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202 results on '"LAGIS-MOCIS"'

1. LFT bond graph for online robust fault detection and isolation of hybrid multisource system

Author

Boukerdja, Mahdi, Radi, Youness, Prakash, Om, Sood, Sumit, Ould Bouamama, Belkacem, Chouder, Aissa, Gehin, Anne-Lise, Dieulot, Jean-Yves, Bressel, Mathieu, 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), PERennisation des Systèmes Industriels (PERSI), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2021

2. Passive supervision of a hydrogen based power cell with virtual tanks

Author

Chaabna, Solene Houria, Sood, Sumit, Dieulot, Jean-Yves, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2021

3. Model-based diagnosis of proton exchange membrane water electrolysis cell: Bond graph based approach

Author

Sood, Sumit, Prakash, Om, Boukerdja, Mahdi, Ould Bouamama, Belkacem, Dieulot, Jean-Yves, Bressel, Mathieu, Gehin, Anne-Lise, 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), PERennisation des Systèmes Industriels (PERSI), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS)

Subjects
[INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2021

4. A Model-based Prognosis approach to Proton Exchange Membrane Water Electrolysis System

Author

PRAKASH, Om, Sood, Sumit, Boukerdja, Mahdi, OULD BOUAMAMA, Belkacem, Dieulot, Jean-Yves, Gehin, Anne-Lise, Bressel, Mathieu, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2021

5. Robotisation de la fabrication additive de formes architecturales funiculaires à partir de matériaux de construction

Author

Lakhal, Othman, Chettibi, Taha, Belarouci, Abdelkader, Dherbomez, Gérald, Merzouki, Rochdi, 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), Laboratory of Structure Mechanics, Ecole Militaire Polytechnique [Alger] (EMP), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie]-Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie], LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and École Militaire Polytechnique [Alger] (EMP)

Subjects
Mobile manipulator arm, Quality Control, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Additive manufacturing AM, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Kinematic Control, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; Additive manufacturing (AM) technology has been identified as one of the major digital innovations that has revolutionized not only the field of the industry but also the construction. From a research side, AM is a multi-disciplinary domain, combining between materials science, mechatronics engineering and architectural design. The AM concept needs to consider the geometry and the shape of printed objects in regards of material properties and robot kinematics which are adaptable to the object size. In this paper, we present an integrated design and control of an omnidirectional Mobile Manipulator Robot (MMR), capable of extruding concrete and clay materials, to print complex and funicular architectural geometries. The studied robot allows printing building pieces with different shapes and sizes by additive deposit which can later be assembled on-site. The main issue concerns the control of continuous material deposit, with specified accuracy and respecting the desired shape. This problem involves to solve, in real-time, the non-linear kinematic model of a 10 Degrees of Freedom (DoF) heterogeneous robot. The kinematic model and the control of utilized MMR are discussed, and an optimization method based on quadratic programming is used for handling the robot redundancy. Finally, we present the experimental results to illustrate the efficiency of AM on the developed concept.

Published
2020

6. Energy Planning for Autonomous Driving of an Over-Actuated Road Vehicle

Author

Achille Melingui, Rochdi Merzouki, Ismail Bensekrane, Yacine Amara, Pushpendra Kumar, Vincent Coelen, Taha Chettibi, 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), Electrical and Telecommunications Engineering Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé, Ecole Nationale Polytechnique [Alger] (ENP), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
050210 logistics & transportation, Adaptive neuro fuzzy inference system, Computer science, Mechanical Engineering, 05 social sciences, Kinematics, Directed graph, 7. Clean energy, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Computer Science Applications, Dynamic programming, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0502 economics and business, Automotive Engineering, Trajectory, Redundancy (engineering), Grid reference, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Energy (signal processing), ComputingMilieux_MISCELLANEOUS
Abstract

In this work, an energy planning strategy is proposed for over-actuated unmanned road vehicles (URVs) having redundant steering configurations. In fact, indicators on the road geometry, the actuation redundancy, the optimal velocity profile, and the driving mode are evaluated for each segment of the URV’s trajectory. To reach this objective, a power consumption estimation model is developed for the URV. Due to the presence of unknown dynamic parameters of the URV and uncertainties about its interaction with the environment, an artificial intelligence (AI) technique, based on data-learning qualitative method, is used for the power consumption estimation, namely Adaptive Neuro Fuzzy Inference System (ANFIS). The ANFIS model is obtained using trained data from a Real URV dynamics. Then, an energy digraph is built with all feasible configurations taking into account the kinematic and dynamic constraints based on a 3D grid map setup, according to velocity, arc-length, and driving mode. In this weighted directed graph, the edges describe the consumed energy by the URV along a segment of a trajectory. The vertices describe the start and end points of each segment. Subsequently, an optimization algorithm is applied on the digraph to get a global optimal solution combining driving mode, power consumption, and velocity profile of the URV. The obtained results are compared with the dynamic programming method for global offline optimization. Finally, the obtained simulation and experimental results, applied on RobuCar URV, highlight the effectiveness of the proposed energy planning.

