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检索条件"机构=Intelligent Control Design and Optimization of Complex Systems Unit"

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2D visual servoïng of wheeled mobile robot by neural networs

2D visual servoïng of wheeled mobile robot by neural networ...

引用

International Conference on Individual and Collective Behaviors in Robotics (ICBR)

作者： Rania Zouaoui Hassen Mekki National School of Engineering of Sousse University of Sousse Tunisia Intelligent Control design and Optimization of complex Systems University of Sfax Tunisia

We are interested in this paper in the 2D visual servoïng for a mobile robot type Koala using radial basis function (RBF) neural network (NN). Seen that the interaction matrix, expressing the relationship between the camera motion and the consequent changes on the visual features, contains parameters to be estimated (depth) and requires a calibration phase of the camera. In more, the model of the robot can contain uncertainties engendered the movement with sliding. An online identification, using NN was proposed to overcome these problems. The RBF NN is used to estimate the block formed by the interaction matrix and the model inverts of the robot. The considered images are described by objects given by four points. Seen that the variables number of the estimated function is important, what can cause a problem of the use of an excessive number of RBFs. As remedy, we used a new approach consists in considering that a single point is sufficient to solve the problem of the 2D visual servoïng of the mobile robot.

关键词： Visualization Artificial neural networks Cameras Robot vision systems Jacobian matrices Gold

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An optimized low voltage and High Frequency CCII based multifunction Filters

An optimized low voltage and High Frequency CCII based multi...

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ICECS 2006 - 13th IEEE International Conference on Electronics, Circuits and systems

作者： Salem, Samir Ben Masmoudi, Dorra Sellami Said, Ashwek Ben Loulou, Mourad Laboratoire de l'Electronique et des Technologies de l'Information National Engineering School of Sfax Tunisia Research Unit on Intelligent Design and Control of Complex Systems National Engineering School of Sfax Tunisia

ISBN: (纸本)1424403952

In this paper, a low voltage current conveyor (CCII) based multifunction filter is presented. Firstly, thanks to an optimizing heuristic, an optimal sizing of a low voltage low power CMOS current conveyor (CCII) was done. Hence, we improve static and dynamic performances of this configuration. The optimized CCII configuration has a current bandwidth of 1.103GHz and a voltage bandwidth of 1.18GHz and 33.4 Ω as RX parasitic resistance value. Secondly, implementation of a multifunction filter based on this configuration was done. The current mode filter has a tunable central frequency in the range [50MHz-800MHz]. PSPICE simulations are presented to demonstrate these results. ©2006 IEEE.

关键词： Bandwidth

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Investigation to the Use of Vibration Energy for Supply of Hearing Aids

Investigation to the Use of Vibration Energy for Supply of H...

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IEEE Instrumentation and Measurement Technology Conference

作者： N. Ben Amor O. Kanoun Sfax National School of Engineering Research unit on Intelligent Control design& Optimization of complex Systems (ICOS) BPW Tunisia Chair of Metrology University of Kassel Germany

Using ambient energy, the operation time of batteries in mobile applications can be increased and the acceptability by the user can be improved. In this paper we investigate the possibilities to design hearing aids as power aware system scavenging energy directly from its environment. The energy source we consider is vibration produced by movements primarily in the neighbourhood of the ear and other movements of the human body. Experimental measurements of vibration were evaluated by means of a theoretical model. The results show that an interesting improvement of battery operation time can be reached.

关键词： Hearing aids Auditory system Batteries Testing Humans Vibration measurement Power supplies Energy consumption Costs Detectors

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Synthesis of a robust neural input-state feedback controller for nonlinear systems

Synthesis of a robust neural input-state feedback controller...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Sondess Ben Aoun Nabil Derbel Houssem Jerbi Research unit on Intelligent Control design and Optimization of complex Systems (lCOS) University of Sfax Sfax Tunisia design and Optimization of complex Systems (ICOS) ENIS Sfax Tunisia Laboratoire d'Etude et de Commande Automatique des Processus (LECAP) Ecole polytechnique de Tunisie Tunisia

This paper presents a design approach to hybrid control systems, combining analytical feedback linearization control techniques with neural networks. Such a mixed implementation leads to a more effective control design with improved system performance and robustness. The main objective of integrating neural networks is to overcome the problems with uncertainties in the plant parameters and structure encountered in the analytical model-based design. Shunt DC motor is characterized by complex nonlinear and time-varying dynamics and inaccessibility of some model parameters for on line measurements, and hence can be considered as an important challenging engineering topic. The input-state feedback linearization technique is known for its good results locally in a neighborhood of an operating point. However, these results are sensitive to model parameter variations and so performances may deteriorate. Neural network-based controllers are considered as candidates for this parameters sensitivity. In a first step, an algorithm for analytical exact input-state linearizing control is formulated. The following step is dedicated to the robust neural feedback controller design. A simulation study of these methods is presented. The effectiveness of the neural controller with respect to the analytical one is demonstrated for a large armature resistance variation.

关键词： Artificial neural networks Resistance DC motors Robustness Neurons Mathematical model Adaptive control

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On the neuro-genetic approach for determining optimal control of a rotary crane

On the neuro-genetic approach for determining optimal contro...

