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Two Bioinspired Mobile Manipulators with Rolling Locomotion

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Journal of Bionic Engineering 2016年第1期13卷 48-58页

作者： Saber Mahboubi Heydarabad Mir Masoud Seyyed Fakhrabadi Steve Davis samia Nefti-Meziani School of Computing Science & Engineering University of Salford Manchester The Crescent M5 4WT UK School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran

This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala- mander and a specific kind of spiders. Our robots have some especial moving capabilities causing to increase the robot ma- neuverability. Indeed, the capability of rolling motion is added to ordinary quadruped robots. This capability causes increment in maneuvering of the robots. Manipulators can be embedded into the robots to add the ability of transferring materials into the shell and conducting some tasks such as repairing. In this paper, after analysis of motion principles of the rolling robots, their dynanlic equations are derived. Different simulations of two bioinspired mobile robots are presented in order to scrutinize various capabilities of the proposed designs. Walking capabilities of the robots and their advantages are discussed in detail. The comprehensive simulation results of the robots in various motion modes are presented. Finally the first prototype is introduced to verify the motion mechanisms.

关键词： bionics rolling robot quadruped robot Lagrange equations

Improvement in corrosion resistance of magnesium coating with cerium treatment

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Rare Metals 2009年第3期28卷 277-283页

作者： samia Ben Hassen Latifa Bousselmi Patrice Berot El Mustafa Rezrazi Ezzeddine Triki Unité de Recherche Corrosion & Protection des Métalliques ENITBP 37Tunis-BelvédèreTunisia Institut UTINAM CNRS UMR 6213Université de Franche-Comté16 route de Gray 25030 Besanon CedexFrance Laboratoire Traitement et Recyclage des Eaux CERTEBorj CedriaTunisia

Corrosion protection afforded by a magnesium coating treated in cerium salt solution on steel substrate was investigated using open circuit potential, polarization curves, and electrochemical impedance spectroscopy （EIS） in 0.005 M sodium chloride solution （NaCl）. The morphology of the surface was characterized by scanning electron microscopy （SEM）, energy dispersive spectroscopy （EDS）, and X-ray diffraction （XRD）. The cerium treated coating was obtained by immersion in CeCl3 solution. The results showed that the corrosion resistance of the treated magnesium coating was improved. The corrosion potential of the treated coating was found to be nobler than that of the untreated magnesium coating and the corrosion current decreased significantly. Impedance results showed that the cerium treatment increased corrosion protection. The improvement of anti-corrosion properties was attributed to the formation of cerium oxides and hydroxides that gave rise to a physical barrier effect.

关键词： magnesium coating cerium corrosion protection impedance spectroscopy

Governance interactions of spatial data infrastructures: an agent-based modelling approach

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International Journal of Digital Earth 2021年第6期14卷 696-713页

作者： Jaap-Willem Sjoukema Jalal samia Arnold K.Bregt Joep Crompvoets Laboratory of Geo-Information Science and Remote Sensing Wageningen University&ResearchWageningenThe Netherlands KU Leuven Public Governance Institute LeuvenBelgium Department of Geography and Urban Planning University of MazandaranBabolsarIran

In order to facilitate and coordinate spatial data sharing and exchange,many organisations have developed spatial data infrastructures(SDIs).SDI governance plays a pivotal role in the development and evolution of an SDI,but as SDIs are complex adaptive systems,governing is a *** research therefore proposes a complexity perspective to SDI governance by exploring the use of agent-based modelling to simulate and examine SDI governance *** this agent-based simulation,we examine interactions between SDI stakeholders,data availability and the effects of different governance styles(hierarchical,network and laissez-faire governance)and budget *** simulation shows that it is possible to mimic SDI governance dynamics through agent-based *** running different scenarios,it appears that a network approach is more successful compared to a hierarchical or laissez-faire *** validation shows that overall the results of the simulation are credible and insightful,although improvements can be made to make the model more *** agent-based modelling,SDI governance becomes more tangible and visible,which facilitates discussion and ***-based modelling therefore appears to be a helpful new approach in a better understanding of the complexities and dynamics of SDI governance.