Published
2020

7. Modeling of Continuum Manipulators Using Pythagorean Hodograph Curves

Author

Yacine Amara, Achille Melingui, Rochdi Merzouki, Pushparaj Mani Pathak, Inderjeet Singh, 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), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Ecole Nationale Polytechnique [Alger] (ENP), Electrical and Telecommunications Engineering Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé, Department of Mechanical and Industrial Engineering, IIT Roorkee, Indian Institute of Technology Roorkee (IIT Roorkee), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Computer science, Biophysics, 010103 numerical & computational mathematics, 02 engineering and technology, 01 natural sciences, Pythagorean hodograph, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Artificial Intelligence, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Kinematic modeling, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [MATH]Mathematics [math], 0101 mathematics, ComputingMethodologies_COMPUTERGRAPHICS, Continuum (measurement), business.industry, Robotics, Continuum manipulator, Classical mechanics, Control and Systems Engineering, Artificial intelligence, Shape reconstruction, business
Abstract

International audience; Research on continuum manipulators is increasingly developing in the context of bionic robotics because of their many advantages over conventional rigid manipulators. Due to their soft structure, they have inherent flexibility which makes it a huge challenge to control them with high performances. Before elaborating a control strategy of such robots, it is essential to reconstruct first the behavior of the robot through the development of an approximate behavioral model. This can be kinematic or dynamic depending on the conditions of operation of the robot itself. Kinematically, two types of modeling methods exist to describe the robot behavior, quantitative methods describe a model-based method; and qualitative methods, describe a learning-based method. In kinematic modeling of continuum manipulator, the assumption of constant curvature is often considered to simplify the model formulation. In this work, a quantitative modeling method is proposed, based on the Pythagorean Hodograph (PH) curves. The aim is to obtain a 3D reconstruction of the shape of the continuum manipulator with variable curvature, allowing the calculation of its inverse kinematic model. It is noticed that the performances of the PH-based kinematic modeling of continuum manipulators are considerable regarding position accuracy, shape reconstruction and time-cost of the model calculation, than other kinematic modeling methods, for two cases: free load manipulation and variable load manipulation. This modeling method is applied to Compact Bionic Handling Assistant (CBHA) manipulator for validation. The results are compared with other inverse kinematic models developed in case of CBHA manipulator.

Published
2018

8. Multilevel Modeling of System of Systems

Author

Belkacem Ould Bouamama, Pushpendra Kumar, Rochdi Merzouki, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
system of systems (SoS), intelligent autonomous vehicle (IAV), Computer science, Distributed computing, 0211 other engineering and technologies, Complex system, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Vehicle dynamics, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, 0502 economics and business, Bond graph, Electrical and Electronic Engineering, Intelligent transportation system, System of systems, 050210 logistics & transportation, 021103 operations research, 05 social sciences, modeling, Mechatronics, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Computer Science Applications, Human-Computer Interaction, Control and Systems Engineering, TheoryofComputation_LOGICSANDMEANINGSOFPROGRAMS, intelligent transportation system (ITS), Software
Abstract

International audience; —A system of systems (SoS) is a large-scale integrated system. In an SoS, many complex independent systems work collectively for a common mission. Modeling of SoS is challenging due to their large-scale and complexity of the constituent systems. In this paper, generic modeling of a class of SoS, namely mechatronic systems, is proposed based on bond graph modeling approach. Bond graph modeling enables to develop a unified model of SoS, which combines the behavioral and the organizational modeling approaches of SoS. The proposed approach for SoS modeling is applied to intelligent transportation system, where road traffic dynamic in a platoon of intelligent autonomous vehicles (IAVs) is considered for modeling. Finally, the developed bond graph model is simulated for a platoon of four IAVs forming SoS. Index Terms—Bond graph, intelligent autonomous vehicle (IAV), intelligent transportation system (ITS), modeling, system of systems (SoS).

Published
2018

9. Two-phase reservoir: development of a transient thermo-hydraulic model based on bond graph approach with experimental validation

Author

Roni Albach, Geneviève Dauphin-Tanguy, Mohamed Kebdani, Antoine Dazin, Patrick Dupont, Centrale Lille, Laboratoire de Mécanique de Lille - FRE 3723 (LML), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and ATMOSTAT

Subjects
Engineering, Mechanical engineering, Thermal power station, 02 engineering and technology, Conduction, 7. Clean energy, [PHYS.MECA.MEMA]Physics [physics]/Mechanics [physics]/Mechanics of materials [physics.class-ph], 0203 mechanical engineering, [MATH.MATH-MP]Mathematics [math]/Mathematical Physics [math-ph], 0202 electrical engineering, electronic engineering, information engineering, Water cooling, Bond graph, [PHYS.MECA.MEFL]Physics [physics]/Mechanics [physics]/Fluid mechanics [physics.class-ph], convection, Pressurizer, [PHYS.MECA.VIBR]Physics [physics]/Mechanics [physics]/Vibrations [physics.class-ph], dynamic, Transient, [SPI.FLUID]Engineering Sciences [physics]/Reactive fluid environment, Applied Mathematics, Cooling loop, Thermal conduction, Computer Science Applications, 020303 mechanical engineering & transports, Modeling and Simulation, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA], Loop (graph theory), conduction, 020209 energy, Dynamic, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], Convection, Two-phase flow, Modelling, heat transfer coefficient, modelling, Thermal hydraulics, transient, cooling loop, Heat transfer coefficient, Condenser (heat transfer), Evaporator, business.industry, [PHYS.MECA.MSMECA]Physics [physics]/Mechanics [physics]/Materials and structures in mechanics [physics.class-ph], two-phase flow, Control and Systems Engineering, [PHYS.MECA.THER]Physics [physics]/Mechanics [physics]/Thermics [physics.class-ph], business, Mécanique: Mécanique des fluides [Sciences de l'ingénieur], Software
Abstract

