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1. Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid.

Author

Ghandour, Maysoon, Jleilaty, Subhi, Ait Oufroukh, Naima, Olaru, Serban, and Alfayad, Samer

Subjects
ELECTROHYDRAULIC effect, REAL-time control, ROBOT control systems, SYSTEM failures, HUMANOID robots, ACTUATORS
Abstract

Electro-hydraulic actuators have witnessed significant development over recent years due to their remarkable abilities to perform complex and dynamic movements. Integrating such an actuator in humanoids is highly beneficial, leading to a humanoid capable of performing complex tasks requiring high force. This highlights the importance of safety, especially since high power output and safe interaction seem to be contradictory; the greater the robot's ability to generate high dynamic movements, the more difficult it is to achieve safety, as this requires managing a large amount of motor energy before, during, and after the collision. No matter what technology or algorithm is used to achieve safety, none can be implemented without a stable control system. Hence, one of the main parameters remains the quality and reliability of the robot's control architecture through handling a huge amount of data without system failure. This paper addresses the development of a stable control architecture that ensures, in later stages, that the safety algorithm is implemented correctly. The optimum control architecture to utilize and ensure the maximum benefit of electro-hydraulic actuators in humanoid robots is one of the important subjects in this field. For a stable and safe functioning of the humanoid, the development of the control architecture and the communication between the different components should adhere to some requirements such as stability, robustness, speed, and reduced complexity, ensuring the easy addition of numerous components. This paper presents the developed control architecture for an underdeveloped electro-hydraulic actuated humanoid. The proposed solution has the advantage of being a distributed, real-time, open-source, modular, and adaptable control architecture, enabling simple integration of numerous sensors and actuators to emulate human actions and safely interact with them. The contribution of this paper is an enhancement of the updated rate compared to other humanoids by 20% and by 40 % in the latency of the master. The results demonstrate the potential of using EtherCAT fieldbus and open-source software to develop a stable robot control architecture capable of integrating safety and security algorithms in later stages. [ABSTRACT FROM AUTHOR]

Published
2024
Full Text
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5. Lateral control for autonomous wheeled vehicles: A technical review.

Author

Kebbati, Yassine, Ait‐Oufroukh, Naima, Ichalal, Dalil, and Vigneron, Vincent

Subjects
TRAFFIC accidents, TRAFFIC congestion, MOTOR vehicle driving, AIR pollution, ENERGY consumption, AUTONOMOUS vehicles
Abstract

Autonomous driving has the ability to reshape mobility and transportation by reducing road accidents, traffic jams, and air pollution. This can yield energy efficiency, convenience, and more productivity as significant driving time will be gained and used in other activities instead. Autonomous vehicles are complex systems consisting of several modules that perform perception, decision‐making, planning, and control. Control is essential for achieving automatic driving; it is basically divided into longitudinal control that handles speed tracking and lateral control which ensures accurate steering. The latter is primordial in path tracking applications and recent research has witnessed a huge leap in this field. The aim of this paper is to provide a technical survey of the latest research on the lateral control of autonomous vehicles as well as to highlight technical challenges and limits for further developments. [ABSTRACT FROM AUTHOR]

Published
2023
Full Text
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9. Zonotopic set-membership state estimation for switched systems

Author

Sara Ifqir, Puig Vicenç, Ichalal Dalil, Ait-Oufroukh Naima, Mammar Saïd, Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Institut de Robòtica i Informàtica Industrial (IRI), Universitat Politècnica de Catalunya [Barcelona] (UPC)-Consejo Superior de Investigaciones Científicas [Madrid] (CSIC), Informatique, BioInformatique, Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, and Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control

Subjects
Differential equations, Anàlisi numèrica, [SPI]Engineering Sciences [physics], Informàtica::Automàtica i control [Àrees temàtiques de la UPC], Computer Networks and Communications, Control and Systems Engineering, Optimització matemàtica, Applied Mathematics, Mathematical optimization, Signal Processing, Equacions diferencials, Numerical analysis, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; This paper proposes a new approach for set-membership state estimation of switched discrete-time linear systems subject to bounded disturbances and noises. A zonotopic outer approximation of the state estimation domain is computed and a new criterion is proposed to reduce the size of the zonotope at each sample time. The zonotopic set-membership estimator design for switched systems is provided within the LMI framework. The extension of the proposed scheme to deal with unknown inputs is also presented. An application to vehicle lateral dynamics state estimation is provided. Simulation results demonstrate the effectiveness of the proposed algorithm and highlight its advantages over the existing methods.

