ACO) and the heuristic method IMA to resolve this NP-Hard problem.

Keywords: Ant colony algorithm, bin-packing problem, heuristics methods.

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Authors: Amr A. El Hanafy, Yasir Anwar, Saleh A. Mohamed, Saleh Mohamed Saleh Al-Garni, Jamal S. M. Sabir, Osama A. H. Abu Zinadah, Mohamed Morsi Ahmed

Abstract:

In the vicinity of red sea about 15 fungi species were isolated from oil contaminated sites. On the basis of aptitude to degrade the crude oil and DCPIP assay, two fungal isolates were selected amongst 15 oil degrading strains. Analysis of ITS-1, ITS-2 and amplicon pyrosequencing studies of fungal diversity revealed that these strains belong to Penicillium and Aspergillus species. Two strains that proved to be the most efficient in degrading crude oil was Aspergillus niger (54%) and Penicillium commune (48%) Subsequent to two weeks of cultivation in BHS medium the degradation rate were recorded by using spectrophotometer and GC-MS. Hence, it is cleared that these fungal strains has capability of degradation and can be utilize for cleaning the Saudi Arabian environment.

Keywords: Fungal strains, hydrocarbon contaminants, molecular identification, biodegradation, GC-MS.

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Authors: Mohamed Badeche, Mohamed Benmohammed

Abstract:

augmented reality is a technique used to insert virtual objects in real scenes. One of the most used libraries in the area is the ARToolkit library. It is based on the recognition of the markers that are in the form of squares with a pattern inside. This pattern which is mostly textual is source of confusing. In this paper, we present the results of a classification of Latin characters as a pattern on the ARToolkit markers to know the most distinguishable among them.

Keywords: ARToolkit library, augmented reality, K-means, patterns

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Authors: Mohamed Ben Aouicha, Mohamed Tmar, Mohand Boughanem, Mohamed Abid

Abstract:

This paper presents an information retrieval model on XML documents based on tree matching. Queries and documents are represented by extended trees. An extended tree is built starting from the original tree, with additional weighted virtual links between each node and its indirect descendants allowing to directly reach each descendant. Therefore only one level separates between each node and its indirect descendants. This allows to compare the user query and the document with flexibility and with respect to the structural constraints of the query. The content of each node is very important to decide weither a document element is relevant or not, thus the content should be taken into account in the retrieval process. We separate between the structure-based and the content-based retrieval processes. The content-based score of each node is commonly based on the well-known Tf × Idf criteria. In this paper, we compare between this criteria and another one we call Tf × Ief. The comparison is based on some experiments into a dataset provided by INEX1 to show the effectiveness of our approach on one hand and those of both weighting functions on the other.

Keywords: XML retrieval, INEX, Tf × Idf, Tf × Ief

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Authors: Anis Gharbi, Mohamed Haouari, Talel Ladhari, Mohamed Ali Rakrouki

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We address a complex scheduling problem arising in the wood panel industry with the objective of minimizing a quadratic function of job tardiness. The proposed solution strategy, which is based on an effective genetic algorithm, has been coded and implemented within a major Tunisian company, leader in the wood panel manufacturing. Preliminary experimental results indicate significant decrease of delivery times.

Keywords: Genetic algorithm, heuristic, hybrid flowshop, total weighted squared tardiness.

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Authors: Hassan M. Elkamchouchi, Samy H. Darwish, Yasser H. Elkamchouchi, M. E. Morsy

Abstract:

Methodology is suggested to design a linear rectangular microstrip array antenna based on Yagi antenna theory. The antenna with different directors' lengths as parasitic elements were designed, simulated, and analyzed using HFSS. The calculus and results illustrate the effectiveness of using specific parasitic elements to improve the directivity and gain for microstrip array antenna. The results have shown that the suggested methodology has the potential to be applied for improving the antenna performance. Maximum radiation intensity (Umax) of the order of 0.47w/st was recorded, directivity of 6.58dB, and gain better than 6.07dB are readily achievable for the antenna that working.

Keywords: Directivity, director, gain improvement, microstrip antenna.