International audience; The main purpose of the project FUI THERMOFLUID is to study the feasibility of a new electronic cooling system embedded on flying objects (missile, satellite, and airplane). The technology chosen consists of a pumped two-phase flow cooling loop (PTPFL). It is an innovativetechnology with a transport capacity of the thermal power up to 10 MW.m, exceeding in this way the performance of all other technologies. A PTPFL is a cooling loop based on the exploitation of the latent heat properties of the fluid trapped inside the loop, and moved by a pump. The components constituting a PTPFL are: a two-phase reservoir (TP-R), a mini-channels evaporator, a brazed plate condenser, a pump, and pipes.The global research work is devoted to propose a dynamic model and experimental validation of the PTPFL. The present article is exclusivelydedicated to the TP-R. Indeed, this element plays a key role in the functioning of PTPFL. Historically, the TP-R did not equip the first coolingloop. However, due to its advantages, its introduction was essential. The developed dynamic model will be used in another work to predict thethermal hydraulic efficiency of the PTPFL from its mechanical and fluidic parameters, to conduct the study of transitional regimes and instabilityproblems, and provides an original tool dedicated to design the TP-R in function of the thermal power levels to be evacuated and the selectedrefrigerant. The bond graph methodology is adopted for modelling works because of its energetic approach and multi-physics character ofthe studied system. The new model proposed in this article has many originalities: First, it is based on bond graph approach. Nowadays, theopen literature shows that no bond graph model has been developed for such thermo-fluid system. Second, the dynamic model of TP-R paysgreat attention to phenomena that have never been taken into account in works cited in the present article, such as evaporation and condensation.Third, different conducto-convective heat exchanges are modelled without any experimental recalibration of the thermal exchange coefficients,unlike models proposed in the literature. In fact, all coefficients are systematically calculated using adequate correlations.

Published
2016
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10. Functionability Analysis of Redundant Systems having Multiple Configurations

Author

Blaise Conrard, Rochdi Merzouki, Pushpendra Kumar, Armand Toguyeni, Chemali Riad, Ismail Bensekrane, 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), Systèmes Tolérants aux Fautes (STF), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, and Centrale Lille Institut (CLIL)

Subjects
0209 industrial biotechnology, Computer science, Control reconfiguration, 020302 automobile design & engineering, Mobile robot, 02 engineering and technology, Mechatronics, Fault detection and isolation, Reliability engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Electric power system, 020901 industrial engineering & automation, 0203 mechanical engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Reliability (statistics), ComputingMilieux_MISCELLANEOUS
Abstract

This paper deals with the functional performance analysis of various allowed configurations of a redundant mechatronics system. A new indicator called functionability is proposed, which evaluates the performance level of each possible configuration of a redundant system. This analysis is an off-line method, which is further extended for on-line reconfiguration of the system in case of faulty components. The proposed functionability analysis is illustrated through an example of a redundant electrical system. Finally, the analysis is annlied to a four wheeled mobile robot called Robucar.

Published
2019

11. Dynamic Modeling of Cooperative Planar Bionic Manipulator

Author

Arun Kumar Samantaray, Inderjeet Singh, Pushparaj Mani Pathak, Belkacem Ould Bouamama, Tsegay Mulu Girmay, Rochdi Merzouki, Department of Mechanical and Industrial Engineering, IIT Roorkee, Indian Institute of Technology Roorkee (IIT Roorkee), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Indian Institute of Technology Kharagpur (IIT Kharagpur), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Bending (metalworking), Underactuation, Computer science, 0206 medical engineering, Degrees of freedom, 02 engineering and technology, 020601 biomedical engineering, System dynamics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Planar, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Manipulator, Bond graph, ComputingMilieux_MISCELLANEOUS
Abstract

Bionic robots, imply the robots which are inspired by biological life forms. The manipulator robots inspired from elephant trunk are good example of bionic robots. These are continuous robots with bending backbones and high degrees of freedom. Ideally, the compliant nature of such manipulator delivers infinite degrees of freedom, which makes it difficult to control them at the space task. However, all these degrees of freedoms cannot be actuated, thus these robots are always underactuated, i.e., they provide vast configurations with few inputs. In this paper, a multi-section bionic manipulator, namely the compact bionic handling assistant (CBHA), is dynamically modeled using bond graph. Assuming planar robot that contains a single concentrated mass per section, dynamic equations for each bellow are derived by means of bond graph modeling. Simulation results using lumped model are shown to validate the model.

Published
2019

12. Fully distributed time-varying formation-containment control for large-scale nonholonomic vehicles with an unknown real leader

Author

Ahmed Rahmani, Guoguang Wen, Wei Jiang, Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, Aalto University, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and Beijing Jiaotong University (BJTU)

Subjects
Nonholonomic system, 0209 industrial biotechnology, Computer science, 02 engineering and technology, Observer (special relativity), Computer Science Applications, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Graph (abstract data type), 020201 artificial intelligence & image processing, ComputingMilieux_MISCELLANEOUS
Abstract

This paper addresses the time-varying formation-containment (FC) problem for general linear multi-agent systems based on an observer viewpoint under the directed communication graph which contains ...

Published
2019

13. Modeling of the Multi-domain Steering System with Hybrid Dynamics for an Over-actuated Autonomous Vehicle

Author

Rochdi Merzouki, Ismail Bensekrane, Pushpendra Kumar, 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), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0301 basic medicine, 0209 industrial biotechnology, Computer science, business.industry, Control engineering, 02 engineering and technology, Kinematics, System dynamics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Vehicle dynamics, 03 medical and health sciences, 030104 developmental biology, 020901 industrial engineering & automation, Software, Hybrid system, Container (abstract data type), MATLAB, business, computer, Bond graph, ComputingMilieux_MISCELLANEOUS, computer.programming_language
Abstract

This paper presents modeling of a complex multidomain steering system, which consists of electrical, hydraulic, and mechanical physical subsystems. Moreover, it represents a hybrid system with continuous and discrete dynamics. The considered system is the steering system of an over-actuated heavy autonomous vehicle, which is used for container (size of 40 feet) transport in the port terminal. This Intelligent Autonomous Vehicle (IAV) can switch between three kinematic configurations based on combinations of its steering actuations. In this paper, the steering system is modeled using power-based graphical modeling approach called Bond Graph (BG). BG enables dynamic modeling of multi-domain systems directly from their physical structure. In addition, BG allows modeling of hybrid systems, i.e., Hybrid BG (HBG). The developed model is validated through co-simulation between Matlab/Simulink and a professional software for real-time simulation of vehicle dynamics called SCANeR Studio. Dynamics of IAV in SCANeR have been developed based on experimental data. The dynamic behavior of IAV is analyzed and compared in three different configurations.

