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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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Leader-follower based formation control of nonholonomic robots using the virtual vehicle approach

Leader-follower based formation control of nonholonomic robo...

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International Conference on Mechatronics (ICM)

作者： Jawhar Ghommam Hasan Mehrjerdi Maarouf Saad Research Unit on Intelligent Control and Optimization of Complex Systems National School of Engineer of Sfax ENIS Tunisia Department of Electrical Engineering École de technologie supérieure Québec Canada

In this paper we investigate the leader follower motion coordination of multiple nonholonomic mobile robots. A combination of the virtual vehicle and trajectory tracking approach is used to derive the formation architecture. A virtual vehicle is steered in such away it stabilizes to a shifted reference position/heading deflned by the leader, the velocity of the virtual vehicle is then provided for further use in designing control law for the follower independent from the measurement of leader's velocity. Position tracking control is then constructed for the follower to track the virtual vehicle using the backstepping and Lyapunov direct design technique. Simulations are provided to show the effectiveness of the proposed approach.

关键词： Lead Vehicles Robot kinematics

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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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Fuzzy predictive control of nonlinear systems

Fuzzy predictive control of nonlinear systems

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

作者： Widien Dhouib Mohamed Djemel Mohamed Chtourou Research Unit of Intelligent Control design & Optimisation of complex Systems (ICOS) National School of Engineering of Sfax University of sfax Sfax Tunisia

This paper presents two strategies of nonlinear predictive control based on a Takagi-Sugeno fuzzy model. The first one introduces a fuzzy logic-based modeling methodology, where a nonlinear system is divided into a number of linear subsystems. So the linear model based predictive control (MPC) technique is used for each subsystem. In the second one, the fuzzy model is considered as a nonlinear model of the system and the control signal is obtained by minimizing either the cumulative differences or the instant difference between set-point and fuzzy model output. The efficiency of these two fuzzy model predictive control (FMPC) approaches is demonstrated through two examples.

关键词： Predictive models Predictive control Mathematical model Equations Nonlinear systems control systems

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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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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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Parameters effect on basic DC to DC converter structures

Parameters effect on basic DC to DC converter structures

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

作者： N. Ben Amor O. Kanoun N. Derbel Measurement and Sensor Technology University of Chemnitz Germany Research Unit of Intelligent Control design & Optimisation of complex Systems (ICOS) BPW Sfax National Engineering School Tunisia

ISBN: (纸本)9781457704130

Progress in low power Very Large Scale Integration (VLSI) design open up possibilities of powering wireless devises from scavenged ambient energy. An energy management system should be designed to manage the harvested energy. DC to DC converters represent the key element in energy management systems. Knowing the diversity of DC-DC converters generally designed for specific applications, basic converters are under scope in this paper. Operation principles and simulation patterns of basic DC to DC converters are first presented. Parameter simulation occurring the effect of duty cycle, inductance, capacity and switch polarisation is studied in depth. The gaol of this paper is to show main parameters effect on output voltage behaviour. Simulation results show that the main parameters in DC-DC converters design play a key role to avoid extra-lose of harvested energy.

关键词： Energy harvesting Energy management DC-DC converter

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Multiple model reduction based control approach for non linear systems

Multiple model reduction based control approach for non line...

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

作者： Ali Zribi Mohamed Chtourou Mohamed Djemel Research Unit on Intelligent Control design & Optimisation of Complex Systems (ICOS) Department of Electrical Engineering B.P.W ENIS Engineering School Sfax Tunisia

ISBN: (纸本)9781457704130

For linear plants, IMC have been shown good robustness properties against disturbances and model mismatches. However, when uncertain processes are concerned, the original IMC structure cannot be directly used for control system implementation. In this paper, an internal multiple model control (IMMC) based on linear model's library is introduced. This approach supposes the definition of a set of local models developed within each cluster. Such decomposition is obtained using the fuzzy c-means (FCM) clustering algorithm. Then the gap metric concept has been designed as a criterion to analyze the relationships among candidate models to get a reduced model bank.

关键词： Measurement Mathematical model Computational modeling Analytical models Adaptation model Clustering algorithms Data models

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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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