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1st International Conference on Emerging Electrical Energy, Electronics and Computing Technologies 2019, ICE4CT 2019

作者： Aati, S. Nejim, S. Automatic Control and Marine Robotics Research Unit Naval Academy of Tunisia 7050 Menzel Bourguiba Tunisia

Nowadays, Computational Fluid Dynamic (CFD) analysis is one of the most affordable techniques to determine the aerodynamic characteristics of an aircraft. It allows a development of advanced flight controllers. However, the accuracy of this technique depends on the input parameters such as the solid model. This paper describes a methodology to estimate aerodynamic derivatives of a Cessna 182 aircraft based on solid model established by using photogrammetry technique. 312 images have been taken using Canon D750 camera with a 24 mm lens. A dense point cloud of the aircraft was generated using MicMac photogrammetry software. Then, the aircraft 3D-geometry was extracted in order to create the CAD model. Afterwards, parameters such as lift and drag coefficients were estimated at different angles of attack using Ansys Fluent software. The simulation results show that the lift and drag increase up to stall angle, then the lift starts to decrease. These results matches the theoretical ones. © Published under licence by IOP Publishing Ltd.

关键词： 3D modeling

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Modeling and Autopilot Design for an Autonomous Catamaran Sailboat Based on Feedback Linearization 3

Modeling and Autopilot Design for an Autonomous Catamaran Sa...

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3rd International Conference on Advanced Systems and Emergent Technologies, IC_ASET 2019

作者： Abrougui, Helmi Nejim, Samir Dallagi, Habib R.U Automatic Control and Marine Robotics Naval Academy Menzel Bourguiba Tunisia

ISBN: (纸本)9781728113173

This paper deals with the design of a feedback linearization and decoupling algorithm for controlling the heading and the sail opening angle of an autonomous catamaran sailboat. A nonlinear four degrees of freedom dynamic model of the sailboat was developed, it includes roll and sway motions. An autopilot was designed through the determined model in order to keep the catamaran sailboat on a predefined heading and ensure a suitable sail position. Some simulation results are presented to illustrate the behavior of the control design. © 2019 IEEE.

关键词： Feedback linearization

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Development and Modeling of an Underwater Ship's Hull Inspection Station Equipped with Two Arms Manipulator 3

Development and Modeling of an Underwater Ship's Hull Inspec...

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3rd International Conference on Advanced Systems and Emergent Technologies, IC_ASET 2019

作者： Hamzaoui, Nidhal Zaoui, Chiheb Hachicha, Saber Dallagi, Habib Nejim, Samir Maalej, Aref Automatic Control and Marine Robotics Naval Academy Tunisia Laboratory of Electromechanical Systems University of Sfax Tunisia

ISBN: (纸本)9781728113173

Due to its different benefits, the underwater hull inspection has become a focus of interest of a big number of researchers and companies. In this article, we look to aid and simplify the ship's hull inspection task through a new robotic system using two arms manipulators. Therefore, we established the geometric and dynamic models of an underwater ship's hull inspection station components. In effect, the mentioned station has fourteen freedom degrees, which are eight rotations and six translations in both arms. Furthermore, we applied a PID controller in order to establish the dynamic simulation of the station using the SimMechanics software. This study demonstrates that such a station using two arms manipulators technology can make the ship's hull inspection process simple and more effective. © 2019 IEEE.

关键词： Manipulators

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Mechanical Design and control of an Underwater Robot for Pitch and Roll Stability 3

Mechanical Design and Control of an Underwater Robot for Pit...

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3rd International Conference on Advanced Systems and Emergent Technologies, IC_ASET 2019

作者： Hachicha, Saber Zaoui, Chiheb Rabhi, Yassine Dallagi, Habib Nejim, Samir Maalej, Aref Automatic Control Marine Robotics Naval Academy Tunisia Laboratory of Signal Image and Energy Mastery National Higher School of Engineering of Tunis Tunisia Laboratory of Electromechanical Systems University of Sfax Tunisia

ISBN: (纸本)9781728113173

The use of the underwater robot for ship hull cleaning is increasingly studied given the valuable operational, economic and environmental advantages that it offers. The automatic control and marine robotics Unit, within the Tunisian Naval Academy, has suggested a new underwater robot design that is equipped with two manipulating arms. The offered solution allows to combine a system portability with the improved cleaning efficiency offered by the manipulator arms. However, during underwater operation, the robot, located beneath the ship's hull, is exposed to several perturbation forces. These forces are mainly caused by water current and waves. This research focuses on the robot static and dynamic stability when it is exposed to external perturbations. The proposed approach to ensure the robot stability consists in improving its mechanical design. Therefore, we developed the design of the scaled robot to eliminate static behavior. The dynamic model was established and the electronic architecture was described. Besides, the control scheme was proposed. In conclusion, our study demonstrates the importance of the mechanical symmetry design and the control law to ensure the stability of the underwater robot. © 2019 IEEE.