Published
2018

14. Bond Graph based Power Consumption Estimation of a Non-holonomic Wheeled Mobile Robot with Multiple Driving Modes

Author

Kumar, Pushpendra, Bensekrane, Ismail, Merzouki, Rochdi, 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), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph]
Abstract

International audience

Published
2018

15. Energy Planning for Unmanned Over-Actuated Road Vehicle

Author

Achille Melingui, Vincent Coelen, Ismail Bensekrane, Rochdi Merzouki, Yacine Amara, Pushpendra Kumar, Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 (CRIStAL), Ecole Centrale de Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Electrical and Telecommunications Engineering Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Ecole Centrale de Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Ecole Centrale de Lille-Centre National de la Recherche Scientifique (CNRS), Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH), Université Le Havre Normandie (ULH), Normandie Université (NU)-Normandie Université (NU), 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), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
Estimation, Artificial neural network, Computer science, Property (programming), Energy planning management, 020208 electrical & electronic engineering, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Mode (statistics), 020302 automobile design & engineering, 02 engineering and technology, Kinematics, Energy planning, Dynamic programming, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Computer Science::Robotics, 0203 mechanical engineering, Control theory, Power consumption, 0202 electrical engineering, electronic engineering, information engineering, Neuro-Fuzzy modeling, Power consumption estimation, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; Energy planning for unmanned road vehicles (URV)s is an important step for the management of the autonomous driving. This energy planning depends on the model for power consumption estimation related to URVs. Generally URVs are over-actuated, and this property leads to multiple kinematic configurations for driving. Consequently, it adds more constraints and more complexity for energy planning. In this paper, a Neuro-Fuzzy model is developed for power consumption estimation for different driving modes configurations of URV. Furthermore, a dynamic programming algorithm is applied to find the optimal velocity profile, and the optimal configuration mode in each segment of the road for an over-actuated URV called RobuCAR, used for experimental validation.

Published
2018

16. Towards Accurate Shape Reconstruction of Compact Bionic Handling Arm

Author

Inderjeet Singh, Manarshhjot Singh, Yacine Amara, Rochdi Merzouki, Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Ecole Nationale Polytechnique [Alger] (ENP), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
Flexibility (engineering), 0209 industrial biotechnology, Artificial neural network, business.industry, Computer science, Continuum (topology), 010401 analytical chemistry, Motion (geometry), 02 engineering and technology, 01 natural sciences, Pythagorean hodograph, 0104 chemical sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Artificial intelligence, Manipulator, Shape reconstruction, business
Abstract

International audience; Continuum robots can continuously curve to give much more flexibility than rigid robots. Usually, continuum robots are made up of soft flexible material and have complex structures to provide high dexterity of motion. The presence of these factors, i.e., soft material and complex structure, make mathematical modeling of continuum robots a cumbersome task. This paper aims to discuss the Pythagorean Hodograph (PH) based method for shape reconstruction of continuum robots and proposes a methodology for improving this reconstructed shape using experimental data. The method is successfully applied to Compact Bionic Handling Arm (CBHA) manipulator. The results show a clear improvement in the accuracy.

Published
2018

17. Bond Graph Modeling of a Holonomic Mobile Platform with Four Mecanum Wheels

Author

Kumar, Pushpendra, Lakhal, Othman, Merzouki, Rochdi, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph]
Abstract

International audience

Published
2018

18. Motion Planning for a Humanoid Mobile Manipulator System

Author

Wei Jiang, Qiang Zhan, Ahmed Rahmani, Yan Wei, Chang'an University, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and Beihang University (BUAA)

Subjects
FOS: Computer and information sciences, 0209 industrial biotechnology, Mobile manipulator, Computer science, Mechanical Engineering, Control engineering, 02 engineering and technology, Multi-objective optimization, Manipulator system, Computer Science - Robotics, 020901 industrial engineering & automation, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Motion planning, Robotics (cs.RO), ComputingMilieux_MISCELLANEOUS
Abstract

A high redundant non-holonomic humanoid mobile dual-arm manipulator system is presented in this paper where the motion planning to realize "human-like" autonomous navigation and manipulation tasks is studied. Firstly, an improved MaxiMin NSGA-II algorithm, which optimizes five objective functions to solve the problems of singularity, redundancy, and coupling between mobile base and manipulator simultaneously, is proposed to design the optimal pose to manipulate the target object. Then, in order to link the initial pose and that optimal pose, an off-line motion planning algorithm is designed. In detail, an efficient direct-connect bidirectional RRT and gradient descent algorithm is proposed to reduce the sampled nodes largely, and a geometric optimization method is proposed for path pruning. Besides, head forward behaviors are realized by calculating the reasonable orientations and assigning them to the mobile base to improve the quality of human-robot interaction. Thirdly, the extension to on-line planning is done by introducing real-time sensing, collision-test and control cycles to update robotic motion in dynamic environments. Fourthly, an EEs' via-point-based multi-objective genetic algorithm is proposed to design the "human-like" via-poses by optimizing four objective functions. Finally, numerous simulations are presented to validate the effectiveness of proposed algorithms., 26 pages, 9 figures

Published
2018

19. Towards adaptive power consumption estimation for over-actuated unmanned vehicles

Author

Yacine Amara, Pushpendra Kumar, Ismail Bensekrane, Rochdi Merzouki, 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), Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH), Université Le Havre Normandie (ULH), Normandie Université (NU)-Normandie Université (NU), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), École Militaire Polytechnique [Alger] (EMP), Ecole Militaire Polytechnique [Alger] (EMP), and Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie]