Published
2022

11. Autonomous driving using GA-optimized neural network based adaptive LPV-MPC controller

Author

Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Kebbati, Yassine, Ait-Oufroukh, Naima, Puig Cayuela, Vicenç, Ichalal, Dalil, Vigneron, Vincent, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Kebbati, Yassine, Ait-Oufroukh, Naima, Puig Cayuela, Vicenç, Ichalal, Dalil, and Vigneron, Vincent

Abstract

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works, Autonomous vehicles are complex systems that operate in dynamic environments, where automated driving seeks to control the coupled longitudinal and lateral vehicle dynamics to follow a certain behaviour. Model predictive control is one of the most promising tools for this type of application due to its optimal performance and ability to handle input and output constraints. This paper addresses autonomous driving by introducing an adaptive linear parameter varying model predictive controller (LPV-MPC), whose prediction model is adapted online by a neural network. Moreover, the controller's cost function is optimized by an improved Genetic Algorithm. The proposed controller is evaluated on a challenging track subject to variable wind disturbances., Peer Reviewed, Postprint (author's final draft)

Published
2022

12. Zonotopic set-membership state estimation for switched systems

Author

Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Ifqir, Sara, Puig Cayuela, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, Mammar, Saïd, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Ifqir, Sara, Puig Cayuela, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, and Mammar, Saïd

Abstract

This paper proposes a new approach for set-membership state estimation of switched discrete-time linear systems subject to bounded disturbances and noises. A zonotopic outer approximation of the state estimation domain is computed and a new criterion is proposed to reduce the size of the zonotope at each sample time. The zonotopic set-membership estimator design for switched systems is provided within the LMI framework. The extension of the proposed scheme to deal with unknown inputs is also presented. An application to vehicle lateral dynamics state estimation is provided. Simulation results demonstrate the effectiveness of the proposed algorithm and highlight its advantages over the existing methods., Peer Reviewed, Postprint (author's final draft)

Published
2022

13. Zonotopic set-membership state estimation for switched systems

Author

Ifqir, Sara, Puig, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, Mammar, Saïd, Ifqir, Sara, Puig, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, and Mammar, Saïd

Abstract

This paper proposes a new approach for set-membership state estimation of switched discrete-time linear systems subject to bounded disturbances and noises. A zonotopic outer approximation of the state estimation domain is computed and a new criterion is proposed to reduce the size of the zonotope at each sample time. The zonotopic set-membership estimator design for switched systems is provided within the LMI framework. The extension of the proposed scheme to deal with unknown inputs is also presented. An application to vehicle lateral dynamics state estimation is provided. Simulation results demonstrate the effectiveness of the proposed algorithm and highlight its advantages over the existing methods.

Published
2022

17. Optimized adaptive MPC for lateral control of autonomous vehicles

Author

Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Kebbati, Yassine, Puig Cayuela, Vicenç, Ait-Oufroukh, Naima, Vigneron, Vincent, Ichalal, Dalil, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Kebbati, Yassine, Puig Cayuela, Vicenç, Ait-Oufroukh, Naima, Vigneron, Vincent, and Ichalal, Dalil

Abstract

© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works, Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in achieving autonomous driving. Model predictive control (MPC) is among the fittest controllers for this task due to its optimal performance and ability to handle constraints. This paper proposes an adaptive MPC controller (AMPC) for the path tracking task, and an improved PSO algorithm for optimising the AMPC parameters. Parameter adaption is realised online using a lookup table approach. The propose AMPC performance is assessed and compared with the classic MPC and the Pure Pursuit controller through simulations, Peer Reviewed, Postprint (author's final draft)

Published
2021

18. Adaptive Threshold Generation for Vehicle Fault Detection using Switched T-S Interval observers

Author

Ichalal Dalil, Ait-Oufroukh Naima, Mammar Said, Sara Ifqir, Informatique, BioInformatique, Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Université Paris-Saclay

