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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Pierre Melchior Najah Yousfi Chokri Rekik Nabil Derbel Alain Oustaloup IMS (UMR 5218 CNRS Université Bordeaux 1 - ENSEIRB - ENSCPB)Département LAPS 351 cours de la Liberation B(a)t. A4 - F33405 TALENCE cedex France. Research unit on Intelligent Control design & Optimization of complex Systems (ICOS)University of Sfax Sfax Engineering School BP W 3038 Sfax Tunisia. IMS (UMR 5218 CNRS Université Bordeaux 1 - ENSEIRB - ENSCPB) Département LAPS 351 cours de la Liberation B(a)t. A4 - F33405 TALENCE cedex France.

A new approach to path tracking based on fractional prefilter was developed in this *** previous works,this approach based on a Frequency Band Limited Fractional Differentiator(FBLFD)prefilter,with the position contro... 详细信息

关键词： Path Tracking design Based On Frequency-Band Limited Fractional Differentiator With Speed And Acceleration Input

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On the training of recurrent neural networks

On the training of recurrent neural networks

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

作者： Mounir Ben Nasr Mohamed Chtourou Research Unit on Intelligent Control Design & Optimization of Complex Systems (ICOS) Department of Electrical Engineering ENIS BP W University of Sfax Sfax Tunisia

This paper proposes a new approach which combines unsupervised and supervised learning for training recurrent neural networks (RNNs). In this approach, the weights between input and hidden layers were determined according to an unsupervised procedure relying on the Kohonen algorithm and the weights between hidden and output layers were updated according to a supervised procedure based on dynamic gradient descent method. The simulation results show that the proposed method performs well in comparison with the back propagation through time algorithm.

关键词： Training Recurrent neural networks Heuristic algorithms Artificial neural networks Neurons Clustering algorithms Signal processing algorithms

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Determination of Camera's Cycab Position

Determination of Camera's Cycab Position

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

作者： Rania Loukil Dhouha Bouchaala Yann Dumortier Research unit of Intelligent Control design and Optimization of complex Systems (ICOS) National School of Engineering Sfax Tunisia Paris Roquencourt IMARA Project INRIA France

This work describes a visual odometry by minimizing a quadrifocal constraint in order to calculate the position of an autonomous vehicle (Cycab). This method can also reject outliers corresponding to moving objects such as occlusions and illumination changes. An iterative non-linear trajectory estimation approach is formulated and it is based on a quadrifocal relationship between the image intensities within adjacent views of the stereo pair. The technique is applied to recovering the trajectory of a moving vehicle in a video sequence.

关键词： Cameras Estimation Cost function Tensile stress Visualization Robustness Least squares approximation

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A New CMOS Current controlled Quadrature Oscillator Based on a MCCII

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Circuits and systems 2011年第4期2卷 269-273页

作者： Ashwek Ben Saied Samir Ben Salem Dorra Sellami Masmoudi Computor Imaging and Electronic Systems Group (CIEL) Research Unit on Intelligent Design and Control of complex Systems (ICOS) University of Sfax National Engineering School of Sfax (ENIS) Development Group in Electronics and Communications (EleCom)

In this paper, we propose a design of a current controlled Quadrature Sinusoidal Oscillator. The proposed circuit employs three optimized Multi-output translinear second generation current conveyer (MCCII). The oscillation condition and the oscillation frequency are independently controllable. The proposed Quadrature Oscillator frequency can be tuned in the range of [198 MHz –261 MHz] by a simple variation of a DC current. PSpice simulation results are performed using CMOS 0.35 μm process of AMS.

关键词： Quadrature Sinusoidal Oscillator Optimized MCCII

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Assessment of beef meat aging using impedance spectroscopy

Assessment of beef meat aging using impedance spectroscopy

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

作者： Mahdi Guermazi Uwe Tröltzsch Olfa Kanoun Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School BPW University of Sfax Sfax Tunisia Measurement and Sensor Technology Chemnitz University of Technology Chemnitz Germany

The aim of the paper is to assess the feasibility of impedance measurements for meat aging detection. The carried investigations are dedicated to the aging of the meat of beef. An investigation was carried out for the detection of the age of meat using 2 cases of storage in the fridge, unpacked meat, exposed in the air of the fridge (Up) and vacuum-packed meat, conserved in closed box (Vp). The measurements show a depressed semicircle in the admittance plane similar to the equivalent circuit consisting of a combination of a Constant Phase Element (CPE) and two resistors. The resistance R E various is directly proportional to meat volume resistivity. The volume resistivity is constant for Vp meat, this is due to the conservation of the same situation in the surface of contact with the electrode, this situation change for the Up meat, the volume resistivity is increasing in a linear way because the surface of contact with electrode become more dry over time. The change due to R ct is inversely proportional to the factor number of electrons involved and exchange current. The factor n.i 0 decreases over time for the Up meat, This is consistent because when the meat becomes drier, the loss of liquids causes the decrease of conductivity and proportionally the decrease of the number of electrons involved and the exchange current. For the second case (Vp), the humidity causes the decrease of the number of electrons involved and the exchange current. The impedance is inversely proportional to the double layer capacitance that is consistent with the experiments. The impedance increase for the Up meat and decrease in the second case. The change due to Cdl is directly proportional to the change of meat permittivity ε r .

关键词： Electrodes Impedance Conductivity Mathematical model Dispersion Equations Aging

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On the trajectory tracking and coordination of multi-robot systems with communication delay

On the trajectory tracking and coordination of multi-robot s...