Subjects
Cosimulation, Computer science, 020208 electrical & electronic engineering, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Degree of redundancy, 020302 automobile design & engineering, 02 engineering and technology, Curvature, Automotive engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Vehicle dynamics, 0203 mechanical engineering, Power demand, Power consumption, Degree of steerability, 0202 electrical engineering, electronic engineering, information engineering, Dynamic vehicle, Redundancy (engineering), Power consumption estimation, ComputingMilieux_MISCELLANEOUS, Unmanned road vehicle
Abstract

International audience; This paper deals with the estimation of power consumption for an unmanned road vehicle, according to the degree of steerability, the degree of redundancy and the path curvature changes. Thus, the main dynamic behaviors inducing directly or indirectly the power consumption for an autonomous road vehicle are considered for uniform and uniformly variable motions less than 15km/h. A comparison between different scenarios of piloting has been validated experimentally and through co-simulation using professional real-time dynamic vehicle simulator namely SCANeR Studio(c).

Published
2017

20. Particle Filter based Integrated Health Monitoring in Bond Graph Framework

Author

Geneviève Dauphin-Tanguy, Belkacem Ould-Bouamama, Mayank Shekhar Jha, 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), Centrale Lille, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Particle Filters, remaining useful life, 0211 other engineering and technologies, 02 engineering and technology, Bayesian inference, Fault detection and isolation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Robust Fault Detection, [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], Redundancy (engineering), Prognostics, Monte Carlo, Simulation, 021103 operations research, business.industry, Probabilistic logic, Degradation Model, Bayesian estimation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Bond Graph, Fault model, Particle filter, business, Bond graph, Algorithm, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract

International audience; This chapter presents a holistic method to addresses the issue of health monitoring of system parameters in Bond Graph (BG). The advantages of BGs are integrated with Bayesian estimation techniques for efficient diagnostics and prog-nostics of faults. In particular, BG in Linear fractional transformations (LFT) are used for modelling the global uncertain system and sequential Monte Carlo method based Particle filters (PF) are used for estimation of state of health (SOH) and subsequent prediction of the remaining useful life (RUL). In this work, the method is described with respect to a single system parameter which is chosen as prognos-tic candidate. The prognostic candidate undergoes progressive degradation and its degradation model is assumed to be known a priori. The system operates in control feedback loop. The detection of degradation initiation is achieved using BG LFT based robust fault detection technique. The latter forms an efficient diagnostic module. PFs are exploited for efficient Bayesian inference of SOH of the prog-nostic candidate. Moreover, prognostics is achieved by assessment of RUL in probabilistic domain. The issue of prognostics is formulated as joint state-parameter estimation problem, a hybrid prognostic approach, wherein the fault model is constructed by considering the statistical degradation model of the prog-nostic candidate. The observation equation is constructed from nominal part of the BG-LFT derived Analytical Redundancy Relations (ARR). Various uncertainties which arise because of noise on ARR based measurements, degradation process, environmental conditions etc. are effectively managed by PF. This allows the production of effective predictions of the RUL of the prognostic candidate with suitable confidence bounds. The method is applied over a mechatronic system in real time and performance is assessed using suitable metrics.

Published
2017

21. Automated Model Builder of Hybrid Bond Graph : Application to a two level inverter

Author

Six, B, Ould-Bouamama, B., Gehin, Anne-Lise, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, ComputingMilieux_MISCELLANEOUS, [SPI.TRON]Engineering Sciences [physics]/Electronics
Abstract

International audience

Published
2017

22. Multilevel Modeling of the Traffic Dynamic

Author

Blaise Conrard, Belkacem Ould Bouamama, Vincent Coelen, Pushpendra Kumar, Rochdi Merzouki, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
Engineering, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 010305 fluids & plasmas, Index Terms—Bond graph, Vehicle dynamics, Modeling and simulation, Microscopic traffic flow model, 0502 economics and business, 0103 physical sciences, 11. Sustainability, Macro, Simulation, 050210 logistics & transportation, Mesoscopic physics, traffic models, business.industry, Mechanical Engineering, 05 social sciences, Multilevel model, Traffic simulation, modeling, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Computer Science Applications, Automotive Engineering, business, Bond graph
Abstract

International audience; —Currently traffic management is becoming more important to achieve the goal of sustainable transport, and a good traffic model can describe the traffic behavior efficiently. The traffic models can be classified based on level of details as submicroscopic-, microscopic-, mesoscopic-, and macroscopic-level models. In this paper, we provide a review of the four types of models (submicro, micro, meso, and macro) and then propose a multilevel model of traffic, which combines submicroscopic, microscopic , and macroscopic levels of traffic model. In this work, we do not consider the mesoscopic-level model. At the submicroscopic level, we develop a bond graph model of a four-wheeled vehicle considering the longitudinal, lateral, yaw, and actuator dynamics. At the microscopic level, we develop a car-following model based on virtual interconnections between the submicroscopic bond graph models of vehicles. Then, at the macroscopic level, we deduce macroscopic variables (average speed, density, and flow) from the submicroscopic and microscopic models. Having a multilevel model of traffic allows combining two properties of modeling simulation, one in real-time mode at microscopic and submicroscopic levels and the other at offline mode at macroscopic level. Thus, the whole supervision of the road traffic can be performed. Finally, the multilevel model of traffic is validated on a real-time simulator of vehicle dynamics, based on experimental measurements acquired from intelligent autonomous vehicles (IAVs). In addition, real experiments on IAVs are performed to validate the model.