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IEEE Conference on control Technology and Applications (CCTA)

作者： C. Rekik M. Djemel N. Derbel Research unit on Intelligent Control design and Optimisation of complex Systems (ICOS) University of Sfax Sfax Tunisia

The aim of this paper considers the determination of optimal control trajectories of a complex process. The proposed method is based on the decomposition of the system into interconnected subsystems. We consider the cases where subsystems are linear in terms of their state and control vectors. For this reason, a neural network is identified which compute local gains. Genetic algorithms are used to optimize the networks weights. Simulation results show that the proposed approximations yield satisfactory performances.

关键词： Optimal control Cranes Neural networks Nonlinear systems Vectors Artificial neural networks Genetic algorithms Riccati equations Biological cells intelligent control

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Remotely sensed image segmentation by nonlinear correlation

Remotely sensed image segmentation by nonlinear correlation

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： M. Salhi A. Kallel D.S. Masmoudi N. Derbel National Remote Sensing Centre Limited Tunisia Tunisia Research Unit on Intelligent Control Design and Optimization of Complex Systems Ecole Nationale d'Ingenieurs de Sfax Tunisia

In this paper, we describe an implementation of a new method for olive tree detection based on a remotely sensed data by applying nonlinear correlation technique. In order to look for a known object, we use its mask omega and sweep the considered image for computing the correlation between the mask and windows phi of the image. Accordingly, we defined a doorstep of resemblance decision between the picture and the mask by choice of the maximal correlation measure. Applying this technique for remote sensed image segmentation and olive trees extraction, as well as computing the vegetation indices, we get encouraging results

关键词： Image segmentation Remote sensing Vegetation mapping Spectroscopy Correlators intelligent control design optimization Network address translation Image recognition Image analysis

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On the frequency compensation of simulated CCII based tunable floating inductance for LC ladder filters applications

On the frequency compensation of simulated CCII based tunabl...

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International Conference on Electrical, Electronic and Computer Engineering (ICEEC)

作者： N.B. El Feki D.S. Masmoudi N. Derbel Research Group: ICOS Intelligent Control Design and Optimization of Complex Systems Ecole Nationale des Ingénieurs de Sfax Sfax Tunisia

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Mutual and external synchronization control of multi-robot systems

Mutual and external synchronization control of multi-robot s...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Yassine Bouteraa Jawhar Ghommam Nabil Derbel Gérard Poisson Research unit on Intelligent Control design and Optimization of complex Systems University of Sfax Sfax Tunisia Institut Prisme SRI 63 avenue de Lattre de Tassigny Bourges Cedex

In this article, we investigate the synchronization of robot manipulators group under coordinated and cooperative scheme. In cooperative schemes all agents were fully interconnected, such that all robots have a weight on the overall dynamics. In the coordinated schemes the leader robot or the master robot establishes the synchronized action of all the slave systems. Based on emergent consensus algorithm, the proposed controller works to position synchronization of multiple robot manipulators. The control strategy is to synchronize the angular position and the velocity of each robot in the system with respect to the common desired trajectory and the angular positions and velocities of other robots. Modeled by an undirected graph, the cooperative robots network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. However the objective in coordinated scheme is to design interconnections and feedback controllers for the slaves, such that their positions and velocities synchronize to those of the leader robot. It is assumed that network robots have the same number of joints and any configuration made possible by one in the group can be completed by each robot in the cooperative system.

关键词： Lead Robots Aerospace electronics control systems

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Dynamic redundancy resolution for mobile manipulators with joints velocity limits avoidance

Dynamic redundancy resolution for mobile manipulators with j...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： M. Jallouli M. Boukattaya T. Damak Intelligent Control Design and Optimization of Complex Systems ENIS Engineering School Sfax Tunisia Unité de Commande de Procédés Industriels ENIS Engineering School Sfax Tunisia

In this paper, we present a dynamic redundancy resolution technique for mobile manipulator subject to joint velocity limits. First, the dynamic model of the mobile manipulator in feasible motion space is given. Next, a control algorithm is proposed which completely decouples the motion of the system into the end-effector motion in the task space and the internal motion in the null space and controls them in prioritized basis with priority given to the primary task space and enables the selection of characteristics in both subspaces separately. A special attention is given to the joints velocity limits avoidance where a normalized measure is proposed to solve problems inherent to velocity limits of the system. Simulation results are given to illustrate the coordination of two subsystems in executing the desired trajectory without violating the joint velocity limits.

关键词： Manipulators Aerospace electronics Mobile communication Manipulator dynamics Redundancy Dynamics Trajectory

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Recursive backstepping stabilization of a wheeled mobile robot

Recursive backstepping stabilization of a wheeled mobile rob...

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作者： Mnif, F. Yahmadi, A.S. Intelligent Control Design and Optimization of Complex Systems Tunisia Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman Department of Mechanical and Industrial Engineering Sultan Qaboos University Muscat Oman Department of Electrical Engineering College of Engineering Sultan Qaboos University PO Box 33 Muscat 123 Oman

This research is aimed at the development of a dynamic control to enhance the performance of the existing dynamic controllers for mobile robots. System dynamics of the car-like robot with non-holonomic constraints were employed. A backstepping approach for the design of a discontinuous state feedback controller is used for the design of the controller. It is shown that the origin of the closed-loop system can be made stable in the sense of Lyapunov. The control design is made on the basis of a suitable Lyapunov function candidate. The effectiveness of the proposed approach is tested through simulation on a car-like vehicle mobile robot. © IMechE 2005.

关键词： Mobile robots

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