关键词： Governance spatial data infrastructure(SDI) agentbased modelling funding models complex adaptive systems

Latency-Aware Dynamic Second Offloading Service in SDN-Based Fog Architecture

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Computers, Materials & Continua 2023年第4期75卷 1501-1526页

作者： Samah Ibrahim AlShathri Dina S.M.Hassan samia Allaoua Chelloug Information Technology Department College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityRiyadh84428Saudi Arabia

Task offloading is a key strategy in Fog Computing (FC). Thedefinition of resource-constrained devices no longer applies to sensors andInternet of Things (IoT) embedded system devices alone. Smart and mobileunits can also be viewed as resource-constrained devices if the power, cloudapplications, and data cloud are included in the set of required resources. Ina cloud-fog-based architecture, a task instance running on an end device mayneed to be offloaded to a fog node to complete its execution. However, ina busy network, a second offloading decision is required when the fog nodebecomes overloaded. The possibility of offloading a task, for the second time,to a fog or a cloud node depends to a great extent on task importance, latencyconstraints, and required resources. This paper presents a dynamic service thatdetermines which tasks can endure a second offloading. The task type, latencyconstraints, and amount of required resources are used to select the offloadingdestination node. This study proposes three heuristic offloading *** algorithm targets a specific task type. An overloaded fog node can onlyissue one offloading request to execute one of these algorithms accordingto the task offloading priority. Offloading requests are sent to a SoftwareDefined Networking (SDN) controller. The fog node and controller determinethe number of offloaded tasks. Simulation results show that the average timerequired to select offloading nodes was improved by 33% when compared tothe dynamic fog-to-fog offloading algorithm. The distribution of workloadconverges to a uniform distribution when offloading latency-sensitive nonurgenttasks. The lowest offloading priority is assigned to latency-sensitivetasks with hard deadlines. At least 70% of these tasks are offloaded to fognodes that are one to three hops away from the overloaded node.

关键词： Fog computing offloading algorithm latency-aware software defined networking SDN

XPS characterization and corrosion resistance of cerium-treated magnesium coatings

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Rare Metals 2011年第4期30卷 368-373页

作者： samia Ben Hassen Latifa Bousselmi Patrice Berot El Mustafa Rezrazi Ezzeddine Triki Unité de Recherche Corrosion & Protection des Métalliques ENITBP 37Tunis-BelvédèreTunisie Institut UTINAM CNRS UMR 6213Université de Franche-Comté16 route de Gray 25030 Besanon CedexFrance Laboratoire Traitement et Recyclage des Eaux CERTEBorj CedriaTunisie

Cerium conversion treatment was applied on magnesium coatings in a solution containing CeC13. The composition ot the cenum conversion layer on magnesium was investigated using X-ray photoelectron spectroscopy （XPS）, It was revealed that the composition predominately consisted of a three-valent state cerium compound with a relative abundance around 90%. Some of Ce^3＋ was oxidized to Ce^4＋. Electrochemical impedance spectroscopy results revealed that the total impedance of cerium-treated samples increased for a short immersion time in NaC1 solution before coating deteriorating. This deterioration was due to the coating porosity increasing and the breakdown of the conversion layer

关键词： cerium compounds magnesium coatings X-ray photoelectron spectroscopy corrosion resistance

Observational study to assess pregnant women's knowledge and behaviour related to toxoplasmosis in Essaouira province, Morocco

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Asian Pacific Journal of Tropical Medicine 2019年第2期12卷 87-90页

作者： Nadia Ouzennou samia Boussaa Safa Ben Alla Ali Boumezzough ISPITS-Higher Institute of Nursing and Health Technology Ecology and the Environment Laboratory L2E(URAC 32 CNRST ERACNERS 06) Faculty of Sciences Semlalia Cadi Ayyad University

Objective: To assess knowledge and behaviour related to toxoplasmosis which remains a neglected disease in ***: Observational investigations were conducted among 600 pregnant women from Essaouira *** interview items covered respondents' knowledge of the disease, its preventive practices and risk ***: A total of 22/600 women had already carried out the anti-toxoplasmosis test, while, 96% have never done any screening of anti-Toxoplasma *** 16/600 women have good information about the disease, its mode of transmission and its complications in both the fetus and his *** most women adopt a healthy diet, the consumption of raw or undercooked meat is far to be considered as a risk factor, along with other potential factors that may foster the acquisition of the disease, such as possessing a domestic cat, educational status and knowledge of the ***, in this study, contact with soil was revealed the most important risk factor(P = 0.045), followed by the hygiene conditions after handling raw meat(P = 0.048).Conclusion: The underestimation of the Toxoplasma gondii sero-prevalence in Essaouira Province can be explained by the absence of toxoplasmosis serology in health institutions, as well as the gap of knowledge about the disease by local population.