Published
2014

23. Event driven hybrid bond graph for diagnosis

Author

Anne-Lise Gehin, Ibrahim Abdallah, Belkacem Ould Bouamama, Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Hybrid Bond, Engineering, Theoretical computer science, business.industry, 02 engineering and technology, Functional modeling, Fault detection and isolation, Automaton, 020901 industrial engineering & automation, 020401 chemical engineering, Hybrid system, Graph (abstract data type), Artificial intelligence, 0204 chemical engineering, business, Bond graph, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, ComputingMilieux_MISCELLANEOUS
Abstract

This paper proposes a generic tool named Hybrid Bond Graph (HBG) driven by an automaton for modeling and fault detection and isolation (FDI). The innovative interest is the use of only one tool (the Bond Graph) for the behavioral and functional modeling and also for the FDI task as well, while taking into account all different modes of the hybrid system. A hybrid hydraulic example is presented to demonstrate the effectiveness of this technique.

Published
2016

24. Structure of a Magnetic Flux Annihilation Layer Formed by the Collision of Supersonic, Magnetized Plasma Flows

Author

Andrea Ciardi, Francisco Suzuki-Vidal, Jian Wu, T. Robinson, Jeremy Chittenden, Nicholas Stuart, Nuno Loureiro, Q. Yang, G. C. Burdiak, George Swadling, Nicolas Niasse, Sergey Lebedev, Roland Smith, Thomas Clayson, Lee Suttle, Jack Hare, Adam Frank, Laboratoire d'Etude du Rayonnement et de la Matière en Astrophysique (LERMA), École normale supérieure - Paris (ENS Paris), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire de Paris, Université Paris sciences et lettres (PSL)-Université de Cergy Pontoise (UCP), Université Paris-Seine-Université Paris-Seine-Centre National de la Recherche Scientifique (CNRS), Blackett Laboratory, Imperial College London, Tsinghua University [Beijing] (THU), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Instituto de Ciencias Nucleares [Mexico], Universidad Nacional Autónoma de México (UNAM), Engineering & Physical Science Research Council (EPSRC), US Department of Energy, U.S Department of Energy, École normale supérieure - Paris (ENS-PSL), and Universidad Nacional Autónoma de México = National Autonomous University of Mexico (UNAM)

Subjects
Physics, [PHYS]Physics [physics], General Physics, 02 Physical Sciences, [SDU.ASTR]Sciences of the Universe [physics]/Astrophysics [astro-ph], Thomson scattering, Plasma parameters, General Physics and Astronomy, Plasma, 01 natural sciences, Magnetic flux, 010305 fluids & plasmas, Ion, Magnetic field, Physics::Plasma Physics, Ionization, Physics::Space Physics, 0103 physical sciences, Supersonic speed, Atomic physics, [PHYS.ASTR]Physics [physics]/Astrophysics [astro-ph], 010303 astronomy & astrophysics, ComputingMilieux_MISCELLANEOUS
Abstract

We present experiments characterizing the detailed structure of a current layer, generated by the collision of two counterstreaming, supersonic and magnetized aluminum plasma flows. The antiparallel magnetic fields advected by the flows are found to be mutually annihilated inside the layer, giving rise to a bifurcated current structure-two narrow current sheets running along the outside surfaces of the layer. Measurements with Thomson scattering show a fast outflow of plasma along the layer and a high ion temperature (T_{i}∼Z[over ¯]T_{e}, with average ionization Z[over ¯]=7). Analysis of the spatially resolved plasma parameters indicates that the advection and subsequent annihilation of the inflowing magnetic flux determines the structure of the layer, while the ion heating could be due to the development of kinetic, current-driven instabilities.

Published
2016

25. Ab-initio molecular treatment of the symmetric Mg2+–Mg charge transfer process

Author

A. Zaidi, M. Amami, Marie-Christine Bacchus-Montabonel, S. Lahmar, A. Moussa, Laboratoire des Sciences des Matériaux et d'Environnement, Sfax, Université de Sfax - University of Sfax, LTI, ENSA de Tanger, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Spectroscopie Atomique, Moléculaire et Applications (LSAMA), Université de Tunis El Manar (UTM)-Faculté des Sciences Mathématiques, Physiques et Naturelles de Tunis (FST), Université de Tunis El Manar (UTM), Institut Lumière Matière [Villeurbanne] (ILM), Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon, Laboratoire des technologies Innovantes [Tanger] (LTI), Ecole Nationale des Sciences Appliquées [Tanger] (ENSAT), Université Claude Bernard Lyon 1 (UCBL), and Université de Lyon-Université de Lyon-Centre National de la Recherche Scientifique (CNRS)

Subjects
Range (particle radiation), Chemistry, Ab initio, General Physics and Astronomy, Charge (physics), 02 engineering and technology, 010402 general chemistry, 021001 nanoscience & nanotechnology, 01 natural sciences, 7. Clean energy, Potential energy, Symmetry (physics), 0104 chemical sciences, Electronic states, [CHIM.THEO]Chemical Sciences/Theoretical and/or physical chemistry, Transfer (group theory), Excited state, Physical and Theoretical Chemistry, Atomic physics, 0210 nano-technology, [PHYS.ASTR]Physics [physics]/Astrophysics [astro-ph], ComputingMilieux_MISCELLANEOUS
Abstract

Potential energy curves of the MgMg 2+ molecular system in the lowest electronic states as well as radial and rotational couplings between these states are obtained from ab-initio calculations at the CASSCF/MRCI level of theory using large basis sets. These data are used to investigate, via the semi-classical molecular close coupling method, the single symmetric charge transfer processes of Mg 2+ –Mg collisions in the [1.0–650] keV laboratory energy range. Total and partial cross sections for the expected capture channels are calculated and compared with the available experimental and theoretical results.

