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Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller

International Journal of Intelligent Computing and Cybernetics 2017年第4期10卷 530-548页

作者： Auday Almayyahi Weiji Wang Alaa Adnan hussein Phil Birch Department of Engineering and Design University of SussexBrightonUK

Purpose–The motion control of unmanned ground vehicles(UGV)is a challenge in the industry of *** purpose of this paper is to propose a fuzzy inference system(FIS)based on sensory information for solving the navigation challenge of UGV in cluttered and dynamic ***/methodology/approach–The representation of the dynamic environment is a key element for the operational field and for the testing of the robotic navigation *** dynamic obstacles move randomly in the operation field,the navigation problem becomes more complicated due to the coordination of the elements for accurate navigation and collision-free path within the environmental *** paper considers the construction of the FIS,which consists of two *** first controller uses three sensors based on the obstacles distances from the front,right and *** second controller employs the angle difference between the heading of the vehicle and the targeted angle to obtain the optimal route based on the environment and reach the desired destination with minimal running power and *** proposed design shows an efficient navigation strategy that overcomes the current navigation challenges in dynamic ***–Experimental analyses are conducted for three different scenarios to investigate the validation and effectiveness of the introduced controllers based on the *** reported simulation results are obtained using MATLAB software *** results show that the controllers of the FIS consistently perform the manoeuvring task and manage the route plan efficiently,even in a complex environment that is populated with dynamic *** paper demonstrates that the destination was reached optimally using the shortest free *** limitations/implications–The paper represents efforts toward building a dynamic environment filled with dynamic obstacles that move at various speeds and *** methodology of designing the FIS is accom

关键词： Fuzzy inference system(FIS) Dynamic obstacles avoidance Intelligent controller Unmanned ground vehicle(UGV)

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On the Relationship between Climatic Variables and Pressure Systems over Saudi Arabia in the Winter Season

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Advances in Atmospheric Sciences 2015年第5期32卷 690-703页

作者： H.M.HASANEAN H.Abdel BASSET M.A.A.hussein Department of Meteorology Faculty of Meteorology Environment and Arid Land AgricultureKing Abdulaziz University Department of Meteorology and Astronomy Faculty of Science Al-Azhar University

The synoptic circulation over Saudi Arabia is complicated and frequently governed by the effect of large-scale pressure systems. In this work, we used NCEP–NCAR global data to illustrate the relationship between climatic variables and the main pressure systems that affect the weather and climate of Saudi Arabia, and also to investigate the influence of these pressure systems on surface air temperature（SAT） and rainfall over the region in the winter season. It was found that there are two primary patterns of pressure that influence the weather and climate of Saudi Arabia. The first occurs in cases of a strengthening Subtropical High（Sub H）, a weakening Siberian High（Sib H）, a deepening of the Icelandic Low（Ice L）, or a weakening of the Sudanese Low（Sud L）. during this pattern, the Sub H combines with the Sib H and an obvious increase of sea level pressure（SLP） occurs over southern European, the Mediterranean, North Africa, and the Middle East. This belt of high pressure prevents interaction between midlatitude and extratropical systems, which leads to a decrease in the SAT,relative humidity（RH） and rainfall over Saudi Arabia. The second pattern occurs in association with a weakening of the Sub H, a strengthening of the Sib H, a weakening of the Ice L, or a deepening of the Sud L. The pattern arising in this case leads to an interaction between two different air masses： the first（cold moist） air mass is associated with the Mediterranean depression travelling from west to east, while the second（warm moist） air mass is associated with the northward oscillation of the Sud L and its inverted V-shape trough. The interaction between these two air masses increases the SAT, RH and the probability of rainfall over Saudi Arabia, especially over the northwest and northeast regions.

关键词： climatic variables pressure system surface air temperature rainfall relative humidity Saudi Arabia

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Spectrofluorimetric Determination of Cu^2＋ Using New Fluorogenic Reagent

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Chinese Journal of Chemistry 2005年第2期23卷 160-165页

作者： MOHAMMAD-hussein,Sorouraddin MOHAMMAD-REza,rashidi BEHROOZ,Shabani EBraHIM,Ghorbani-Kalhor AnalyticalChemistryDepartment FacultyofChemistryTabrizUniversityP.O.Box51664TabrizIran DrugAppliedResearchCenter TabrizUniversityofMedicalScienceTabrizIran InorganicChemistryDepartment FacultyofChemistryTabrizUniversityTabrizIran