Subjects
Lyapunov function, 0209 industrial biotechnology, Observer (quantum physics), Computer science, 02 engineering and technology, Residual, Fuzzy logic, Fault detection and isolation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Switched linear parameter-varying (LPV) systems, symbols.namesake, 020901 industrial engineering & automation, Robustness (computer science), Control theory, Average dwell time (ADT), 0202 electrical engineering, electronic engineering, information engineering, medicine, Electrical and Electronic Engineering, Passive fault detection, LMIs, 020208 electrical & electronic engineering, Input-to-state stability, Linear matrix inequality, Stiffness, Interval observers, fuzzy multiple Lyapunov function, Nonlinear system, Dwell time, Control and Systems Engineering, symbols, medicine.symptom
Abstract

International audience; This paper is concerned with the robust passive fault detection problem for switched continuous-time linear parameter-varying systems with mensurable and unmeasurable scheduling parameters. A switched Takagi-Sugeno (TS) interval observer is designed to estimate the set of admissible state values. Using Multiple Fuzzy ISS-Lyapunov function and Average Dwell Time (ADT) concept, sufficient conditions to guarantee the convergence and the robustness of the proposed observer are obtained. These conditions are formulated as a Linear Matrix Inequality (LMI) problem. In contrast to the existing results based on multiple Lyapunov function and ADT switching, the derived conditions lead to less conservative LMIs characterization. Subsequently, the residual intervals are generated using the designed interval observer and used directly for Fault Detection (FD) decision-making. Finally, the proposed methodology is tested using two examples. First, an academic example is used to illustrates the obtained relaxation. Second, a nonlinear vehicle model corrupted by faults is considered. Longitudinal velocity and cornering stiffness coefficients are treated respectively as the measurable and unmeasurable scheduling parameters. Simulation results based on experimental data show the effectiveness of the proposed FD schema.

Published
2020

19. Zonotopic set-membership estimation for switched systems based on Wi-radius minimization: vehicle application

Author

Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Ifqir, Sara, Puig Cayuela, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, Mammar, Saïd, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Ifqir, Sara, Puig Cayuela, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, and Mammar, Saïd

Abstract

This work is devoted to the problem of guaranteed set-membership state estimation based on zonotopes for discrete-time switched systems with bounded uncertainties and unknown inputs. The additive uncertainties in this contribution are treated using the so called Wi-Radius. The size of the zonotope which contains the real system state is decreased at each sample time. The complete solution procedure is formulated as a LMI-constrained optimization problem. The proposed design is applied to the robust state estimation of vehicle lateral dynamics state. Simulation results based on real data demonstrate the performance of the proposed method., Peer Reviewed, Postprint (author's final draft)

Published
2020

20. Set-membership Switched Observers based on Interval Characterization of the Estimation Error

Author

Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Ifqir, Sara, Puig Cayuela, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, Mammar, Saïd, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control, Ifqir, Sara, Puig Cayuela, Vicenç, Ichalal, Dalil, Ait-Oufroukh, Naima, and Mammar, Saïd

Abstract

This paper presents a new set-membership estimation methodology for uncertain switched LPV discrete-time systems subject to unknown inputs, unmeasurable time-varying parameters and measurement noise. The proposed approach provides a guaranteed interval that is constructed as the sum of punctual state estimation and its corresponding estimation error limits. First, a punctual switched unknown input observer, robust against unknown inputs and time-varying uncertainties, is constructed. The proposed switched observer design is based on the solution of an optimization problem in terms of LMIs. Then, an outer-approximation of the enclosure set of state estimation error is computed using the admissible bounds of state and uncertainties. Application to vehicle state estimation is provided to show the design procedure and the flexibility of the proposed scheme. Comparison to real data demonstrates the accuracy and effectiveness of the obtained results., Peer Reviewed, Postprint (author's final draft)

Published
2020

29. Adaptation de véhicule pour les personnes à mobilité réduite : Dispositif de freinage automobile par le volant, dédié aux personnes paraplégiques

Author

Messaoudène, Kamel, Ait Oufroukh, Naima, Mammar, Said, Validation de Systèmes, Composants et Objets logiciels (VASCO), Laboratoire d'Informatique de Grenoble (LIG), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), and Centre National de la Recherche Scientifique (CNRS)-Université d'Évry-Val-d'Essonne (UEVE)

