Design and Modeling of Mechanical Systems - V : Proceedings of the 9th Conference on Design and Modeling of Mechanical Systems, CMSM'2021, December 20-22, 2021, Hammamet, Tunisia - Walha, Lassaad; Abdennadher, Moez; Aifaoui, Nizar; Benamara, Abdelmajid; Chaari, Fakher; Chouchane, Mnaouar; Djemal, Fathi; Haddar, Mohamed; Jarraya, Abdessalem (Cham Springer International Publishing AG, 2022)