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Control Strategy for a Quadrotor Based on a Memetic Shuffled Frog Leaping Algorithm

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Computers, Materials & Continua 2021年第6期67卷 4081-4100页

作者： nour ben Ammar Hegazy Rezk Soufiene Bouallègue Research Laboratory in Automatic Control(LARA) National Engineering School of Tunis(ENIT)University of Tunis EL MANARLe BelvédèreTunis1002Tunisia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz UniversityAl-Kharj11911Saudi Arabia Department of electrical Engineering Faculty of EngineeringMinia UniversityMinia61517Egypt High Institute of Industrial Systems of Gabès(ISSIG) University of GabèsGabès6011Tunisia

This work presents a memetic Shuffled Frog Leaping Algorithm(SFLA)based tuning approach of an Integral Sliding Mode Controller(ISMC)for a quadrotor type of Unmanned Aerial Vehicles(UAV).Based on the Newton–Euler formalism,a nonlinear dynamic model of the studied quadrotor is firstly established for control design *** the main parameters of the ISMC design are the gains of the sliding surfaces and signum functions of the switching control law,which are usually selected by repetitive and time-consuming trials-errors based procedures,a constrained optimization problem is formulated for the systematically tuning of these unknown *** time-domain operating constraints,such an optimization-based tuning problem is effectively solved using the proposed SFLA metaheuristic with an empirical comparison to other evolutionary computation-and swarm intelligence-based algorithms such as the Crow Search Algorithm(CSA),Fractional Particle Swarm Optimization Memetic Algorithm(FPSOMA),Ant Bee Colony(ABC)and Harmony Search Algorithm(HSA).Numerical experiments are carried out for various sets of algorithms’parameters to achieve optimal gains of the sliding mode controllers for the altitude and attitude dynamics *** studies revealed that the SFLA is a competitive and easily implemented algorithm with high performance in terms of robustness and non-premature *** results verified that the proposed metaheuristicsbased approach is a promising alternative for the systematic tuning of the effective design parameters in the integral sliding mode control framework.

关键词： Quadrotor modeling integral sliding mode control gains tuning advanced metaheuristics memetic algorithms shuffled frog leaping algorithm

One-pot activation and pyrolysis of Moroccan Gelidium sesquipedale red macroalgae residue:production of an efficient adsorbent biochar

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Biochar 2019年第4期1卷 401-412页

作者： Saida Tayibi Florian Monlau nour-elhouda Fayoud Abdallah.Oukarroum Youssef Zeroual Hassan Hannache Abdellatif Barakat IATE Montpellier SupAgroINRAEUniversite de MontpellierMontpellierFrance Mohammed VI Polytechnic University(UM6P) BenguerirMorocco APESA Pôle ValorisationCap EcologiaLescarFrance LIMAT Facultédes Sciences Ben M’SikUniversitéHassan II de CasablancaCasablancaMorocco Situation Innovation OCP GroupComplexe industriel Jorf LasfarEl

One-pot chemical activation and pyrolysis process was developed for biochar production from red macroalgae residue of Gelidium *** macroalgae residue was activated by various catalysts(KOH,NaOH,H_(3)PO_(4),and CH_(4)ON_(2))with the two concentrations(2.5 wt%and 5 wt%)using a pulverization system followed by slow pyrolysis at 500℃.The activated biochars showed a porous morphology with an increase of water holding capacity compared to the unactivated *** properties of activated biochar observed by further characterization(i.e.,FTIR,SEM,TGA)revealed their feasibility to be used as an *** results of adsorption experiment confirmed that adsorption was dependent not only on the surface area but also on the surface charge,and functional *** sorption performance of activated biochars(AcBC),in terms of the adsorption of methylene blue,was comparable to commercial activated charcoal(Norit^(■)).NaOH(2.5 wt%)-activated biochar had the removal efficiency of 87%versus 97%for commercial activated charcoal.

关键词： Red macroalgae residue Chemical activation Slow pyrolysis Adsorption

Cost Effectiveness Analysis of Filgrastim versus Placebo in Post AIIogentic Bone Marrow Transplantation

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Journal of Pharmacy and Pharmacology 2016年第6期4卷 268-272页

作者： Maoudoud Ines Razgallah Khrouf Myriam ben Abdejelil nour Ghedira Hela Amel Lakhal Marsit Hanene Turki Manel Soussi Mohamed Ali Lazreg Olfa Ladab Saloua ben Othmane Tarek University of Monastir Faculty of Pharmacy-5000 Tunisia Centre National de Greffe de Moelle Osseuse-1006 Tunisia University of Tunis el Manar Faculty of Medicine of Tunis-1006 Tunisia

Filgrastim is used to accelerate hematopoietic recovery after ABMT （allogeneic bone marrow transplantation）. Its impact on the total cost of patient care remains to be explored. We therefore undertook a cost effectiveness analysis in the context of a randomized single blinded clinical trial of Filgrastim versus placebo in post ABMT. A primary endpoint, duration of myelosuppression, and three secondary end points （number of days of fever, length of hospital stay, survival at one hundred days） were used to assess efficacy. Direct costs were evaluated and allowed the calculation of the ICER （incremental cost-effectiveness ratios） for the major endpoint of the trial. Sixteen patients were included in the study. The duration of myelosuppression was significantly decreased in the Filgrastim arm with medians of 15 days vs. 19 days in the placebo arm （p = 0.023）. Cost analysis showed no statistically significant difference between the two arms. According to the calculation of ICER, Filgrastim was more costly and more effective than placebo for the number of days of aplasia avoided and the number of days with fever avoided. Placebo strictly dominated filgrastim for days of hospitalization avoided. Filgrastim has proven effective in reducing the duration of aplasia without increasing costs.

关键词： Filgrastim placebo cost effectiveness allogeneic bone marrow transplantation.

Study of Agar Proportions Effect on a Gamma Ray Synthesized Hydrogel

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材料科学与工程（中英文A版） 2016年第2期6卷 88-100页

作者： nour elhouda ben Ammar Taib Saied Arbi Mejri Faouzi Hosni Adel Mnif Ahmed HichemHamzaoui Laboratory of Useful Materials Valuation National Center for Research in Materials Sciences Borj Cedria Technopark BP 738027 Soliman Tunisia Laboratory of Analytical Chemistry and electrochemistry University of Tunis el Manar Science Campus 2092 Tunis Tunisia Treatment Unit by lonizing Radiation National Center of Sciences and Nuclear Technology Sidi Thabet Technopark BP 72 2020Sidi Thabet Tunisia