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Authors: Abd Elrahman Elgamala, N. Darwish, I. Bondouk, Sh. Hamada

Abstract:

Available experimental angular distributions for ⁶Li elastically scattered from ¹⁶O nucleus in the energy range 13.0–50.0 MeV are investigated and reanalyzed using optical model of the conventional phenomenological potential and also using double folding optical model of different interaction models: DDM3Y1, CDM3Y1, CDM3Y2, and CDM3Y3. All the involved models of interaction are of M3Y Paris except DDM3Y1 which is of M3Y Reid and the main difference between them lies in the different values for the parameters of the incorporated density distribution function F(ρ). We have extracted the renormalization factor N_R for ⁶Li+¹⁶O nuclear system in the energy range 13.0–50.0 MeV using the aforementioned interaction models.

Keywords: Elastic scattering, optical model, folding potential, density distribution.

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Authors: Mohamed Kholif, Suaad Awad Mohamed

Abstract:

In this paper we present semantic assistant agent (SAA), an open source digital library agent which takes user query for finding information in the digital library and takes resources- metadata and stores it semantically. SAA uses Semantic Web to improve browsing and searching for resources in digital library. All metadata stored in the library are available in RDF format for querying and processing by SemanSreach which is a part of SAA architecture. The architecture includes a generic RDF-based model that represents relationships among objects and their components. Queries against these relationships are supported by an RDF triple store.

Keywords: Digital Library, Dublin Core, Ontology, Semantic web.

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Authors: Mohamed H. Elhsnawi, Mesbah M. Salem, Saleh B. Mohamed

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Numerical simulation performed to investigate the behavior of the high pressure hydrogen jetting of air. High pressure hydrogen (30–40 MPa) was injected to air at atmospheric pressure through 2mm orifice. Numerical simulations were performed with Kiva3V code with 2D axisymmetric geometry. Numerical simulations showed that auto ignition of high pressure hydrogen to air are possible due to molecular diffusion. Auto ignition was predicted at hydrogen-air contact surface due to mass and energy exchange between high temperature hydrogen and air heated by shock wave.

Keywords: Spontaneous Ignition, Diffusion Ignition, Hydrogen ignition, Hydrogen Jet.

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Authors: Medjram Sofiane, Babahenini Mohamed Chaouki, Mohamed Benali Yamina

Abstract:

Skin detection is an important task for computer vision systems. A good method of skin detection means a good and successful result of the system. The colour is a good descriptor for image segmentation and classification; it allows detecting skin colour in the images. The lighting changes and the objects that have a colour similar than skin colour make the operation of skin detection difficult. In this paper, we proposed a method using the YCbCr colour space for skin detection and lighting effects elimination, then we use the information of texture to eliminate the false regions detected by the YCbCr skin model.

Keywords: Skin detection, YCbCr, GLCM, Texture, Human skin.

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Authors: Mohamed Idris S. Abozaed, Suliman Mohamed Elrajoubi

Abstract:

Researches and concerns in power quality gained significant momentum in the field of power electronics systems over the last two decades globally. This sudden increase in the number of concerns over power quality problems is a result of the huge increase in the use of non-linear loads. In this paper, power quality evaluation of some distribution networks at Misurata - Libya has been done using a power quality and energy analyzer (Fluke 437 Series II). The results of this evaluation are used to minimize the problems of power quality. The analysis shows the main power quality problems that exist and the level of awareness of power quality issues with the aim of generating a start point which can be used as guidelines for researchers and end users in the field of power systems.

Keywords: Power Quality Disturbances, Power Quality Evaluation, Statistical Analysis.

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Authors: Mohamed K. Elsamny, Adel A. Hussein, Amr M. Nafie, Mohamed K. Abd-Elhamed

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An experimental study of Reinforced Concrete, RC, columns strengthened using a steel jacketing technique was conducted. The jacketing technique consisted of four steel vertical angles installed at the corners of the column joined by horizontal steel straps confining the column externally. The effectiveness of the technique was evaluated by testing the RC column specimens under eccentric monotonic loading until failure occurred. Strain gauges were installed to monitor the strains in the internal reinforcement as well as the external jacketing system. The effectiveness of the jacketing technique was demonstrated, and the parameters affecting the technique were studied.

