The Byzantine Empire ruled the northern shores of the Sahara from the 5th to the 7th centuries. After the Muslim conquest of Arabia (Arabian peninsula) the Muslim conquest of North Africa began in the mid-7th to early 8th centuries, Islamic influence expanded rapidly on the Sahara. By the end of 641 all of Egypt was in Muslim hands. The trade across the desert intensified. A significant slave trade crossed the desert. It has been estimated that from the 10th to 19th centuries some 6,000 to 7,000 slaves were transported north each year.

What group of people ruled the northern shoes of the   Sahara?