Current
research projects
 Usercentric intelligent systems (Useradaptive robotics)
During the past century, robots have been used in a variety
of industrial applications. In most of these applications
a robot is assumed to operate in a “robotfriendly”
industrial environment which is typically structured,
uncluttered and well understood. Most recently, robots
have been successfully fielded in more “humanfriendly”
environments such as museums, office buildings, and homes
as a helper for the elderly. Yet there remain several
significant challenges before robots can be fully integrated
in the typically uncertain, unstructured and mostly cluttered
environments that humans live in. A key challenge is the
humanrobot interaction problem. Current industrial robots
expect the user to have full knowledge of the robot communication
protocol and to master a highly specialized language for
commanding and programing the robot. This can’t be
assumed for an average home or office user.
I am interested in developing a new generation of robots
that can learn and adapt its behavior to fit the user’s
need and interest. Two current projects include:
 Useradaptive prosthetic hand.
 Useradaptive personal robots
Recent publication related to this interest:
 Ralph, M., and M. Moussa (2005) “HumanRobot
Interaction for Robotic Grasping: A Pilot Study”
IEEE/RSJ INternational conference on Intelligent Robots
and Systems 2005.
 Moussa, M. (2004) “Combining expert neural networks
using reinforcement feedback for learning primitive
grasping behaviour” IEEE Transaction on Neural
Networks, Vol. 15, No. 3, pp 629638.
 Ralph, M. and M. Moussa (2003) “Patterns of Skill
Transfer for HumanRobot Interaction” IEEE Int.
Conf. on Advanced Robotics (ICAR 2003), Coimbra, Portugal,
pp. 965970.
 Reconfigurable computing
The focus of this research is on reconfigurable computing
implementation of adaptive systems (particularly Neural
networks)
Recent publication related to this interest:
 Li, X., Moussa, M., Areibi, S. (2005) “Arithmetic
formats for implementing Artificial Neural Networks
on FPGAs” Canadian Journal on Electrical and Computer
Engineering (in print)
 Coe, S., Areibi, S., Moussa, M. (2005) “A Hardware
Memetic Accelerator for VLSI Circuit Partitioning”
International J. Computers in Electrical Engineering
(in print)
 Areibi, S., Moussa, M., Koonar G. (2005) “A Genetic
Algorithm Hardware Accelerator for VLSI Circuit Partitioning”
International Journal of Computers and their Applications.
(in print)
 Nichols, K., Moussa, M., and S. Areibi (2005) “On
The Arithmetic Precision For Implementing Backpropagation
Networks On FPGA: A Case Study” In FPGA Implementations
of Neural Networks, Editors: Omondi, Amos R.; Rajapakse,
Jagath C. (Eds.). SpringerVerlag, p3756.
Publications
(Last 5 years)
Refereed journals publications
 Savich, A., Moussa, M., Areibi, S. “Efficient implementation
of Backpropagation algorithm on FPGAs” IEEE Transactions
on Neural Networks (Submitted).
 Moussa, M. “Categorizing Arbitrarily Shaped Objects
Based on Grasping Configurations” Robotics and Autonomous
Systems (submitted)
 Li, X., Moussa, M., Areibi, S. (2005) “Arithmetic
formats for implementing Artificial Neural Networks on FPGAs”
Canadian Journal on Electrical and Computer Engineering
(in print)
 Coe, S., Areibi, S., Moussa, M. (2005) “A Hardware
Memetic Accelerator for VLSI Circuit Partitioning”
International J. Computers in Electrical Engineering (in
print)
 Areibi, S., Moussa, M., Koonar G. (2005) “A Genetic
Algorithm Hardware Accelerator for VLSI Circuit Partitioning”
International Journal of Computers and their Applications.
(in print)
 Nichols, K., Moussa, M., and S. Areibi (2005) “On
The Arithmetic Precision For Implementing Backpropagation
Networks On FPGA: A Case Study” In FPGA Implementations
of Neural Networks, Editors: Omondi, Amos R.; Rajapakse,
Jagath C. (Eds.). SpringerVerlag, p3756.
 Moussa, M. (2004) “Combining expert neural networks
using reinforcement feedback for learning primitive grasping
behaviour” IEEE Transaction on Neural Networks, Vol.
15, No. 3, pp 629638.