Keywords: Reinforced Concrete Columns, Steel Jacketing, Strengthening, Eccentric Load.

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Authors: Mohamed H. S. Mohamed, Yang Xiao-zong, Liu Hong-wei, Wu Zhi-bo

Abstract:

The reliability of distributed systems and computer networks have been modeled by a probabilistic network or a graph G. Computing the residual connectedness reliability (RCR), denoted by R(G), under the node fault model is very useful, but is an NP-hard problem. Since it may need exponential time of the network size to compute the exact value of R(G), it is important to calculate its tight approximate value, especially its lower bound, at a moderate calculation time. In this paper, we propose an efficient algorithm for reliability lower bound of distributed systems with unreliable nodes. We also applied our algorithm to several typical classes of networks to evaluate the lower bounds and show the effectiveness of our algorithm.

Keywords: Distributed systems, probabilistic network, residual connectedness reliability, lower bound.

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Authors: Osama A. Abdelaal, Saied M. Darwish

Abstract:

Rapid prototyping (RP) techniques are a group of advanced manufacturing processes that can produce custom made objects directly from computer data such as Computer Aided Design (CAD), Computed Tomography (CT) and Magnetic Resonance Imaging (MRI) data. Using RP fabrication techniques, constructs with controllable and complex internal architecture with appropriate mechanical properties can be achieved. One of the attractive and promising utilization of RP techniques is related to tissue engineering (TE) scaffold fabrication. Tissue engineering scaffold is a 3D construction that acts as a template for tissue regeneration. Although several conventional techniques such as solvent casting and gas forming are utilized in scaffold fabrication; these processes show poor interconnectivity and uncontrollable porosity of the produced scaffolds. So, RP techniques become the best alternative fabrication methods of TE scaffolds. This paper reviews the current state of the art in the area of tissue engineering scaffolds fabrication using advanced RP processes, as well as the current limitations and future trends in scaffold fabrication RP techniques.

Keywords: Biomanufacturing, Rapid prototyping, Solid FreeForm Fabrication, Scaffold Fabrication, Tissue Engineering

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Authors: Mohamed EL Boujnouni, Mohamed Jedra, Noureddine Zahid

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Support Vector Domain Description (SVDD) is one of the best-known one-class support vector learning methods, in which one tries the strategy of using balls defined on the feature space in order to distinguish a set of normal data from all other possible abnormal objects. As all kernel-based learning algorithms its performance depends heavily on the proper choice of the kernel parameter. This paper proposes a new approach to select kernel's parameter based on maximizing the distance between both gravity centers of normal and abnormal classes, and at the same time minimizing the variance within each class. The performance of the proposed algorithm is evaluated on several benchmarks. The experimental results demonstrate the feasibility and the effectiveness of the presented method.

Keywords: Gravity centers, Kernel’s parameter, Support Vector Domain Description, Variance.

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Authors: Rand Alfaris, Mohamed Rushdan MD Said, Mohamed Othman, Fudziah Ismail

Abstract:

This paper is introduced a modification to Diffie- Hellman protocol to be applicable on the decimal numbers, which they are the numbers between zero and one. For this purpose we extend the theory of the congruence. The new congruence is over the set of the real numbers and it is called the “real congruence" or the “real modulus". We will refer to the existing congruence by the “integer congruence" or the “integer modulus". This extension will define new terms and redefine the existing terms. As the properties and the theorems of the integer modulus are extended as well. Modified Diffie-Hellman key exchange protocol is produced a sharing, secure and decimal secret key for the the cryptosystems that depend on decimal numbers.

Keywords: Extended theory of the congruence, modified Diffie- Hellman protocol.