Subjects
[INFO]Computer Science [cs], ComputingMilieux_MISCELLANEOUS
Abstract

National audience

Published
2009

30. Création d'un Retour d'Effort Adaptable, pour un Nouveau Dispositif de Freinage par le Volant

Author

Messaoudène, Kamel, Ait Oufroukh, Naima, Mammar, Said, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Centre National de la Recherche Scientifique (CNRS)-Université d'Évry-Val-d'Essonne (UEVE), Davesne, Frédéric, and Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience

Published
2008

31. Freinage Automobile par le Volant, pour Personnes Paraplégiques

Author

Messaoudène, Kamel, Ait Oufroukh, Naima, Mammar, Said, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Davesne, Frédéric

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience

Published
2007

32. Localisation et saisie d'objets par fusion d'informations visuelles et ultrasonores

Author

Trabelsi, Mohamed, Lelandais, Sylvie, Ait Oufroukh, Naima, Davesne, Frédéric, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Published
2007

33. Development of a Localization Method for an Indoor Mobile Robot

Author

Trabelsi, Mohamed, Ait Oufroukh, Naima, Lelandais, Sylvie, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Davesne, Frédéric

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2007

34. Modeling of the Bust Dynamics in the Driving Situation for a New Braking Device on Handwheel

Author

Messaoudène, Kamel, Ait Oufroukh, Naima, Mammar, Said, Davesne, Frédéric, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience

Published
2007

35. Adaptation de Véhicules pour Personnes à Mobilité Réduite Freinage au Volant

Author

Messaoudène, Kamel, Ait Oufroukh, Naima, Mammar, Said, Davesne, Frédéric, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience; L’accès à la conduite automobile pour les personnes à mobilité réduite reste un vaste problème bien qu’essentiel à leur réinsertion et à leur qualité de vie. Il est important de réaliser une expertise sur différents aspects de l’accessibilité à la conduite pour les personnes à mobilité réduite. Cette expertise doit s’appuyer sur des études de besoins, des coûts et sur des aspects de juridiction et de normalisations. Cet article présente les résultats des premières réflexions d’un projet, entamé en Mai 2005. Il a pour objectif le développement d‘adaptations d’aide à la conduite pour personnes à mobilité réduite. Il s’agit d'évaluer les assistances existantes et d’apporter les améliorations nécessaires en fonction des besoins. Ce travail s’inscrit dans le cadre des activités d’un pôle de compétitivité en France nommé « MOVEO », il traite la problématique de l’handicap & mobilité. Une solution d’aide à la conduite a été proposée, elle vise la catégorie de personnes n’ayant pas l’usage des membres inférieurs «Paraplégiques». Il s’agit d’un nouveau dispositif de freinage couplé à une direction filo-commandée «Steer-by-Wire ». Le freinage est obtenu par un mouvement du volant en profondeur, en actionnant un module d’amorçage. Ce dispositif permettra au conducteur de freiner tout en gardant les mains sur le volant. Ceci offre l’avantage d’un gain important en temps de freinage et d’une conduite plus souple et confortable. L’utilisation d’un dispositif actif pour le retour d’effort freinage au volant, permettra un dosage de frein progressif et parfaitement intuitif. Il offre la possibilité de gérer et d’adapter le couple de réaction du frein au besoin du conducteur.

Published
2006

36. Dispositif de frein automobile par le volant dédié aux personnes paraplégiques

Author

Messaoudène, Kamel, Ait Oufroukh, Naima, Mammar, Said, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Davesne, Frédéric

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience

Published
2006

37. Localization and Object Grabbing in Robotic Using Color Image and Neural Network Classification

Author

Trabelsi, Mohamed, Ait Oufroukh, Naima, Lelandais, Sylvie, Davesne, Frédéric, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2006

38. Objects seizure in mobile robotic by visual servoing and ultrasounds

Author

Trabelsi, Mohamed, Lelandais, Sylvie, Ait Oufroukh, Naima, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Davesne, Frédéric

