Controlling a Team of Mobile Robots via Cloud Computing

Hisham Khalifa,Mahmoud Badawy,Hesham Arafat,Deok-Jin Lee 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.5

Mobile robots require real-time performance and a shared computing environment. Although cloud computing offers high computation power, it may adversely affect real-time performance owing to network lag. The main objective of this study is to allow a mobile robot vision system to achieve real-time constraint using cloud computing reliably. A human cloud mobile robot architecture is proposed, and a data flow mechanism is organized on both the mobile robot and the cloud server sides. Two algorithms are proposed: (i) A real-time image clustering algorithm applied on the mobile robot side, and (ii) A modified growing neural gas algorithm applied on the cloud server-side. The experimental results demonstrate a 25% to 45% enhancement in the total response time, depending on the communication bandwidth and image resolution. Moreover, better performance in terms of data size, path planning time, and accuracy is demonstrated over other state-of-the-art techniques.

Optimization of a rectangular pin fin using elliptical perforations with different inclination angles

Hisham H. Jasim,Mehmet Sait Söylemez 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.10

An innovative form of a perforated fin (with inclination angles) was considered. In most previous studies, pin fins were perforated in a straight direction to improve the thermal performance of the heat sink. The present rectangular pin fin consisted of an elliptical perforation with two models and two cases. The signum function was used to model the opposite and mutable approach of the heat-transfer area. The degenerate hypergeometric equation was used as a new derivative method to determine a general solution and solved by Kummer’s series. Two validation methods (previous work and Ansys 16.0 steady-state thermal analysis) were considered. The strong agreement of the validation results (0.31 %-0.52 %) showed the reliability of the presented model. The use of the perforated fin reduced the thermal resistance and improved the thermal performance of the pin fin by enhancing heat transfer and increasing the Nusselt number. Moreover, increasing the inclination angle, size, and number of perforations can optimize the present model by maximizing heat transfer and minimizing the weight and length of the pin fins. Increasing the open-area ratio minimizes entropy generation at a certain Rayleigh number and constant heat flux.

클라우드 제어 이동 로봇의 실시간 데이터 전송에 관한 연구

Hisham Abdalla,이덕진 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.5

Mobile robots have very limited computational and storage resources. However, they must achieve tasks that are too heavy to be processed by their processing units. Additionally, other mobile robot applications require sharing information or building centralized maps to achieve cooperative tasks. Cloud computing is a good option for offloading heavy computation tasks necessary for robot navigation. The computation nodes can store the processed data in unlimited cloud storage. However, this solution flawed with several issues that include real-time transmission of data between mobile robots and the cloud server. This paper demonstrates the mobile robot control system using a cloud server while considering the size of the data transmitted between the mobile robot and the cloud server. This is achieved by compressing the sensor data and converting them to topological maps. Experiments demonstrate greatefficiency enhancement of data transmission under a limited communication bandwidth, consequently increasing the scalability of the system. .

Heterotopic mesenteric ossification: a report of two cases

Hisham F. Bahmad,Olga Lopez,Tyson Sutherland,Marisa Vinas,Kfir Ben-David,Lydia Howard,Robert Poppiti,Sarah Alghamdi 대한병리학회 2022 Journal of Pathology and Translational Medicine Vol.56 No.5

Heterotopic mesenteric ossification (HMO) is abnormal bone formation in tissues which usually do not undergo ossification. There are approximately 75 cases reported worldwide. We present two cases of HMO. The first case is that of a 39-year-old man who presented with abdominal pain and a computerized tomography scan of the abdomen and pelvis revealed an apple core lesion resulting in small bowel obstruction. The second case is that of a 36-year-old woman who presented 2 months after undergoing robotic gastric sleeve resection complaining of weakness and emesis. An esophagogram revealed kinking at the distal esophagus. Surgical resection was performed in both, yielding the diagnosis of HMO. There are various theories as to the pathophysiology of HMO, but no clearly defined mechanism has been established. Management should be conservative whenever possible to prevent further ossification with subsequent surgical intervention.

Bending characteristics of Prestressed High Strength Concrete (PHC) spun pile measured using distributed optical fibre strain sensor

Hisham Mohamad,Bun Pin Tee,Mun Fai Chong,Siew Cheng Lee,Krisada Chaiyasarn 국제구조공학회 2022 Smart Structures and Systems, An International Jou Vol.29 No.2

