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Fractional synergetic tracking control for robot manipulator

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Journal of Control and Decision 2024年第1期11卷 139-152页

作者： Asma Saif raouf Fareh Saif Sinan Maamar Bettayeb Department of Electrical Engineering University of SharjahSharjahUAE Department of Electrical Engineering École de technologie supérieureMontrealCanada CEIES King Abdulaziz UniversityJeddahSaudi Arabia

This work takes advantage of synergetic control theory and fractional calculus to develop and propose fractional synergetic control(FSC)strategy for Four Degrees of Freedom(4-DOF)robot *** proposed fractional synergetic control is designed to track a joint space as well as workspace desired *** calculus gives more flexibility in the design since it has a wider stability *** to that,as stated in the literature,compared to a similar approach such as sliding mode control,the synergetic control approach converges faster to the equilibrium point,without chattering with a fast *** paper proposes a new control strategy that takes advantage of fractional calculus and synergetic control *** proposed control strategy is tested experimentally on a 4-DOF manipulator to study the performance of the proposed control *** stability of the closed-loop system is proved using the Lyapunov *** experimental results have shown that the proposed FSC design has achieved a good tracking performance.

关键词： Synergetic control robust control robot manipulator fractional controller

Thermal performance of domed roof in air-conditioned spaces

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Energy and Built Environment 2024年第2期5卷 270-287页

作者： Ibrahim Reda raouf N.AbdelMessih Mohamed Steit Ehab M.Mina Mechanical Power Engineering Faculty of EngineeringAin Shams University1 El-Sarayat St.Cairo 11517Egypt Architectural Engineering Faculty of EngineeringAin Shams UniversityCairoEgypt

Due to their thermal performance,domed roofs are one of the passive solutions that affect energy consumption in *** thermal performance of domed roofs has been investigated in many naturally ventilated ***,few studies have discussed their performance in conditioned ***,this study introduces a computational comparison between domed and flat roofs to investigate their impact on thermal comfort inside a conditioned *** an earlier stage,field measurements were carried out inside a Bahraini mosque to acquire its indoor air conditions during the summer period of 2021,in addition to validating the computational *** findings of this study confirm that,under mechanical cooling conditions,the flat roof offers a lower indoor temperature than the domed roof by 0.4℃and 0.1℃for open and closed doors,***,the air velocity is lower by approximately 0.01 m/s for both door *** overall PMV values of the flat roof are also lower by 0.07 and 0.01,while the PPD values are lower by 0.20,and 0.34 for open and closed doors,*** on these small differences,it can be concluded that the thermal performance of both roofing systems behaves equally in conditioned ***,the air patterns are substantially different,the overall thermal performance is *** similarity drives building designers to rethink the thermal performance of the domed roofs in air-conditioned spaces with such a hot climate,regardless of their aesthetic and acoustical behaviour.

关键词： Thermal comfort Computational fluid dynamics(CFD) Predicted mean vote(PMV)and predicted percentage dissatisfied(PPD) Domed roof Flat roof

SYNTHESIS AND CHARACTERIZATION OF SCHIFF-BASE-CONTAINING POLYAMIDES

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Chinese Journal of Polymer Science 2011年第2期29卷 149-155页

作者： Mousa Ghaemy Hossein Mighani raouf Alizadeh Department of Chemistry Mazandaran UniversityBabolsarIran

A series of new Schiff base polyamides（PAs） were synthesized by polycondensation of benzilbisthiosemicarbazone diamine（LH6） with different commercially available aliphatic and aromatic diacid chlorides. The monomer and all the PAs were characterized by FTIR,^1H-NMR,and elemental *** prepared polyamides showed inherent viscosities in the range of 0.30-0.36 dL/g in DMF at 25℃,indicating their moderate molecular *** PAs were completely soluble in aprotic polar solvents such as dimethylformamide（DMF）,N-methylpyrolidone（NMP）, tetrachloroethane（TCE）,dimthylsulfoxide（DMSO） and also in H_2SO_4 and partially soluble in THF,acetone and chloroform at room *** analysis showed that these PAs were practically amorphous and exhibited 10%weight loss above 220℃.