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2005

39. Saisie d'objets à l'aide d'une caméra et des ultrasons pour la robotique de service

Author

Trabelsi, Mohamed, Ait Oufroukh, Naima, Lelandais, Sylvie, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Davesne, Frédéric

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

National audience

Published
2005

40. Fusion of datavision and ultrasounds for mobile robot localisation

Author

Trabelsi, Mohamed, Ait Oufroukh, Naima, Lelandais, Sylvie, Davesne, Frédéric, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), and Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2005

41. A vehicle simulator for an efficient electronic and electrical architecture design

Author

Chretien, Benoit, Nouveliere, Lydie, Ait Oufroukh, Naima, Glaser, Sebastien, Mammar, Said, Zhou, Mengchu, Korte, Matthias, Chretien, Benoit, Nouveliere, Lydie, Ait Oufroukh, Naima, Glaser, Sebastien, Mammar, Said, Zhou, Mengchu, and Korte, Matthias

Abstract

The boom in the number of active safety functions and driver assistance systems during the last several years has made vehicle design more and more difficult. To support the early development process, particularly the design of electronic and electric architectures, the capability to simulate and compute complete vehicle behavior is critically important and useful. This paper presents such a simulator, which consists of key components such as the drivetrain and controller subsystems. Then, after having presented the generic structure of a driver assistance system, concrete use cases of this simulator are given, which assess vehicle performance according to different functional and hardware architectures.

Published
2013

44. Ultrasonic multitransducer processing for pattern recognition

Author

Ait Oufroukh, Naima, Barat, Christian, Colle, Etienne, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Université Nice Sophia Antipolis (1965 - 2019) (UNS)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2002

45. Distinction between objects with ultrasonic binaural system and only ampltitude

Author

Ait Oufroukh, Naima, Barat, Christian, Colle, Etienne, Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), and Université Nice Sophia Antipolis (1965 - 2019) (UNS)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2001

46. Développement d'un système de perception multi-modale en robotique de service

Author

AIT OUFROUKH, Naima, BARAT, Christian, COLLE, Etienne, Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (... - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)

Subjects
classification, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], robotique, ultrason, ComputingMilieux_MISCELLANEOUS
Abstract

National audience

Published
2001

47. Reducing rider effort for electric bicycles by environment disturbance compensation

Author

Sarangapani, J, Mammar, Said, Ait Oufroukh, Naima, Glaser, Sebastien, Sarangapani, J, Mammar, Said, Ait Oufroukh, Naima, and Glaser, Sebastien

Abstract

While newly installed infrastructure in several European cities for bicycles rental offer a real alternative for mobility, road relief variation is still a limiting factor for the generalization of their use by all people. Electric bicycles (EBs) are already commercially available but the power assistance strategy is generally unsuitable and is just proportional to the rider effort and does not compensate ground slope. In this paper, an unknown input proportional two integrals observer is designed in order to robustly estimate the environmental disturbance constituted by the gravitational force and frictional force. The proposed estimation approach is shown to be effective through tests on real road slope profile. The estimations is finally used to compensate the disturbance via the electric motor.

Published
2011

48. Vehicle handling improvement by fuzzy explicit nonlinear tire forces parametrization

Author

Wen, C, Yang, G H, Mammar, Said, Benine-Neto, Andre, Glaser, Sebastien, Ait Oufroukh, Naima, Wen, C, Yang, G H, Mammar, Said, Benine-Neto, Andre, Glaser, Sebastien, and Ait Oufroukh, Naima

Abstract

This paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. The control synthesis is conducted on a nonlinear model in which tire-road interactions are modeled using Pacejka's magic formula. Using sector approximation, a TS fuzzy model is obtained. It is able to handle explicitly the nonlinear Pacejka lateral tire forces including the decreasing or saturated region. The controller acts through the steering of the front wheels and the differential braking torque generation. The computation of the controller takes into account the constraints that the trajectories of the controlled vehicle remain inside an invariant set. This is achieved using quadratic boundedness theory and Lyapunov stability. Some design parameters can be adjusted to handle the trade-off between safety constraints and comfort specifications. The solution to the associated problem is obtained using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation tests show the controlled car is able to well achieve standard maneuvers such as the ISO3888-2 transient maneuver and the sine with dwell maneuver.

Published
2011

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