Ubiquitous robotics: Recent challenges and future trends

Ambient intelligence, ubiquitous and networked robots, and cloud robotics are new research hot topics that have started to gain popularity among the robotics community. They enable robots to acquire richer functionalities and open the way for the composition of a variety of robotic services with three functions: semantic perception, reasoning and actuation. Ubiquitous robots (ubirobots) overcome the limitations of stand-alone robots by integrating them with web services and ambient intelligence technologies. The overlap that exists now between ubirobots and ambient intelligence makes their integration worthwhile. It targets to create a hybrid physical–digital space rich with a myriad of proactive intelligent services that enhance the quality and the way of our living and working. Furthermore, the emergence of cloud computing initiates the massive use of a new generation of ubirobots that enrich their cognitive capabilities and share their knowledge by connecting themselves to cloud infrastructures. The future of ubirobots will certainly be open to an unlimited space of applications such as physical and virtual companions assisting people in their daily living, ubirobots that are able to co-work alongside people and cooperate with them in the same environment, and physical and virtual autonomic guards that are able to protect people, monitor their security and safety, and rescue them in indoor and outdoor spaces. This paper introduces the recent challenges and future trends on these topics.     

ANN modeling of a smart MEMS-based capacitive humidity sensor

This paper presents a design of a smart humidity sensor. First we begin by the modeling of a Capacitive MEMS-based humidity sensor. Using neuronal networks and Matlab environment to accurately express the non-linearity, the hysteresis effect and the cross sensitivity of the output humidity sensor used. We have done the training to create an analytical model CHS “Capacitive Humidity Sensor”. Because our sensor is a capacitive type, the obtained model on PSPICE reflects the humidity variation by a capacity variation, which is a passive magnitude; it requires a conversion to an active magnitude, why we realize a conversion capacity/voltage using a switched capacitor circuit SCC. In a second step a linearization, by Matlab program, is applied to CHS response whose goal is to create a database for an element of correction “CORRECTOR”. After that we use the bias matrix and the weights matrix obtained by training to establish the CHS model and the CORRECTOR model on PSPICE simulator, where the output of the first is identical to the output of the CHS and the last correct its nonlinear response, and eliminate its hysteresis effect and cross sensitivity. The three blocks; CHS model, CORRECTOR model and the capacity/voltage converter, represent the smart sensor.     

Microgrid management using hybrid inverter fuzzy-based control

Neural Computing and Applications - Microgrid systems are becoming a very promising solution to meet the power demand growth especially in remote areas where diesel generators (DG) are commonly...     

Use of ultra-thin organic silane films for the improvement of gold adhesion to the silicon dioxide wafers for (bio)sensor applications

A mono-functional silane reagent, 3-mercaptopropyltrimethoxysilane (MPS) was used to modify the surface of silicon wafers. The structure of the SAMs formed with the MPS was investigated by contact angle measurements, ellipsometry, AFM, and X-ray photoelectron spectroscopy (XPS). The deposition of a metallic gold layer via ultra-high vacuum (UHV) evaporation reveals good adhesion properties on Au/MPS/SiO₂/Si structure. The “chemisorption” between the SAM and the gold evaporated layer is confirmed by adhesion tests and optimum curing treatment is found 1 h at 100 °C). This very simple methodology, avoiding the usage of Cr and other metals as undercoating layers and could be proposed further for (bio)sensors applications.     

Hydro-mechanical loading and compressibility of fibrous media for resin infusion processes

The modelling of composite manufacturing processes where hydro-mechanical coupling takes place depends on the validity of compressibility and permeability models. In this work, the computer code initially used to simulate the effect of coupled hydro-mechanical load on composite preform (Ouahbi et al. Composites Part A, 38:1646–1654, 2007) is integrated into an inverse method to predict the compaction behaviour of the reinforcements. An experimental device developed at Le Havre is used to apply hydro-mechanical loads to the preforms. Two ramps of stress are imposed to the preform and the thickness evolution is measured as a function of time. The speed of thickness reduction is not constant and varies in the range of 0.1 to 12 mm/min. The effect of compression speed upon the saturated fabrics is investigated. For a fixed fibre volume fraction, an increase in stress is observed in increasing compression speed. The experimental results are compared to the compressibility curves determined by an inverse method. The calculated curves correspond to the compressibility curves experimentally obtained with low compression speed (～0.25 mm/min). As a consequence, this suggests that a low compression speed should be applied when investigating the compressibility behaviour of composite preform with a view of modelling resin infusion processes.     