A new synthesized fluorogenic reagent, 8-[(2-pyridine)methylideneamino] quinoline (PMAQ), was utilized for spectrofluorimetric determination of Cu(II) at trace levels. PMAQ, a good fluorogenic reagent, though insoluble in water, but is soluble in ethanol and 20% ethanol-water. The excitation and the fluorescence wavelengths of PMAQ were 310 and 434 nm respectively. When the reagent was complexed with Cu(II), the fluorescence intensity decreased proportionally with the concentration of Cu(II) at pH 4.5 by a static quenching effect. The highest sensitivity to Cu2+ determination was shown to be at PMAQ concentration of 1.0 X 10(-5) mol.L-1. In order to enhance the quenching effect, the Cu(II)-PMAQ complex solution was kept at 22 degreesC for 20 min. Though the interferences by Co(II) and Fe(III) were very serious, they were however, completely eliminated by being masked with oxalate and ascorbate ions respectively. The linear dynamic range for Cu(II) determination was between 25-441 mug.L-1 with the detection limit of 18 mug.L-1 (RSD=3.7%, n=6). The proposed method was successfully applied to the determination of Cu(II) in real samples including human blood serum, commercial tea and wheat flour.

关键词： copper determination fluorogenic reagent spectrofluorimetry

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cis-1,3,4,6-Tetranitrooctahydroimidazo-[4,5-d]imidazole(BCHMX)as a part of explosive mixtures

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Defence Technology（防务技术） 2018年第5期14卷 380-384页

作者： Svatopluk Zeman Ahmed K.hussein Ahmed Elbeih Marcela Jungova Institute of Energetic Materials Faculty of Chemical TechnologyUniversity of PardubiceCZ-532 10PardubiceCzech Republic Military Technical College Kobry ElkobbahCairoEgypt

cis-1,3,4,6-Tetranitrooctahydroimidazo-[4,5-d]imidazole(BCHMX) is a relatively available bicyclic nitramine in the present. due to the high energetic content of its molecule(deformation of valence angles) it has heat of formation higher than β-1,3,5,7-tetranitro-1,3,5,7-tetrazocane(β-HMX) by nearly three times. As a result, it has heat of explosion and relative explosive strength exceed that of β-HMX including their corresponding PBXs. However, penetration abilities of PBXs based on HMX are higher than those based on BCHMX. The relatively high initiation reactivity of BCHMX could be modified in a wide range by its incorporation in a suitable polymeric matrices. Regarding to the performance, coating of BCHMX crystals by 5 wt% Viton A produces the maximum performance while the mixture of BCHMX with polydimethylsiloxane(PDMS) seems to be the optimum composition for the development of PBX with low sensitivity.

关键词： BCHMX Initiation Sensitivity Explosive strength Penetration

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Electroexcitation of Low-Lying Particle-Hole RPA States of ^(16)O with WBP Interaction

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Communications in Theoretical Physics 2014年第12期61卷 839-846页

作者： Ali H.Taqi R.A.radhi Adil M.hussein Department of Physics College of Science Kirkuk University Department of Physics College of Science University of Baghdad Department of Physics College of Science University of Sulaimani

The nuclear structure of 16 O is studied in the framework of the particle–hole random phase approximation(ph RPA). The Hamiltonian is diagonalized within a model space with particle orbits {1d5/2,1d3/2, and 2s1/2} and the hole orbits {1p3/2and 1p1/2} using Warburton and Brown interaction WBP. The ph RPA calculations are tested, by comparing the electron scattering form factors with the available experimental data. The results of electron scattering form factors and reduced transition strength for the states: 1-, T = 0(7.116 Me V); 2-, T = 1(12.968 Me V); 2-, T = 1(20.412 Me V); and 3-, T = 0(6.129 Me V) are interpreted in terms of the harmonic-oscillator(HO) wave functions of size parameter b. The occupation probabilities of the single particle and hole orbits are calculated. The spurious states are removed by adding the center of mass(CM) correction to the nuclear Hamiltonian. A comparison with the available experiments data is presented.

关键词： random-phase approximation collective excitations and electromagnetic form factors

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Course Evaluation Based on Deep Learning and SSA Hyperparameters Optimization

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Computers, Materials & Continua 2022年第4期71卷 941-959页

作者： Alaa A.El-Demerdash Sherif E.hussein John FW zaki Department of Computer and Systems Faculty of EngineeringMansoura UniversityMansoura35516Egypt

Sentiment analysis attracts the attention of Egyptian Decisionmakers in the education *** offers a viable method to assess education quality services based on the students’feedback as well as that provides an understanding of their *** machine learning techniques offer automated strategies to process big data derived from social media and other digital channels,this research uses a dataset for tweets’sentiments to assess a few machine learning *** dataset preprocessing to remove symbols,necessary stemming and lemmatization is performed for features *** is followed by several machine learning techniques and a proposed Long Short-Term Memory(LSTM)classifier optimized by the Salp Swarm Algorithm(SSA)and measured the corresponding ***,the validity and accuracy of commonly used classifiers,such as Support Vector Machine,Logistic Regression Classifier,and Naive Bayes classifier,were ***,LSTM based on the SSA classification model was compared with Support Vector Machine(SVM),Logistic Regression(LR),and Naive Bayes(NB).Finally,as LSTM based SSA achieved the highest accuracy,it was applied to predict the sentiments of students’feedback and evaluate their association with the course outcome evaluations for education quality purposes.