关键词： Toxoplasmosis Knowledge Risk behaviour Pregnant women Morocco

Impact of intersection type and a vehicular fleet's hybridization level on energy consumption and emissions

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Journal of Traffic and Transportation Engineering(English Edition) 2016年第3期3卷 253-261页

作者： samia Boubaker Ferid Rehimi Adel Kalboussi Institut Superieur de Transport et de la Logistique Uniuersite de SousseSousseTunisia Laboratoire d'Electronique et de Microelectronique Faculte des Sciences de MonastirUniversite de MonastirMonastirTunisia Laboratoire detude des Systemes thermiques et Energetique Ecole Nationale d'Ingenieurs de MonastirUniversite de MonastirMonastirTunisia

A vehicle＇s energy consumption and emissions are two major constraints in sustainable development. Both of them have proportionally raised in recent decades with the exponential growth of world traffic demands. The reduction of road traffic-generated energy consumption and emissions have thus become unprecedentedly challenging and worth examining. This paper investigates energy consumption and environmental problems present at roundabout and signalized intersection to analyze the impact of the hybridization level＇s fleet and intersection type on vehicle consumption and pollution. Instantaneous fuel consumption and emission models coupled with simulation of urban mobility （SUMO） are in this study. The authors started with modeling energy consumption. Then, an emission model emissions from traffic （EMIT） was implemented to quantify vehicle emissions of CO2, CO and NOX. These models help investigate the influence of intersection type on energy consumption and environmental conditions. The authors implemented a signalized intersection and roundabout using SUMO. The input data are collected from the roundabout of Sousse （Tunisia） using video data collection. Since there is a lack of econometric models that emulate hybridized stream behavior near intersections, two energy consumption models for the roundabout and crossroad are developed using traffic flow and hybridization level as the input variables. Compared to crossroads, a roundabout can obtain more environmental improvements and substantial reductions in energy consumption and road traffic emissions.

关键词： Roundabout Signalized intersection Consumption Emission SUMO Hybridization

Kallimni ’Arabi - An Intermediate Course in Spoken Egyptian Arabic

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Multiple Pedestrian Detection and Tracking in Night Vision Surveillance Systems

2007年

作者： Soliman Iman A. Louis samia

来源：畅想之星图书光盘版（南... 评论

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Computers, Materials & Continua 2023年第5期75卷 3275-3289页

作者： Ali Raza samia Allaoua Chelloug Mohammed Hamad Alatiyyah Ahmad Jalal Jeongmin Park Department of Computer Science Air UniversityIslamabad44000Pakistan Department of Information Technology College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Science College of Sciences and Humanities in AflajPrince Sattam Bin Abdulaziz UniversityAl-KharjSaudi Arabia Department of Computer Engineering Tech University of Korea237 Sangidaehak-roSiheung-siGyeonggi-do15073Korea

Pedestrian detection and tracking are vital elements of today’s surveillance systems,which make daily life safe for ***,human detection and visualization have become essential inventions in the field of computer ***,developing a surveillance system with multiple object recognition and tracking,especially in low light and night-time,is still ***,we propose a novel system based on machine learning and image processing to provide an efficient surveillance system for pedestrian detection and tracking at *** particular,we propose a system that tackles a two-fold problem by detecting multiple pedestrians in infrared(IR)images using machine learning and tracking them using particle ***,a random forest classifier is adopted for image segmentation to identify pedestrians in an *** result of detection is investigated by particle filter to solve pedestrian *** the extensive experiment,our system shows 93%segmentation accuracy using a random forest algorithm that demonstrates high accuracy for background and roof ***,the system achieved a detection accuracy of 90%usingmultiple templatematching techniques and 81%accuracy for pedestrian ***,our system can identify that the detected object is a ***,our system provided the best results compared to the state-ofart systems,which proves the effectiveness of the techniques used for image segmentation,classification,and *** presented method is applicable for human detection/tracking,crowd analysis,and monitoring pedestrians in IR video surveillance.

关键词： Pedestrian detection machine learning segmentation tracking verification