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

作者： Yassine Bouteraa Gerard Poisson Jawhar Ghommam Nabil Derbel Institut PRISME Équipe de recherche: Systèmes Robotiques Interactifs Université d''Oran-Es-senia France Engineering School of Sfax (ENIS) Research unit on Intelligent Control design and Optimization of complex Systems (ICOS) University of Sfax Tunisia

We develop new control approach to position synchronization of lagrangian systems based on emergent consenus algorithms. The proposed control approach works to accomplish multi-robot systems synchronization. The control strategy is to synchronize the angular position and the velocity of each robot in the group. The cooperative strategy only requires local neighbor-to-neighbor information exchange between systems and does not assume the existence of an explicit leader in the team. A combination of the lyapunov-based techniques and graph theory have been used to establish the multi-robot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time delays problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.

关键词： Robot kinematics Synchronization Delay effects Manipulators Trajectory Tracking

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Wavelet autoregressive forecasting of climatic parameters for photovoltaic systems

Wavelet autoregressive forecasting of climatic parameters fo...

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

作者： Chokri Ben Salah Anouar Ben Mabrouk Mohamed Ouali Research Unit on Intelligent Control Optimization design & optimization of complex Systems (ICOS) Department of Electrical Engineering National School of Engineers of Sfax Sfax Tunisia Department of Computer Sciences Higher Institute for Applied Sciences and Technology HIAST Sousse Tunisia Department of Electrical Engineering National School of Engineers of Sfax Sfax Tunisia

ISBN: (纸本)9781457704130

In this paper wavelet decomposition is combined with autoregressive models to analyze and predict climate time series such as solar radiation and photovoltaic cell temperature. The method is tested on climate parameters for analysis, and solar radiation and cell temperature for prediction. The work effectiveness is evaluated by the prediction of the electric energy produced by a 100 Wp photovoltaic panel. Finally, the performance of predictor is measured by standardized error.

关键词： Mathematical model Temperature measurement Time series analysis Predictive models Solar radiation Wavelet analysis Photovoltaic systems

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Path tracking design by input/output Davidson-Cole transfer function

Path tracking design by input/output Davidson-Cole transfer ...

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

作者： Najah Yousfi Pierre Melchior Chokri Rekik Nabil Derbel Alain Oustaloup Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School BPW University of Sfax Sfax Tunisia Département LAPS 351 cours de la Liberation IMS CNRS UMR 5218 Université Bordeaux 1 Talence France

ISBN: (纸本)9781457704130

Autonomous vehicle navigation requires the integration of many technologies such as path tracking. In path tracking design, we must take into account the dynamic of actuators in order to reduce overshoots appearing for small displacements. It permits the generation of an optimal movement reference-input giving a minimum path completion time, taking into consideration the maximum velocity, acceleration and jerk, and the bandwidth of the closed-loop on which the input is applied. Different methods were studied. The work presented here focuses on the fractional differentiation prefilter applied to nonvarying plants. A new approach to path tracking using fractional differentiation by direct optimization of an I/O transfer function was developed. Fractional differentiation is used here through a Davidson-Cole filter (DC) whose main property is having no overshoot on the plant output, whatever the values of its constitutive parameters. A simulation on a motor model validates the methodology.

关键词： Transfer functions Acceleration Bandwidth optimization Resonant frequency DC motors Tracking

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Hardware implementation of pulse mode RBFNN based edge detection system on virtex V platform

Hardware implementation of pulse mode RBFNN based edge detec...

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

作者： Amir Gargouri Mohamed Krid Dorra Sellami Masmoudi Research unit of Intelligent Control design and Optimization of complex Systems (ICOS) National School of Engineering Sfax Tunisia

In this paper, we have proposed a new architecture of RBFNN. Neural network efficiency in embedded systems offers the possibility of reconfiguration and the genericity of the solution. Indeed, the same integrated system can approximate any input-output function thanks to the parameters update on the chip. RBF neural networks constitute a subset of the neuronal networks, which has a great potential in reducing the size of the network. Pulse mode neural networks reduce significantly hardware resources by replacing the conventional huge multiplier by a simple frequency multiplier. As application, we approximate with the proposed RBF network, a Canny operator based edge detection, which is an important step in image processing. Acceptable edge detection approximation was done, with a mean generalization error of (4,604 %) on the Wang image database. Moreover, a design synthesis on FPGA virtex V platform was done, the results of implementation lead to an operating frequency of 445,295 MHz, which offers real time application performances.

关键词： Image edge detection Artificial neural networks Training Radial basis function networks Neurons Simulation Hardware

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Optimized fuzzy controller for mobile robot navigation in a cluttered environment

Optimized fuzzy controller for mobile robot navigation in a ...

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

作者： Najah Yousfi Chokri Rekik Mohamed Jallouli Nabil Derbel Research unit on Intelligent Control design & Optimization of complex Systems (ICOS) Sfax Engineering School Sfax BP W Tunisia

Obstacle avoidance and path planning are the most important problems in mobile robots. In this paper, a fuzzy logic controller has been constructed in order to train an intelligent robot. Gradient method is used to optimize consequences of a Sugeno fuzzy logic controller for the mobile robot navigation, in order to reach a target in a clutterd environment. Not only simulation results are shown in this paper, but also the “real-time” implementation has been realized onto the mini robot Khepera II. Simulation results verify successfully the application of the proposed method to real motion situations.

关键词： Robot sensing systems Mobile communication Argon optimization Trajectory

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