Published
2016

26. Fault Prognosis Based on Physical and Stochastic Models

Author

Nacer K. M'Sirdi, Samir Benmoussa, Thi-Bich-Lien Nguyen, Mohand Djeziri, Laboratoire des Sciences de l'Information et des Systèmes (LSIS), Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Université de Toulon (UTLN)-Aix Marseille Université (AMU), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Proceeding of the 2016 European Control Conference, and Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Mean time between failures, Engineering, Stochastic modelling, business.industry, 020208 electrical & electronic engineering, 02 engineering and technology, Fault (power engineering), Reliability engineering, 020901 industrial engineering & automation, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Redundancy (engineering), [INFO]Computer Science [cs], State (computer science), business, Bond graph, ComputingMilieux_MISCELLANEOUS, Degradation (telecommunications)
Abstract

This paper deals with a fault prognosis method based on physical and stochastic models. Health Indicators (HIs) are generated from a bond graph model using analytical redundancy principle, then, the generated HIs are used to assess the current state of the system and to detect the degradation beginning. To overcome the lack of information on the degradation dynamic, an updated stochastic model, associated with the available information about the Mean Time Before failure (MTBF) is used to estimate the Remaining Useful Life (RUL). An application example illustrates the implementation of the proposed approach and the obtained results show its effectiveness.

Published
2016

27. A productivity signal feedback controller for continuous bioreactors

Author

Jean-Yves Dieulot, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
Specific growth, 0209 industrial biotechnology, Engineering, business.industry, 02 engineering and technology, Signal, Substrate concentration, Industrial and Manufacturing Engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, Dilution, 020901 industrial engineering & automation, 020401 chemical engineering, Control and Systems Engineering, Control theory, Modeling and Simulation, Bioreactor, Feedback controller, 0204 chemical engineering, Bioprocess, business, Productivity, ComputingMilieux_MISCELLANEOUS
Abstract

The control of continuous stirred bioreactors using productivity signal feedback consists of using the direct relation between the optimal static dilution rate and the optimal static productivity. This strategy drives the bioprocess to its optimal productivity point, irrespective of the feeding substrate concentration, and specific growth rate or substrate concentration estimates. While the algorithm covers a wide class of bioprocesses, explicit relations are given for the Monod and Haldane cases.

Published
2012

28. Bond Graph Model Based on Structural Diagnosability and Recoverability Analysis: Application to Intelligent Autonomous Vehicles

Author

R. Loureiro, Rochdi Merzouki, B. O. Bouamama, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Computer Networks and Communications, Aerospace Engineering, 02 engineering and technology, Fault detection and isolation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Vehicle dynamics, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Redundancy (engineering), Observability, Electrical and Electronic Engineering, Fault diagnosis, intelligent systems, business.industry, 020208 electrical & electronic engineering, Intelligent decision support system, modeling, Control engineering, Fault tolerance, System dynamics, Automotive Engineering, fault tolerance, business, Bond graph
Abstract

International audience; A controlled system can be subjected to faults, which may cause unexpected system dynamics that prevent the system objectives to be achieved. This paper introduces the problem of structural fault-tolerance analysis of actuator, sensor, and plant faults with respect to diagnosability and recoverability conditions. Existing methods in the literature usually investigate the fault tolerance of systems separately from fault diagnosis, even if they are strongly related. The bond graph (BG) tool is an adequate tool for dynamic modeling of complex systems and performing fault detection and isolation. The innovative interest of the proposed approach is to extend the use of this tool for verification of structural recoverability conditions by exploiting the behavioral, structural, and causal properties of the BG tool. The obtained structural technique is then applied to an intelligent autonomous vehicle named RobuCar with decentralized inputs and outputs.

Published
2012

29. An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining

Author

Richard Bearee, Jean-Yves Dieulot, Patrice Rabaté, Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques (LSIS- INSM), Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences de l'Informatique et ses Interactions-Université de Provence - Aix-Marseille 1-Université Paul Cézanne - Aix-Marseille 3-Université de la Méditerranée - Aix-Marseille 2, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), EADS Innovation Works [Toulouse], EADS - European Aeronautic Defense and Space, LAGIS-MOCIS, Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM], Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS], and Université de la Méditerranée - Aix-Marseille 2-Université Paul Cézanne - Aix-Marseille 3-Université de Provence - Aix-Marseille 1-Institut National des Sciences de l'Informatique et ses Interactions-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Ingénierie assistée par ordinateur [Informatique], ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Image registration, Mechanical engineering, Aeronautics, 02 engineering and technology, Modélisation et simulation [Informatique], Curvature, Industrial and Manufacturing Engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Iterative Closest Point, 020901 industrial engineering & automation, Automatique [Informatique], Machining, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Workcell, Computer vision, ComputingMilieux_MISCELLANEOUS, ComputingMethodologies_COMPUTERGRAPHICS, Subdivision, business.industry, Mechanical Engineering, Iterative closest point, Optimisation et contrôle [Mathématique], [INFO.INFO-IA]Computer Science [cs]/Computer Aided Engineering, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Clamping, Computer Science Applications, Control and Systems Engineering, Robot, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Artificial intelligence, business, Software
Abstract

A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point algorithm, which considersdifferent parts of the contour with respect to curvature, allows to obtain far better results than classical methods, without complicated assumptions or computations.The procedure has shown to be effective for porthole and nose-cone deburring. Experimental tests conducted on robotic milling workcell demonstrated the efficiency of the registration method.; International audience; A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point algorithm, which considersdifferent parts of the contour with respect to curvature, allows to obtain far better results than classical methods, without complicated assumptions or computations.The procedure has shown to be effective for porthole and nose-cone deburring. Experimental tests conducted on robotic milling workcell demonstrated the efficiency of the registration method.

