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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Omar M. Khairy Omar M. Shehata Elsayed I. Morgan Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University in Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

Capacitated Vehicle Routing Problem is the most important variation of the classical Vehicle Routing Problem, where the goal is to find the routes for a fleet of vehicles to serve a number of customers, taking into consideration the maximum capacity of the vehicles. Due to the complexity of solving such problems, meta-heuristic algorithms are used. The Group Teaching Optimization algorithm is a recent technique used to solve continuous optimization problems. An enhanced version of the algorithm is proposed to solve the Capacitated Vehicle Routing Problem. The algorithm was tested on 14 different instances from benchmarks with known optimal solutions and compared to other techniques. The algorithm yields satisfactory solutions within lower computational time than the other techniques.

关键词： Optimization Education Vehicle routing Mathematical model Statistics Sociology Mechatronics

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Control of a Hexa-Rotor System Using Various of X-MPC Techniques

Control of a Hexa-Rotor System Using Various of X-MPC Techni...

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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Amr Ahmed Catherine M. Elias Omar M. Shehata Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

Designing a drone to be fully autonomous has many challenges, one of which, is the trajectory tracking problem. Model predictive control (MPC) is widely used by researchers to tackle this problem, however, it is used as a high level controller of a prestabilized drone. This research aims to use MPC control to stabilize and steer a hexa-rotor system to the required trajectory. There are various types of MPC controllers, therefore, this study will compare three of the most common ones. Then, Gazebo simulator will be used to verify the controllers and ensure their effectiveness in real time applications.

关键词： Mathematical model Trajectory Propellers Drones Predictive models Real-time systems Matlab

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Intersection Control for Autonomous Vehicles Using Control Barrier Function Approach

Intersection Control for Autonomous Vehicles Using Control B...

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Novel Intelligent and Leading Emerging sciences Conference (NILES)

作者： Samaa Khaled Omar M. Shehata Elsayed I. Morgan Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University in Cairo Egypt Faculty of Engineering - Ain Shams University Cairo Egypt

ISBN: (数字)9781728182261

ISBN: (纸本)9781728182278

Intersection management is one of the big challenges in traffic control. Autonomous vehicles are becoming more realistic. A lot of research efforts has been done to develop control systems for the autonomous vehicles in order to guarantee safety and reduce the average travel time and fuel Consumption while increasing the intersection throughput. This paper applies the concept of Control barrier function on a four way intersection. Several parametric studies were conducted to validate the the Control barrier function approach. Moreover, in order to evaluate the efficiency of the proposed approach , it is compared to a baseline scenario where the conventional vehicles operate under traffic lights. It shows better performance in terms of the average travel time and the intersection throughput. The average travel time is reduced by 14.91 to 15.11%. The intersection throughput is increased by almost 173%.

关键词： Force Fuels Throughput Safety Delays Trajectory Acceleration

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Transplantation of human kidney organoids elicited a robust allogeneic response in a humanized mouse model

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Kidney International 2025年第6期107卷 1011-1016页

作者： Mon-Wei Yu, Samuel Choi, John Yongjoon Kady, Jamie De Cos, Marina Wong, Jenny S. King, Emily Younis, Nour Al Rahy, Nadim Al Chaar, Soltan Djebli, Houda Eskandari, Siawosh Samuel, Stephen Merhej, Tamara Sukumar, Nivedha Lin, Jia-Ren Chen, Jia-Yun Xu, Yilin Santagata, Sandro Weins, Astrid Yeung, Melissa Cravedi, Paolo Campbell, Kirk N. Lemos, Dario Bonventre, Joseph V. Brehm, Michael A. Azzi, Jamil Department of Medicine Nephrology Division Mount Sinai Hospital New York NY United States Department of Medicine Renal Division Brigham and Women's Hospital Harvard Medical School Boston MA United States Program in Molecular Medicine Diabetes Center of Excellence University of Massachusetts Chan Medical School Worcester MA United States Doctoral School of Science and Technology Lebanese University Beirut Lebanon Institute of Biological Science Faculty of Medical Sciences Mohammed VI Polytechnic University Benguerir Morocco Department of Biotechnology Northeastern University Boston MA United States Department of Systems Biology Harvard Medical School Boston MA United States Department of Pathology Brigham and Women's Hospital Harvard Medical School Boston MA United States Harvard Stem Cell Institute Cambridge MA United States Department of Medicine Division of Engineering in Medicine Brigham and Women's Hospital Harvard Medical School Boston MA United States