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Authors: Sawsan Dacrory, Hussein Abou-Yousef, Samir Kamel, Ragab E. Abou-Zeid, Mohamed S. Abdel-Aziz, Mohamed Elbadry

Abstract:

A considerable amount of lignocellulosic by-product could be obtained from olive pulp during olive oil extraction industry. The major constituents of the olive pulp are husks and seeds. The separation of each portion of olive pulp (seeds and husks) was carried out by water flotation where seeds were sediment in the bottom. Both seeds and husks were dignified by 15% NaOH followed by complete lignin removal by using sodium chlorite in acidic medium. The isolated holocellulose, α-cellulose, hydrogel and CMC of both seeds and husk fractions were characterized by FTIR and SEM. The present study focused on the investigation of the chemical components of the lignocellulosic fraction of olive pulp and using them in medical application. Carboxymethyl cellulose (CMC) is produced and applied in the preparation of antimicrobial hydrogel.

Keywords: Carboxymethyl cellulose, cellulose, hydrogel olive pulp.

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Authors: Mahmoud S. Ahmed, Hany A. Mohamed, Mohamed A. Omara, Mohamed F. Abdeen

Abstract:

Experimental study of natural convection heat transfer inside smooth and rough surfaces of vertical and inclined equilateral triangular channels of different inclination angles with a uniformly heated surface are performed. The inclination angle is changed from 15º to 90º. Smooth and rough surface of average roughness (0.02mm) are used and their effect on the heat transfer characteristics are studied. The local and average heat transfer coefficients and Nusselt number are obtained for smooth and rough channels at different heat flux values, different inclination angles and different Rayleigh numbers (Ra) 6.48 × 105 ≤ Ra ≤ 4.78 × 106. The results show that the local Nusselt number decreases with increase of axial distance from the lower end of the triangular channel to a point near the upper end of channel, and then, it slightly increases. Higher values of local Nusselt number for rough channel along the axial distance compared with the smooth channel. The average Nusselt number of rough channel is higher than that of smooth channel by about 8.1% for inclined case at θ = 45o and 10% for vertical case. The results obtained are correlated using dimensionless groups for both rough and smooth surfaces of the inclined and vertical triangular channels.

Keywords: Natural heat transfer convection, constant heat flux, open channels, heat transfer.

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Authors: Manal Hassan Abdel Aziz, Fatma Mohamed Magdy Badr El Dine, Nourhan Mohamed Mohamed Saeed

Abstract:

Establishing association between lip print patterns and those of fingerprints as well as blood groups is of fundamental importance in the forensic identification domain. The first aim of the current study was to determine the prevalent types of ABO blood groups, lip prints and fingerprints patterns in both studied populations. Secondly, to analyze any relation found between the different print patterns and the blood groups, which would be valuable in identification purposes. The present study was conducted on 60 healthy volunteers, (30 males and 30 females) from each of the studied population. Lip prints and fingerprints were obtained and classified according to Tsuchihashi's classification and Michael Kuchen’s classification, respectively. The results show that the ulnar loop was the most frequent among both populations. Blood group A was the most frequent among Egyptians, while blood groups O and B were the predominant among Malaysians. Significant relations were observed between lip print patterns and fingerprint (in the second quadrant for Egyptian males and the first one for Malaysian). For Malaysian females, a statistically significant association was proved in the fourth quadrant. Regarding the blood groups, 89.5% of ulnar loops were significantly related to blood group A among Egyptian males. The results proved an association between the fingerprint pattern and the lip prints, as well as between the ABO blood group and the pattern of fingerprints. However, further researches with larger sample sizes need to be directed to approve the current results.

Keywords: ABO, cheiloscopy, dactylography, Egyptians, Malaysians.

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Authors: Osama Mohamed Elrajubi, Idris El-Feghi, Mohamed Abu Baker Saghayer

Abstract:

This paper describes an identification of specific shapes within binary images using the morphological Hit-or-Miss Transform (HMT). Hit-or-Miss transform is a general binary morphological operation that can be used in searching of particular patterns of foreground and background pixels in an image. It is actually a basic operation of binary morphology since almost all other binary morphological operators are derived from it. The input of this method is a binary image and a structuring element (a template which will be searched in a binary image) while the output is another binary image. In this paper a modification of Hit-or-Miss transform has been proposed. The accuracy of algorithm is adjusted according to the similarity of the template and the sought template. The implementation of this method has been done by C language. The algorithm has been tested on several images and the results have shown that this new method can be used for similar shape detection.