关键词： Polyamides Schiff base polymers Solubility Thermal stability

Efficient Authentication Scheme for UAV-Assisted Mobile Edge Computing

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Computers, Materials & Continua 2023年第5期75卷 2727-2740页

作者： Maryam Alhassan Abdul raouf Khan Department of Computer Science College of Computer Science and Information TechnologyKing Faisal UniversityAlahssa31982Kingdom of Saudi Arabia

Preserving privacy is imperative in the new unmanned aerial vehicle(UAV)-assisted mobile edge computing(MEC)architecture to ensure that sensitive information is protected and kept secure throughout the ***,efficiency must be considered while developing such a privacy-preserving scheme because the devices involved in these architectures are resource *** study proposes a lightweight and efficient authentication scheme for *** proposed scheme is a hardware-based password-less authentication mechanism that is based on the fact that temporal and memory-related efficiency can be significantly improved while maintaining the data security by adopting a hardwarebased solution with a simple *** proposed scheme works in four stages:system initialization,EU registration,EU authentication,and session *** is implemented as a single hardware chip comprising registers and XOR gates,and it can run the entire process in one clock ***,the proposed scheme has significantly higher efficiency in terms of runtime and memory consumption compared to other prevalent methods in the *** are conducted to evaluate the proposed authentication *** results show that the scheme has an average execution time of 0.986 ms and consumes average memory of 34 *** hardware execution time is approximately 0.39 ns,which is a significantly less than the prevalent schemes,whose execution times range in ***,the security of the proposed scheme is examined,and it is resistant to brute-force *** 1.158×10^(77) trials are required to overcome the system’s security,which is not feasible using fastest available processors.

关键词： MEC UAVs drones security efficiency authentication hardware-based solution password-less authentication

Equilibria in Interdependent Natural-gas and Electric Power Markets: an Analytical Approach

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Journal of Modern Power Systems and Clean Energy 2021年第4期9卷 776-787页

作者： Seyedamirabbas Mousavian Beheshteh raouf Antonio J.Conejo David D.Reh School of Business Clarkson UniversityPotsdamNew York 13699-5790USA Department of Electrical and Computer Engineering Clarkson UniversityPotsdamNew York 13699-5790USA Department of Integrated Systems Engineering and Department of Electrical and Computed Engineering The Ohio State UniversityColumbusOhio 43210USA

Natural-gas and electric power systems and their corresponding markets have evolved over time independently. However, both systems are increasingly interdependent since combined cycle gas turbines that use natural gas to produce electricity increasingly couple them together. Therefore, suitable analysis techniques are most needed to comprehend the consequences on market outcomes of an increasing level of integration of both systems. There is a vast literature on integrated natural-gas and electric power markets assuming that the two markets are operated centrally by a single operator. This assumption is often untrue in the real world, which necessitates developing models for these interdependent yet independent markets. In this vein, this paper addresses the gap in the literature and provides analytical Nash-Cournot equilibrium models to represent the joint operation of natural-gas and electric power markets with the assumption that the market participants in each market make their own decisions independently seeking the maximum profits, as often is the case in the real world. We develop an analytical equilibrium model and apply the Karush-Kuhn-Tucker (KKT) approach to obtain Nash-Cournot equilibria for the interdependent natural-gas and electric power markets. We use a double-duopoly case to study the interaction of both markets and to derive insightful analytical results. Moreover, we derive closed-form analytical expressions for spot-market equilibria in both natural-gas and electric power markets, which are relevant and of practical significance for decision makers. We complement the double-duopoly study with a detailed sensitivity analysis.