关键词： Sentiment analysis course evaluation deep learning Bi-LSTM opinion mining students feedback natural language processing machine learning tweets analysis SSA

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Damage Identification of Bridge Structures Based on Static and Dynamic Response

Damage Identification of Bridge Structures Based on Static a...

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作者： Abdirizak hussein Mohamud 绍兴文理学院

学位级别：硕士

与等截面梁桥相比,桥梁结构具有节省工程材料、减轻结构自重、降低造价等优点,在高速公路和铁路上得到广泛应用。然而,这些桥梁结构在使用过程中不可避免地会受到不同程度的破坏。根据不同的试验条件,采用静态响应或动态响应的损伤识别... 详细信息

与等截面梁桥相比,桥梁结构具有节省工程材料、减轻结构自重、降低造价等优点,在高速公路和铁路上得到广泛应用。然而,这些桥梁结构在使用过程中不可避免地会受到不同程度的破坏。根据不同的试验条件,采用静态响应或动态响应的损伤识别方法识别桥梁结构的损伤,从而获得桥梁结构的健康状态,具有重要的理论研究意义和工程应用价值。本文研究了基于静动力响应的桥梁结构损伤识别方法。主要包括以下几个方面:(1)推导了桥梁结构单元刚度矩阵和单元质量矩阵的积分表达式,利用MATLAB得到了单元刚度矩阵和单元质量矩阵的元素。积分刚度矩阵与单元质量矩阵的积分律研究了桥梁结构的整体质量矩阵。以桥梁结构预制梁的吊装问题为例,对刚度矩阵进行了验证,结果表明该理论是合理的。(2)为了获得静态响应信号下桥梁结构的损伤位置和损伤程度信息,提出了一种基于静态响应信号的桥梁结构损伤识别方法。首先在结构静力平衡方程中引入损伤因子,通过计算损伤因子的偏导数,得到单元刚度矩阵相对于损伤因子的灵敏度矩阵。然后,将灵敏度矩阵代入变形差异与损伤因子之间的函数关系。最后,根据泰勒级数展开定律,建立了基于刚度敏感矩阵的结构损伤识别理论分析模型。(3)为了获得动力响应信号下桥梁结构桥梁的损伤位置和损伤程度信息,提出了一种基于改进柔度敏感性的桥梁结构桥梁损伤识别方法。首先在无坝自由振动特征方程中引入损伤因子,通过推导损伤因子推导出特征值敏感度矩阵相对于损伤因子的解析表达式。然后,根据Neumann级数展开,推导出特征向量相对于损伤因子的灵敏度矩阵。最后,将特征对的灵敏度矩形代入无坝线性系统的模态柔度灵敏度解析表达式,得到模态柔度相对于损伤因子的灵敏度矩阵。利用泰勒级数扩展损伤前后模态柔度差,忽略高阶项,基于改进的柔度敏感矩阵和损伤前后柔度差建立结构损伤识别的理论分析模型。(4)所提出的方法分别用于识别桥梁结构简支梁桥和桥梁结构连续梁桥的单单元损伤和多单元损伤。结果表明所提出的方法是可行的。

关键词：损伤识别静态响应动态响应桥梁结构灵敏度矩阵

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Relative Explosive Strength of Some Explosive Mixtures Containing Urea and/or Peroxides

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火炸药学报 2016年第5期39卷 22-27,34页

作者： Ahmed K.hussein Svatopluk ZEMAN Muhamed SUCESKA Marcela JUNGOVA Institute of Energetic Materials Faculty of Chemical Technology University of Pardubice Czech Republic Brodarski Institute-Marine Research and Special Technologies ZagrebCroatia

Several mixtures,based on urea derivatives and some inorganic oxidants,including also alumina,were studied by means of ballistic mortar techniques with TNT as the reference *** detonation pressure(P),detonation velocity(D),detonation energy(Q),and volume of gaseous product at standard temperature and pressure(STP),V,were calculated using EXPLO5V6.3 thermochemical *** performance of the mixtures studied was discussed in relation to their thermal reactivity,determined by means of differential thermal analysis(DTA).It is shown that the presence of hydrogen peroxide in the form of its complex with urea(*** UHP)has a positive influence on the explosive strength of the corresponding mixtures which is linked to the hydroxy-radical formation in the mixtures during their initiation *** radicals might initiate(at least partially)powdered aluminum into oxidation in the CJ plane of the detonation *** containing UHP and magnesium are dangerous because of potential auto-ignition.