Detection of methicillin-resistant coagulase-negative staphylococci and PVL/mecA genes in cefoxitin-susceptible Staphylococcus aureus (t044/ST80) from unpasteurized milk sold in stores in Djelfa,Algeria

This study was designed to determine antimicrobial resistance phenotypes and genotypes and virulence factors in Staphylococcus aureus and coagulase-negative staphylococci (CNS) in unpasteurized milk sold in Djelfa, Algeria. Eighty-two unpasteurized cow milk samples were randomly obtained from 82 retail stores in Djelfa and tested to detect staphylococci. Species were identified by biochemical tests and MALDI-TOF. Antimicrobial resistance phenotypes and genotypes were determined by disk diffusion test, PCR, and sequencing. The Staph. aureus isolates were subjected to spa typing, multilocus sequence typing, and detection of virulence genes and the scn gene by PCR and sequencing. Forty-five (54.9%) milk samples were contaminated by staphylococci and 45 isolates were recovered: 10 Staph. aureus (12.2% of total samples) and 35 CNS (42.7%). Resistance to penicillin (blaZ), tetracycline (tetL/tetK), and erythromycin (ermB/msrA/ermC) were the most common phenotypes (genotypes). Three CNS were methicillin-resistant and all were mecA-positive. The Staph. aureus isolates were ascribed to the following lineages [spa type/sequence type/associated clonal complex (number of isolates)]: t267/ST479/CC479 (n = 6), t1510/ST5651/CC45 (n = 1), t359/ST97/CC97/ (n = 1), t346/ST15/CC15 (n = 1), and t044/ST80 (n = 1). The mecA gene was detected in the cefoxitin-susceptible t044/ST80 isolate and co-harbored the lukF/lukS-PV and scn genes. The detection of mecA-PVL-positive Staph. aureus, methicillin-resistant CNS, and multidrug-resistant staphylococcal species indicates a potentially serious health issue and reveals that unpasteurized milk sold in Djelfa city could be a potential vehicle for pathogenic and antimicrobial-resistant staphylococci.     

Parsing Arabic using induced probabilistic context free grammar

The importance of the parsing task for NLP applications is well understood. However developing parsers remains difficult because of the complexity of the Arabic language. Most parsers are based on syntactic grammars that describe the syntactic structures of a language. The development of these grammars is laborious and time consuming. In this paper we present our method for building an Arabic parser based on an induced grammar, PCFG grammar. We first induce the PCFG grammar from an Arabic Treebank. Then, we implement the parser that assigns syntactic structure to each input sentence. The parser is tested on sentences extracted from the treebank (1650 sentences).We calculate the precision, recall and f-measure. Our experimental results showed the efficiency of the proposed parser for parsing modern standard Arabic sentences (Precision: 83.59 %, Recall: 82.98 % and F-measure: 83.23 %).     

Nanoparticules Mass Effect of ZnO on the Properties of Poly(4-Chloroaniline)/Zinc Oxide Nanocomposites

4-Chloroaniline (4ClAni) in the presence of zinc oxide (ZnO) nanoparticles were prepared by chemical oxidative polymerization in hydrochloric acid solution using Ammonium persulfate as oxidant. The effects of amount of ZnO nanoparticles (1, 1.5, 2, 2.5 and 3 g, respectively) on the properties of products were investigated. The obtained nanocomposites was characterized using XRD, IR, UV–visible, and XPS which confirmed the incorporation of the nanoparticle ZnO in the P(4ClAni) matrix and the maximum interaction occurs for 2 g ZnO loading. The TGA analysis was used to confirm the thermal stability and number of water molecules in each nanocomposites chain unit. Although the incorporation of ZnO nanoparticles reduces the electric conductivity of the P(4ClAni), the resulting nanocomposites still keep high conductivities, ranging between 2.19 × 10^?2 and 5.92 × 10^?4 S cm^?1. Good electrochemical response has been observed for samples of amounts ZnO less than 2 g; the observed redox processes indicate that the polymerization on ZnO nanoparticles produces electroactive polymers. The P(4ClAni) layer adhered well to the ZnO nanoparticles and can be used as practical applications.     

On the mechanism of the methanol synthesis involving a catalyst based on zirconia support

The nature of the pivotal intermediate during the synthesis of methanol from CO₂/H₂, in the presence of ZnO/ZrO₂ aerogel catalyst is envisaged. The kinetic studies performed using in situ FTIR spectroscopy of the species formed on the surface of the catalyst in the absence and in the presence of hydrogen show that the initial reactive adsorbed species formed from C0₂ gas is the unidentate carbonate species. Its hydrogenation into the formate species is much faster than the hydrogenation of the formate species into methoxyl species. The comparison is based on a quantitative measurement of the rate constant of the hydrogenation of the various species. The results explain that during the C0₂/H₂ reaction only formate and methoxyl species are observed.