 Khalifa, I., Moussa, M. and M. Kamel (2004) “Range
Image Segmentation using Local Approximation of Scan Lines
with Application to CAD Model Acquisition” In Integrated
Image and Graphics Technologies, Editors: D. Zhang, M. Kamel,
and G. Baciu, Kluwer Academic Publishers, February 2004.
 Khalifa, I., Moussa, M. and M. Kamel (2003) “A Method
For Range Image Segmentation using Local Approximation of
Scan Lines And its Application to CAD Model Acquisition”
Machine Vision and Applications, Vol. 13, pp 263274.
 W. A. Moussa, H. Ahmed, W. Badawy and M. Moussa (2002)
“Investigating the Reliability of Electrostatic CombDrive
Actuators Utilized in Microfluidic and Space systems Using
Finite Element Analysis,” Canadian Journal on Electrical
and Computer Engineering, Vol. 27, No. 4, pp 195200.
 Refereed conference contributions
 Ralph, M., and M. Moussa (2005) “HumanRobot Interaction
for Robotic Grasping: A Pilot Study” IEEE/RSJ INternational
conference on Intelligent Robots and Systems 2005.
 V. Pandya, S. Areibi, and M. Moussa (2005) “A HandelC
Implementation of the BackPropagation Algorithm On Field
Programmable Gate Arrays” International Conference
on Reconfigurable Computing and FPGAs 2005
 Badran, M., and M. Moussa (2005) “BioMEMS Implants
for neural Regeneration after a Spinal Cord Injury”,
IEEE Int. Conf. on MEMS, NANO, and Smart Systems (ICMENS
2005), pp 118121.
 S. Coe, Areibi, S., and M. Moussa (2004) “A Genetic
Local Search Hybrid Architecture for VLSI Circuit Partitioning”
International Conference on Microelectronics 2004, pp. 253
 256.
 Badran, M., and M. Moussa (2004) “On the Design of
an Electrohydrodynamic IonDrag Micropump”, IEEE Int.
Conf. on MEMS, NANO, and Smart Systems (ICMENS 2004), Banff,
Alberta, pp 137140.
 Asmar, D., Moussa, M., and J. Zelek (2003) “On the
role of machine learning algorithms in developing MEMS components”
Proc. Int. Conf. on MEMS, NANO, and Smart Systems (ICMENS’2003),
Banff, Alberta, pp 108113.
 Ralph, M. and M. Moussa (2003) “Patterns of Skill
Transfer for HumanRobot Interaction” IEEE Int. Conf.
on Advanced Robotics (ICAR 2003), Coimbra, Portugal, pp.
965970
 Nichols, K., Moussa, M., Areibi, S. (2002) “Feasibility
of Floatingpoint Arithmetic in FPGA Based Artificial Neural
Networks” Accepted for presentation at the 15th Int.
Conf. Computer Applications in Industry and Engineering
(CAINE2002).
 Koonar, G., Areibi, S., Moussa, M. (2002) “Hardware
Implementation Of Genetic Algorithms For VLSI Cad Design”
Accepted for presentation at the 15th Int. Conf. Computer
Applications in Industry and Engineering (CAINE2002).
 Ahmed H., Moussa W., Badawy W., Moussa M. (2002) “Applying
FEA to Investigate the Performance of Electrostatic CombDrive
Actuators Utilized by onachip systems” Proc. Int.
Workshop on System on Chip for Realtime Applications (IWSOC),
pp. 331340.
 Moussa, M. and Serban, A. (2002) “AMSEK: A Simulator
for Robotic Grasping of Arbitrarily Shaped Objects”
Proc. Int. Conf. on Computers and Industrial Engineering
(CIE 2002), pp. 641646.
 Ariebi, S., Moussa, M., and H. Abdullah (2001) “A
Comparison Of Genetic/memetic Algorithms And Other Heuristic
Search Techniques” Proc. International Conference on
Artificial Intelligence (ICAI 2001), pp 660666.
 Khalifa, I., Moussa, M. and M. Kamel (2000) “Range
Image Segmentation with Application to CAD Model Acquisition”,
Proc. IEEE International Conference on Image Processing
(ICIP 2000), Vancouver, Vol. 2, pp. 740743.
 Khalifa, I., Moussa, M. and M. Kamel (2000) “Segmentation
of Range Images Using Local Approximation of Scan Lines”
Proc. of Vision Interface (VI 2000), Montreal, pp.235239..