Keywords: Hit-or/and-Miss Operator/Transform, HMT, binary morphological operation, shape detection, binary images processing.

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Authors: M. Arabghahestani, A. Darwish Ahmad, N. K. Akafuah

Abstract:

In this work, small-scale experiments of fire whirl were conducted to study the spinning fire phenomenon and to gain comprehensive understandings of fire tornadoes and the factors that affect their behavior. High speed imaging was used to track the flames at both temporal and spatial scales. This allowed us to better understand the role of the near-ground height in creating a boundary layer flow profile that, in turn contributes to formation of vortices around the fire, and consequent fire whirls. Based on the results obtained from these observations, we were able to spot the differences in the fuel burning rate of the fire itself as a function of a newly defined specific non-dimensional near-ground height. Based on our observations, there is a cutoff non-dimensional height, beyond which a normal fire can be turned into a fire whirl. Additionally, the results showed that the fire burning rate decreases by moving the fire to a height higher than the ground level. These effects were justified by the interactions between vortices formed by, the back pressure and the boundary layer velocity profile, and the vortices generated by the fire itself.

Keywords: Boundary layer profile, fire whirls, near-ground height, vortex interactions.

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Authors: ElShazali A. Mohamed, Isam A. Mohamed Ahmed, Elfadil E. Babiker

Abstract:

This work describes refrigeration effects during storage on total protein and amino acids composition of raw and processed flour of two pearl millet cultivars (Ashana and Dembi). The protein content of the whole raw flour was found to be 14.46 and 13.38% for Ashana and Dembi cultivars, respectively. Dehulling of the grains reduced the protein content to 13.38 and 12.67% for the cultivars, respectively. For both cultivars, the protein content of the whole and dehulled raw flour before and after cooking was slightly decreased when the flour was stored for 60 days even after refrigeration. The effect of refrigeration process in combination with the storage period, cooking or dehulling was found to be vary between amino acids and even between cultivars. Regardless of the storage period and processing method, the amino acids content was remained unchanged after refrigeration for both cultivars.

Keywords: Amino acids, dehulling, Irradiation, Millet, protein content.

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Authors: Sawsan Dacrory, Hussein Abou-Yousef, Samir Kamel, Ragab E. Abou-Zeid, Mohamed S. Abdel-Aziz, Mohamed Elbadry

Abstract:

A considerable amount of lignocellulosic by-product could be obtained from olive pulp during olive oil extraction industry. The major constituents of the olive pulp are husks and seeds. The separation of each portion of olive pulp (seeds and husks) was carried out by water flotation where seeds were sediment in the bottom. Both seeds and husks were dignified by 15% NaOH followed by complete lignin removal by using sodium chlorite in acidic medium. The isolated holocellulose, α-cellulose, hydrogel and CMC which prepared from cellulose of both seeds and husk fractions were characterized by FTIR and SEM. The present study focused on the investigation of the chemical components of the lignocellulosic fraction of olive pulp. Biofunctionlization of hydrogel was achieved through loading of silver nanoparticles AgNPs in to the prepared hydrogel. The antimicrobial activity of the loaded silver hydrogel against G-ve, and G+ve, and candida was demonstrated.

Keywords: Antimicrobial hydrogel, carboxymethyl cellulose, cellulose, grafting, olive pulp.

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Authors: Nermin A. Mohamed, Mohamed F. Madkour

Abstract:

We address the problem of joint beamforming and multipath channel parameters estimation in Wideband Code Division Multiple Access (WCDMA) communication systems that employ Multiple-Access Interference (MAI) suppression techniques in the uplink (from mobile to base station). Most of the existing schemes rely on time multiplex a training sequence with the user data. In WCDMA, the channel parameters can also be estimated from a code multiplexed common pilot channel (CPICH) that could be corrupted by strong interference resulting in a bad estimate. In this paper, we present new methods to combine interference suppression together with channel estimation when using multiple receiving antennas by using adaptive signal processing techniques. Computer simulation is used to compare between the proposed methods and the existing conventional estimation techniques.

Keywords: Adaptive arrays, channel estimation, interferencecancellation, wideband code division multiple access (WCDMA).