关键词： Electric power market natural-gas market Nash-Cournot equilibria analytical equilibrium model

Single-session minimally invasive management of common bile duct stones

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World Journal of Gastroenterology 2014年第41期20卷 15144-15152页

作者： Ahmed Abdel raouf ElGeidie Gastroenterology Surgical Center Mansoura University

Up to 18% of patients submitted to cholecystectomy had concomitant common bile duct *** avoid serious complications,these stones should be *** is no consensus about the ideal management strategy for such ***,open surgery was offered but with the advent of endoscopic retrograde cholangiopancreatography(ERCP) and laparoscopic cholecystectomy(LC) minimally invasive approach had nearly replaced laparotomy because of its well-known *** invasive approach could be done in either twosession(preoperative ERCP followed by LC or LC followed by postoperative ERCP) or single-session(laparoscopic common bile duct exploration or LC with intraoperative ERCP).Most recent studies have found that both options are equivalent regarding safety and efficacy but the singlesession approach is associated with shorter hospital stay,fewer procedures per patient,and less ***,single-session option should be offered to patients with cholecysto-choledocholithiaisis provided that local resources and expertise do ***,the management strategy should be tailored according to many variables,such as available resources,experience,patient characteristics,clinical presentations,and surgical pathology.

关键词： Laparoscopic exploration Endoscopic retrograde cholangiopancreatography Common bile duct stones Minimally invasive approach Single-session

Synthesis of organosoluble polyamides with bulky triaryl imidazole pendent group

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Chinese Chemical Letters 2009年第8期20卷 961-964页

作者： Mousa Ghaemy Hossein Behmadi raouf Alizadeh Faculty of Chemistry Mazandaran UniversityBabolsar 47416-1467 Iran

New unsymmetrical diamine monomer containing triaryl imidazole pendent group, 4-[4-（4,5-diphenyl-1H-imidazol-2-y1）phe- noxy]-1,3-benzenediamine, was synthesized via aromatic substitution reaction of 1-chloro-2,4-dinitrobenzene with 4-（4,5- diphenyl-1H-imidazol-2-y1）pbenol, followed by palladium-catalyzed hydrazine reduction. This new monomer was further confirmed by FT-IR, IH NMR and ^13C NMR. Novel polyamides having pendant triaryl imidazole group were prepared by the phosphorylation polycondensation of four commercially aromatic dicarboxylic acids with the prepared diamine. Inherent viscosities of polyamides were in the range 0.42-0.53 dL/g indicating formation of medium molecular weight polymers. Polyamides exhibited glass-transition temperature （Tg） in the range 236-265 ℃. These polymers are essentially amorphous and were soluble in polar aprotic solvents such as DMF, NMP, DMAc. The 10% weight loss temperatures in air atmosphere, measured by TGA were in the range 350-373 ℃ indicating their good thermal stabilities. ？2009 Mousa Ghaemy. Published by Elsevier B.V. on behalf of Chinese Chemical Society. All rights reserved.

关键词： Polyamides Bulky pendent group Thermal properties Imidazole

Synthesis of Some New 1,4-Dihydropyridine Derivatives through a Facile One-pot Hantzsch Condensation Catalyzed by Triethylamine

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Chinese Journal of Chemistry 2012年第3期30卷 733-737页

作者： Ghalem, Wassima Boulcina, raouf Debache, Abdelmadjid Laboratoire de Synthese des Molecules d＇Interet Biologique Departement de ChimieFaculte des Sciences Exactes Universite Mentouri de Constantine 25000 Constantine Algerie

A facile and efficient synthesis of new 1,4-dihydropyridine derivatives was reported via Hantzsch three-com- ponent condensation reaction of aldehydes or formylphenylboronic acids, ethyl acetoacetate, and ammonium acetate in the presence of a catalytic amount of triethylamine under solvent-free conditions. The method described here of- fers several advantages including high yields, short reaction times, and simple work-up procedure.

关键词： 1,4-dihydropyridine triethylamine formylphenylboronic acid Hantzsch reaction solvent-flee condi-tion

Cancers in Eastern Libya: First results from Benghazi Medical Center

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World Journal of Gastroenterology 2014年第20期20卷 6293-6301页

作者： Zuhir Bodalal raouf Azzuz Riyad Bendardaf Department of Surgery Faculty of Medicine Libyan International Medical University Benghazi 15016 Libya Department of Oncology and Hematology Benghazi Medical Center Benghazi 24508 Libya Oncology Unit Department of Medicine University Hospital Sharjah Sharjah 72772 United Arab Emirates

AIM: To study the pattern of cancer incidence and determine the incidence rates in Eastern Libya (for the first time in a decade).

关键词： Colorectal cancer Cancer incidence Age-standardized rates Libya Mediterranean Epidemiology