关键词： ballistic mortar TNT DTA peroxides perchlorates nitrates urea

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Semi-closed synthesis of nitrogen and oxygen Co-doped mesoporous carbon for selective aqueous oxidation

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Green Energy & Environment 2022年第1期7卷 43-52页

作者： Chen Xing Daihui Yang Yan Zhang Tian Sun Junfei duan hussein A.Younus Shiguo Zhang College of Materials Science and Engineering Hunan Province Key Laboratory for Advanced Carbon Materials and Applied TechnologyHunan UniversityChangsha410082China School of Materials Science and Engineering Changsha University of Science and TechnologyChangsha410004China Chemistry Department Faculty of ScienceFayoum UniversityFayoum63514Egypt

Heteroatom-doped meso/micro-porous carbon materials are conventionally produced by harsh carbonization under an inert atmosphere involving specific precursors,hard/soft templates,and heteroatom-containing ***,we report a facile synthesis of N and O co-doped meso/micro-porous carbon(NOMC)by template-free carbonization of a small-molecule precursor in a semi-closed *** semi-closed carbonizaiton process yields hydrophilic NOMCs with large surface area in a high *** porous structure as well as the elemental composition of NOMCs can be modulated by changing the holding time at a particular *** as metal-free heterogeneous catalysts can selectively oxidize benzyl alcohol and its derivatives into aldehydes/ketones with>85%conversion in aqueous solution,which is much higher than that of the control sample obtained in tube furnace(21%conversion),mainly due to their high N content,high percentage of pyridinic N,and large surface *** presence of O-containing moieties also helps to improve the hydrophilicity and dispersion ability of catalysts and thus facilitates the mass transfer process during aqueous *** NOMC catalysts also dispayed excellent activity for a wide range of substrates with a selectivity of>99%.

关键词： Semi-closed carbonization Nitrogen and oxygen doping Mesoporous carbon Metal-free catalyst Selective aqueous oxidation

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Current cancer therapies and their influence on glucose control

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World Journal of Diabetes 2021年第7期12卷 1010-1025页

作者： Carly Yim Kerry Mansell Nassrein hussein Terra Arnason Department of Medicine University of SaskatchewanSaskatoon S7N 0W8SaskatchewanCanada College of Pharmacy and Nutrition University of SaskatchewanSaskatoon S7N 5E5SaskatchewanCanada Department of Medicine Division of EndocrinologyUniversity of SaskatchewanSaskatoon S7N 0W8SaskatchewanCanada Departments of Anatomy and Cell Biology and Medicine Division of EndocrinologyUniversity of SaskatchewanSaskatoon S7N 0W8SaskatchewanCanada

This review focuses on the development of hyperglycemia arising from widely used cancer therapies spanning four drug *** groups of medications were selected due to their significant association with new onset hyperglycemia,or of potentially severe clinical consequences when *** classes include glucocorticoids that are frequently used in addition to chemotherapy treatments,and the antimetabolite class of 5-fluorouracil-related *** of these classes have been in use in cancer therapy since the *** considered are the phosphatidyl inositol-3-kinase(PI3K)/AKT/mammalian target of rapamycin(mTOR)-inhibitors that provide cancer response advantages by disrupting cell growth,proliferation and survival signaling pathways,and have been in clinical use as early as *** final class to be reviewed are the monoclonal antibodies selected to function as immune checkpoint inhibitors(ICIs).These were first used in 2011 for advanced melanoma and are rapidly becoming widely utilized in many solid *** each drug class,the literature has been reviewed to answer relevant questions about these medications related specifically to the characteristics of the hyperglycemia that develops with *** incidence of new glucose elevations in euglycemic individuals,as well as glycemic changes in those with established diabetes has been considered,as has the expected onset of hyperglycemia from their first *** comparison emphasizes that some classes exhibit very immediate impacts on glucose levels,whereas other classes can have lengthy delays of up to 1 year.A comparison of the spectrum of severity of hyperglycemic consequences stresses that the appearance of diabetic ketoacidosis is rare for all classes except for the *** are distinct differences in the reversibility of glucose elevations after treatment is stopped,as the mTOR inhibitors and ICI classes have persistent hyperglycemia long *** four highlighted drug categories differ in their

关键词： Cancer therapy Hyperglycemia adverse drug effects Immune checkpoint inhibitors mTOR inhibitors 5-fluorouracil analogs Glucocorticoids Diabetes mellitus

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