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Authors: Xiaoyun Zhao, Rami Darwish, Anna Pernestål

Abstract:

Automated vehicles (AVs) have the potential to enhance road capacity, improving road safety and traffic efficiency. Research and development on AVs have been going on for many years. However, when the complicated traffic rules and real situations interacted, AVs fail to make decisions on contradicting situations, and are not able to have control in all conditions due to highly dynamic driving scenarios. This limits AVs’ usage and restricts the full potential benefits that they can bring. Furthermore, regulations, infrastructure development, and public acceptance cannot keep up at the same pace as technology breakthroughs. Facing these challenges, this paper proposes automated vehicle traffic control tower (AVTCT) acting as a safe, efficient and integrated solution for AV control. It introduces a concept of AVTCT for control, management, decision-making, communication and interaction with various aspects in transportation. With the prototype demonstrations and simulations, AVTCT has the potential to overcome the control challenges with AVs and can facilitate AV reaching their full potential. Possible functionalities, benefits as well as challenges of AVTCT are discussed, which set the foundation for the conceptual model, simulation and real application of AVTCT.

Keywords: Automated vehicle, connectivity and automation, intelligent transport system, traffic control, traffic safety.

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Authors: Mohamed Adel Sennouni, Jamal Zbitou, Benaissa Abboud, Abdelwahed Tribak, Hamid Bennis, Mohamed Latrach

Abstract:

A compact UWB planar antenna fed with a microstrip-line is proposed. The new design consist of a rectangular patch with symmetric l-shaped slots and fed by 50 Ω microstrip transmission line and a reduced ground-plane which have a periodic slots with an overall size of 47 mm x 20 mm. It is intended to be used in wireless applications that cover the ultra-wideband (UWB) frequency band. A wider impedance bandwidth of around 116.5% (1.875 – 7.115 GHz) with stable radiation pattern is achieved. The proposed antenna has excellent characteristics, low profile and costeffective compared to existing UWB antennas. The UWB antenna is designed and analyzed using CST Microwave Studio in transient mode to verify antenna parameters improvements.

Keywords: UWB Planar Antenna, L-shaped Slots, Wireless Applications, impedance band-width, radiation pattern, CST Microwave Studio.

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Authors: Tayeb Bensattalah, Mohamed Zidour, Mohamed Ait Amar Meziane, Tahar Hassaine Daouadji, Abdelouahed Tounsi

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In this paper, the Differential Transform Method (DTM) is employed to predict and to analysis the non-local critical buckling loads of carbon nanotubes with various end conditions and the non-local Timoshenko beam described by single differential equation. The equation differential of buckling of the nanobeams is derived via a non-local theory and the solution for non-local critical buckling loads is finding by the DTM. The DTM is introduced briefly. It can easily be applied to linear or nonlinear problems and it reduces the size of computational work. Influence of boundary conditions, the chirality of carbon nanotube and aspect ratio on non-local critical buckling loads are studied and discussed. Effects of nonlocal parameter, ratios L/d, the chirality of single-walled carbon nanotube, as well as the boundary conditions on buckling of CNT are investigated.

Keywords: Boundary conditions, buckling, non-local, the differential transform method.

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Authors: Mohamed T. Sorour, Mohamed A. Abdellatif, Ahmed A. Ramadan, Ahmed A. Abo-Ismail

Abstract:

This paper describes the development of an autonomous robot for painting the interior walls of buildings. The robot consists of a painting arm with an end effector roller that scans the walls vertically and a mobile platform to give horizontal feed to paint the whole area of the wall. The painting arm has a planar twolink mechanism with two joints. Joints are driven from a stepping motor through a ball screw-nut mechanism. Four ultrasonic sensors are attached to the mobile platform and used to maintain a certain distance from the facing wall and to avoid collision with side walls. When settled on adjusted distance from the wall, the controller starts the painting process autonomously. Simplicity, relatively low weight and short painting time were considered in our design. Different modules constituting the robot have been separately tested then integrated. Experiments have shown successfulness of the robot in its intended tasks.

Keywords: Automated roller painting, Construction robots, Mobile robots, service robots, two link planar manipulator

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