Pre-stressed concrete circular spun piles are widely used in various infrastructure projects around the world and offer an economical deep foundation system with consistent and superior quality compared to cast in-situ and other concrete piles. Conventional methods for measuring the lateral response of piles have been limited to conventional instrumentation, such as electrical based gauges and pressure transducers. The problem with existing technology is that the sensors are not able to assist in recording the lateral stiffness changes of the pile which varies along the length depending on the distribution of the flexural moments and appearance of tensile cracks. This paper describes a full-scale bending test of a 1-m diameter spun pile of 30 m long and instrumented using advanced fibre optic distributed sensor, known as Brillouin Optical Time Domain Analysis (BOTDA). Optical fibre sensors were embedded inside the concrete during the manufacturing stage and attached on the concrete surface in order to measure the pile's full-length flexural behaviour under the prescribed serviceability and ultimate limit state. The relationship between moments-deflections and bending moments-curvatures are examined with respect to the lateral forces. Tensile cracks were measured and compared with the peak strains observed from BOTDA data which corroborated very well. By analysing the moment-curvature response of the pile, the structure can be represented by two bending stiffness parameters, namely the pre-yield (<i>EI</i>) and post-yield (<i>EI_cr</i>), where the cracks reduce the stiffness property by 89%. The pile deflection profile can be attained from optical fibre data through closed-form solutions, which generally matched with the displacements recorded by Linear Voltage Displacement Transducers (LVDTs).

Real-time Emergency Safety Remote Control Study based on Cloud Computing

Hisham Abdalla(히샴 압달라),Jongho Park(박종호),Yoonha Ryu(유윤하),Deokjin Lee(이덕진) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

Mobile Robot Remote Control using Cloud Computing

Hisham Abdalla,이덕진 제어로봇시스템학회 2021 제어로봇시스템학회 각 지부별 자료집 Vol.2021 No.12

Mobile robots have very limited computation and storage resources, however, they must achieve tasks that are too heavy to be processed on mobile robot processing units. Additionally, other mobile robot applications require sharing information or building centralized maps to achieve cooperative tasks. Cloud computing is a good option for mobile robots to offload heavy computation tasks necessary for robot navigation. The computation nodes can store the processed data in unlimited cloud storage. However, this solution comes with problems like real-time transmission of data between mobile robots and the cloud server. This paper shows the system of controlling a mobile robot through a cloud server taking into consideration reducing the size of the data transmission between the mobile robot and cloud server by compressing sensor data and converting them to topological maps. Experiments show great efficiency enhancement of data transmission under limited communication bandwidth, consequently increasing the scalability of the system.

Remotely controlled multiple robots using a centralized map on the cloud server

Hisham Abdalla,Doukhi Oualid,Deokjin Lee 대한기계학회 2023 대한기계학회 춘추학술대회 Vol.2023 No.4

The Impact of Applications of Internet of Things on Practice of Knowledge Management in Organizations: the Mediating Role of Employees' Engagement

Hisham O., Mbaidin International Journal of Computer ScienceNetwork S 2022 International journal of computer science and netw Vol.22 No.12

The study aimed to identify the impact of Applications of Internet of things on practice of knowledge management in organizations: the mediating role of employees' Engagement. A quantitative questionnaire survey is conducted. The study population consisted of all senior and middle administrations in small and medium enterprises in Jordan. The study sample consisted of (350) senior and middle administrations. The study sample was selected by random stratified method. The results revealed that There is an impact of Applications of Internet of things on the practice of knowledge management at (α ≤ 0.05) in the small and medium enterprises in Jordan. Furthermore, there is an impact of Applications of Internet of things on the employees' Engagement. The current study provided some important insights into an issue that requires further research. Understanding the applications of the Internet of Things and their impact on improving knowledge management is of paramount importance in raising the quality of products and improving the company's image, as shown in this research.

Does Bilateral Trade Between China and ASEAN Countries Improve Its Firm’s Efficiency?

Mohamed Hisham HANIFA,Sok Gee CHAN,Mohd Edil Abd SUKOR 한국유통과학회 2022 The Journal of Asian Finance, Economics and Busine Vol.9 No.2

The Chinese outward foreign direct investment (OFDI) involves various bilateral trade agreements and regional agreements signed between China and other countries. This study examines the impact of Chinese OFDI in ASEAN–5 countries through ASEAN-China Free Trade Agreement (ACFTA) namely Indonesia, Malaysia, Philippines, Singapore, and Thailand from 2000 to 2016. This study attempts to address three research objectives. The first is to examine the motives for China’s investment in ASEAN-5. The second is to explore the different impacts of China’s investment across countries. The third is to investigate whether the OFDI conducted by state-owned enterprises (SOEs) will produce different impacts on the firm’s efficiency score. Using the DEA approach, this study finds evidence that the overall Chinese OFDI is relatively efficient. We find that the estimated efficiency score of this OFDI has improved in pre- and post ACFTA where a higher overall efficiency score was reported when comparing pre- and post ACFTA signing for both SOEs and NSOEs. Finally, China’s parent firms’ efficiencies showed higher scores among NSOEs compared to SOEs after the signing of ACFTA for all ASEAN countries except Malaysia. We highlight that the country’s institutional infrastructure, earlier investment presence, and diplomatic ties help in shaping an effective trade agreement.