Human kidney organoids derived from embryonic stem cells (ESCs) or induced pluripotent stem cells (iPSCs) have become novel tools for studying various kidney pathologies. Here, we transplanted ESC-derived kidney organoids into humanized mice with a mature human adaptive immune system developed through thymic education. As judged by histology and immunophenotyping, the transplanted HLA-mismatched kidney organoids trigged a robust alloimmune response, characterized by a dense immune cell infiltrate and enhanced memory T cell phenotype in the allograft 30 days post-transplantation. Multiplexed immunofluorescence revealed expression of functional markers of various immune cell infiltrates in response to organoid allografts, mimicking the T cell-mediated rejection process in humans. This validated our model as a novel platform to study various therapeutic strategies to control alloimmunity. Splenocytes isolated from organoid-transplanted hosts showed an alloantigen-specific memory response against 2D kidney organoids ex vivo. Overall, our study indicates that transplanting kidney organoids in humanized mice may be a valuable tool for studying human allogeneic immunity. © 2025 International Society of Nephrology

关键词： human kidney organoids humanized mice model kidney transplantation

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Decentralised Intersection Control for Autonomous Vehicles Using Fuzzy logic Control

Decentralised Intersection Control for Autonomous Vehicles U...

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International Conference on Control, Mechatronics and Automation (ICCMA)

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

Intersection management is one of the most important research directions in traffic control. Autonomous vehicles are considered the near future solution to enhance the traffic systems in terms of safety, travel delay , fuel consumption reduction and passenger comfort. This paper uses Fuzzy logic control in a decentralised manner to manage a four-way intersection. The controller was tested to validate different scenarios. It succeeds to manage the intersection up to 3384 vehicle per hour. Compared to the intelligent driver model implemented by Zhang to mimic the traffic light system , the fuzzy logic controller outperforms it in terms of intersection throughput and average travel time. the intersection throughput was increased by 118.75 percent and The average travel time was reduced by 10.36 percent.

关键词： Throughput Force Fuels Autonomous vehicles Delays Safety Fuzzy logic

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A decentralized control of multiple unmanned aerial vehicles formation flight considering obstacle avoidance

A decentralized control of multiple unmanned aerial vehicles...

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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Mirna B. Emile Omar M. Shehata Ayman A. El-Badawy Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

Fueled by the need to surpass the limitations of a single quadrotor, the formation control of multiple UAVs has become a research hotspot for many researchers. In this study, the authors present a decentralized behavior-based formation flight control that is capable to fly a group of quadrotors in an unknown environment avoiding obstacles and collisions between quadrotors. This objective is achieved by summing the weighted output of three behaviors, which are separation adjustment, trajectory tracking and obstacle avoidance, and sending the resulting control commands to the motors of each quadrotor. Using a cyclic directed graph topology, where each quadrotor makes use of the information of one of its neighbors, each connected pair of quadrotors maintain a specified separation. Collisions between quadrotors as well as obstacle avoidance are achieved using the artificial potential field approach. For the cascaded control of the quadrotor, integral-backstepping controller is used for the shape formation and PD controller is used for tracking the trajectory specified for each quadrotor. The decentralized formation flight strategy and the controllers are tested on a scenario of three quadrotors starting from different initial positions and required to fly in a horizontal line shape and to follow a ramp trajectory while avoiding collisions and obstacles. Results show the chosen strategy and controllers performed the desired task successfully.

关键词： Backstepping Shape Trajectory tracking Collision avoidance Unmanned aerial vehicles Task analysis PD control

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Development and Control of an Enhanced Active Compliance based Soft Pneumatically Actuated robotic Hand

Development and Control of an Enhanced Active Compliance bas...

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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： John K. Fahim Andrew M. Faried Omar M. Shehata Elsayed I. Morgan Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

Soft robotic grippers surpassed the rigid actuated grippers in its ability to deal with soft delicate objects. Pneumatic actuated soft gripping is one of the most effective technologies used in designing the industrial soft grippers, especially when adding a sensory feedback for an accurate closed-loop system to enhance the position control of the actuator and detection of objects hindering its motion. In this paper, detailed fabrication procedures were introduced for the soft pneumatic actuator with a reinforcing layer. Practical tests were made to show the importance of this layer in the accuracy of motion of the actuator and enables it to withstand a higher air pressure. A resistive flex sensor has been used for generating a data-driven empirical model to predict and control the bending angle of the soft actuator. Finite Element Analysis (FEA) model has also been generated on Abaqus to simulate the motion of the soft pneumatic actuator and to conduct a stress analysis of the designed model to detect the weak points of the actuator when high pressure is applied on it. Finally, a mechanism to screw and unscrew a light bulb is designed to test the soft pneumatic gripper system behavior in a real life practical application.

关键词： Actuators Grippers Solid modeling Atmospheric modeling Flexible printed circuits robot sensing systems Bending

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Behavioral Assessment of an Optimized Multi-Vehicle Platoon Formation Control for Efficient Fuel Consumption

Behavioral Assessment of an Optimized Multi-Vehicle Platoon ...