关键词： Robots

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COMPARATIVE STUDY OF PHOTOGRAMMETRY SOFTWARE IN INDUSTRIAL FIELD

Revue Francaise de Photogrammetrie et de Teledetection

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Revue Francaise de Photogrammetrie et de Teledetection 2020年第221期1卷

作者： Aati, Saif Rupnik, Ewelina Nejim, Samir Automatic Control & Marine Robotics Research Unit Naval Academy of Tunisia Menzel Bourguiba7050 Tunisia National School of Geographic Sciences Champs-sur-Marne77420 France LASTIG IGN Univ. Gustave Eiffel France

This paper reports a comparative study between photogrammetry software that are able to automatically process image data sets to generate point clouds in the industrial field. As part of a project conducted in Urbica 3D Laser Scanning Survey Company, four industrial data sets were carried out using the following software solution: PhotoScan, Pix4DMapper Pro, RealityCapture, MicMac, ReCap Photo and ContextCapture. Each data set featured a diverse number of images, resolutions and objects of interest with different levels of industrial complexity. The assessment was based on three main criteria: the accuracy of image orientation, the visual quality and the geometric accuracy of 3D dense point clouds and, the different software features such as the time processing and the output variability. © 2020 Soc. Francaise de Photogrammetrie et de Teledetection. All rights reserved.

关键词： Computer vision

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Backstepping control of an autonomous catamaran sailboat 11

Backstepping control of an autonomous catamaran sailboat

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11th International Robotic Sailing Conference, IRSC 2018

作者： Abrougui, Helmi Nejim, Samir U.R Automatic Control and Marine Robotics Naval Academy Tunisia

automatic control of sailing boats has continuously evolved since it allows the increase of sailing safety and the improvement of cruise speed. Hence, the main problem with sailing resides in the large heel angle and important roll motion that can be caused by strong wind. In order to overtake these risks and to ameliorate the sailboat manoeuvrability and speed, a solution is to design sailboats with two or three hulls;referred, respectively, as catamaran and trimaran. This paper presents an autopilot design for an autonomous catamaran sailing vessel. A four degree of freedom dynamic model of the vehicle is firstly described using Newton's second law and kinematic equations. Due to high nonlinearity of the mathematical dynamic model of the catamaran sailboat, a nonlinear heading controller based on backstepping method is developed to stabilize the boat heading while tracking waypoints. Finally, simulation results are carried out to show the effectiveness of the proposed approach and the behaviour of the overall system. Copyright © by the paper's authors.

关键词： Degrees of freedom (mechanics)

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Identification of aircraft aerodynamic derivatives based on photogrammetry and computational fluid dynamics

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Journal of Physics: Conference Series 2020年第1期1432卷

作者： Aati, S Nejim, S Automatic Control & Marine Robotics Research Unit Naval Academy of Tunisia 7050 Menzel Bourguiba Tunisia.

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Study and modeling of a hull cleaning station with an arm manipulator

Study and modeling of a hull cleaning station with an arm ma...

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International Conference on Advanced Systems and Electric Technologies (IC_ASET)

作者： Saber Hachicha Samir Nejim Chiheb Zaoui Aref Maalej Habib Dallagi Automatic Control & Marine Robotics Naval Academy Tunisia Laboratory of Electromechanical Systems of the University of Sfax Tunisia

The underwater hull cleaning is a center of interest of a big number of researchers from the fifties. Here we aim to facilitate the cleaning of the hull using a new robotic system with an arm manipulator. We developed the geometric and the dynamic modeling of the station components. In fact, the station has seven degrees of freedom four rotations and three translations. Besides, we used the SimMechanics software for the dynamic simulation of the station. In conclusion, our study shows that the underwater station with arm manipulator can be important for the hull cleaning ***.

关键词： Cleaning Solid modeling marine vehicles End effectors Joints

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Economic scheduling of a hybrid microgrid based on weather forecasts

Economic scheduling of a hybrid microgrid based on weather f...

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2017 International Conference on Advanced Systems and Electric Technologies, IC_ASET 2017

作者： Bouaicha, Hamadi Dallagi, Habib Craparo, Emily Nejim, Samir Automatic Control and Marine Robotics Naval Academy Tunisia Department of Operations Research Naval Postgraduate School United States

ISBN: (纸本)9781509066346

Intermittency of renewable resources represents a major impediment that restricts their integration in microgrids. This paper presents an approach that can contribute to solve this issue by the prediction of near-Term future renewable power production, mainly wind power and photovoltaic power, based on weather forecasts. After knowing the future renewable power production, the electric grid manager needs to find the optimal operating plan in order to efficiently integrate the predicted renewable production and to optimally operate other controllable components of the microgrid such as fuel-based generators, energy storage units and connectors to the commercial electric grid. We formulate this optimization problem as an integer linear program and exercise the model to study a number of practical issues surrounding microgrids. © 2017 IEEE.

关键词： Scheduling

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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