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Novel Intelligent and Leading Emerging sciences Conference (NILES)

作者： Mohamed Maged Dalia M. Mahfouz Omar M. Shehata Elsayed I. Morgan Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728182261

ISBN: (纸本)9781728182278

Over the past few decades, climate change, air pollution and road safety have been classified as vital problems affecting the globe adversely in terms of transportation. To solve these problems, Intelligent Transportation Systems (ITS) are investigated. One of the important ITS applications is vehicle platooning, which is contemplated to enhance road organization and reduce the overall fuel consumption. In this study a cooperative optimal algorithm is adopted to coordinate several vehicles to form platoons that minimize the total fuel cost by maximizing distance vehicles are in platoon, through the adjustment of the vehicles' speeds. The algorithm is based on pairwise coordination by which the coordination decision is made between each two vehicles or sub-platoons to form a platoon based on fuel-saving potential. The optimization problem outputs the desired optimal speed profiles for each vehicle offline. These speed profiles are then sent to a cruise controller to control each vehicle's dynamics to reach the desired optimal speeds. A nonlinear vehicle dynamic model including the powertrain dynamics is investigated. A hierarchical speed control approach is used, having an optimal Model predictive Control (MPC) as the upper level controller and a linear Proportional-Integral-Derivative (PID) as the lower level control approach used to manage the vehicles' velocities. The coordination algorithm and the controller are tested on a scenario of four scattered vehicles moving on a flat road, having same destination point. The simulation scenario is conducted to test the coordination algorithm and demonstrate the performance of the controller in terms of velocity tracking, realistic control effort and reduced fuel consumption. Results show that the optimization and control objectives are achieved successfully.

关键词： Mathematical model Fuels Vehicle dynamics Engines Wheels Aerodynamics Optimization

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Investigation of an Optimal Charging/Discharging Policy for Electric Vehicles Parking Station in a Smart Grid Environment

Investigation of an Optimal Charging/Discharging Policy for ...

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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Sarah B. Fahmy Silvana E. Guirguis Omar M. Shehata Elsayed I. Morgan Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University in Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

The world is shifting from conventional vehicles to Electric Vehicles (EVs) since their operation has a low cost and is environmentally friendly. However, there are various obstacles affecting EVs development, such as the vehicle range, charging process and infrastructure, etc. This paper focuses on the charging infrastructure of EVs investigating their optimal charging cycles in a Smart-Grid environment in order to improve the profitability of charging stations and decrease the high energy demand from the grid. Accordingly, a charging station was studied equipped with Photo-voltaic rooftop allowing vehicles to sell energy to the grid forming a Vehicle-to-Grid strategy. A priority-based algorithm was implemented to schedule EVs charging/discharging. Two optimization techniques; Particle Swarm Optimization (PSO) and Genetic Algorithm (GA), were used to optimize the installation and operation of the station to maximize the station's profit. Accordingly, several cases were studied to analyze the influence of the mentioned capabilities. The results revealed that the maximum parking profit was obtained by utilizing the photo-voltaic rooftop with vehicle-to-Grid capability. Moreover, the performance of the two optimization techniques is compared showing similar results regarding the optimization effectiveness. However, GA takes longer computational time.

关键词： State of charge Vehicle-to-grid Optimization Batteries Particle swarm optimization Genetic algorithms Electric vehicle charging

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Decentralized Intersection Management of Autonomous Vehicles Using Nonlinear MPC

Decentralized Intersection Management of Autonomous Vehicles...

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Novel Intelligent and Leading Emerging sciences Conference (NILES)

作者： Hussein Ali Samaa Khaled Omar M. Shehata Elsayed I. Morgan Multi-Robot Systems (MRS) Research Group Cairo Egypt Faculty of Engineering and Materials Science German University in Cairo Egypt Faculty of Engineering Ain Shams University Cairo Egypt

ISBN: (数字)9781728182261

ISBN: (纸本)9781728182278

The rapid population growth and increase in vehicle numbers over the last few decades have caused traffic congestion worldwide, as intersections significantly impact the efficiency of traffic networks in urban areas, this paper focuses on intelligent traffic management at intersections by integrating the technologies of Intelligent Transportation Systems (ITS) and Autonomous Vehicles (AV). In this framework, a physical model represents each vehicle taking into account the dynamic limits. A decentralized Nonlinear Model Predictive Control (NMPC) is proposed to help coordinate the traffic flow of the AV at the intersection. The controller solves a quadratic cost function for the vehicle to ensure a smooth trajectory and minimum energy consumption, while avoiding collisions that is guaranteed using linear constraints and two developed priority assignment methods, Predicted Arrival Time (PAT) and First-Come First-Served (FCFS). The two methods are tested using a developed simulation environment on MATLAB/Simulink and the results are compared, the predicted arrival time method outperformed the FCFS method.

关键词： Vehicle dynamics Engines Mathematical model Force Aerodynamics Wheels Torque

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