Published
2010

30. Modeling, control and robustness analysis for a road sector

Author

Geneviève Dauphin-Tanguy, Dumitru Popescu, Catalin Dimon, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
Engineering, Control algorithm, business.industry, Experimental data, General Medicine, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 010305 fluids & plasmas, Robustness (computer science), Control theory, 0103 physical sciences, Sampling time, 010306 general physics, business, Closed loop, Road traffic, ComputingMilieux_MISCELLANEOUS
Abstract

When modeling a real process the effects of nonlinearities must be taken into account, especially when designing a control algorithm. Such is the case of a road traffic sector, which will be considered from a macroscopic point of view. An input-output model is proposed, based on experimental data, and then a control algorithm is used to obtain imposed performances for the closed loop system. The robustness of control is taken into account, by assessing the modulus margin. Based on this indicator the robustness of the control law is analyzed in order to find what nonlinearities it can cope with. Following, we try to prove that the system can be controlled using the same algorithm, when different types of perturbations affect the system.

Published
2010

31. Robust PID control of a linear mechanical axis: A case study

Author

Frederic Colas, Jean-Yves Dieulot, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire d’Électrotechnique et d’Électronique de Puissance - ULR 2697 (L2EP), Centrale Lille-Haute Etude d'Ingénieurs-Université de Lille-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Centrale Lille-Université de Lille-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-JUNIA (JUNIA), and Université catholique de Lille (UCL)-Université catholique de Lille (UCL)

Subjects
0209 industrial biotechnology, Engineering, PID controller, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, law.invention, Industrial robot, 020901 industrial engineering & automation, Control theory, Robustness (computer science), law, 0202 electrical engineering, electronic engineering, information engineering, Motion planning, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, business.industry, Mechanical Engineering, 020208 electrical & electronic engineering, Linear system, Control engineering, Computer Science Applications, Control and Systems Engineering, Trajectory planning, Robust control, Engineering design process, business
Abstract

This paper proposes a case study of the design of robust control for flexible axes. Robust parametric methods are worked out, and an heuristic initial tuning of the PID controller is proposed from additional pole-placement constraints on the rigid mode. Experimental validations highlight the relevance of adequate closed-loop control and trajectory planning design.

Published
2009

32. Intelligent Monitoring of an Industrial Robot

Author

Rochdi Merzouki, Belkacem Ould-Bouamama, Khaled Fawaz, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, Record locking, Robot calibration, business.industry, 020208 electrical & electronic engineering, Control engineering, 02 engineering and technology, Co-simulation, Collision, Fault detection and isolation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, law.invention, Computer Science::Robotics, Industrial robot, 020901 industrial engineering & automation, law, 0202 electrical engineering, electronic engineering, information engineering, Robot, Joint (building), business, ComputingMilieux_MISCELLANEOUS, Simulation
Abstract

This paper deals with a model based real-time virtual simulator of industrial robot in order to detect eventual external collision. The implemented method concerns a model based Fault Detection and Isolation used to determine any lock of motion from an actuated robot joint after contact with static obstacles. Online implementation has been done in order to validate the proposed approach.

Published
2008

33. Bond Graph Modeling of a Class of System of Systems

Author

Rochdi Merzouki, Pushpendra Kumar, Belkacem Ould Bouamama, Ahmad Koubeissi, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
System of systems, Engineering, Theoretical computer science, business.industry, Control engineering, Cascading Style Sheets, Systems modeling, Behavioral modeling, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Traffic dynamic, Component (UML), Platoon, Bond graph modeling, Intelligent transportation system, business, Bond graph, computer, computer.programming_language
Abstract

International audience; In this paper, a modeling method for a class of system of systems (SoS) is proposed based on the Bond graph modeling approach. A SoS is a large-scale integrated system which is composed of many complex systems called component systems (CSs). Most of the existing SoS models are based on the organizational modeling approach, and the behavioral models of the physical CSs are not considered. Thus, a unified multilevel model of a SoS is developed which combines the organizational and behavioral modeling approaches using Bond graph. The proposed modeling approach is applied to model an Intelligent transportation system (ITS) considering traffic dynamic in a platoon of Intelligent autonomous vehicles (IAVs).

Published
2015

34. observability of spontaneous switched linear singular systems

Author

Hihi, H., Bendaoud, M., Rahmani, Ahmed, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2015

35. Kinematic Calibration of a Multisection Bionic Manipulator

Author

Coralie Escande, Rochdi Merzouki, Vincent Coelen, Pushparaj Mani Pathak, Taha Chettibi, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratory of Structure Mechanics, École Militaire Polytechnique [Alger] (EMP), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Department of Mechanical and Industrial Engineering, IIT Roorkee, Indian Institute of Technology Roorkee (IIT Roorkee), Ecole Militaire Polytechnique [Alger] (EMP), and Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie]-Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie]

Subjects
0209 industrial biotechnology, Engineering, Bionics, Robot calibration, Calibration (statistics), 02 engineering and technology, Kinematics, Computer Science::Robotics, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Astrophysics::Galaxy Astrophysics, Coupling, business.industry, Control engineering, Kinematic calibration, 021001 nanoscience & nanotechnology, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Bionic manipulator, Computer Science Applications, Constant curvature, Control and Systems Engineering, Robot, Forward kinematic modeling, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, 0210 nano-technology, business, Trilateration
Abstract

International audience; —This paper deals with the forward kinematic calibration of a bionic arm inspired from the organic elephant trunk and called compact bionic handling assistant (CBHA). First, a forward kinematic model is developed based on the principle of the constant curvature continuum robot theory. Then, two experimental setups are proposed in order to carry out the model calibration and validation. The first one is based on the trilateration method, while the second one is based on the coupling of the CBHA with a rigid six-degree-of-freedom rigid manipulator. The aim of the calibration is to enhance the precision of the forward kinematic model.

Published
2015

36. Proportional-integral observer design for switching systems-bond graph approach

Author

Hajji, Naima, Rahmani, Ahmed, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2015

37. Multilevel Agent-Based Modeling of System of Systems

Author

Gildas Morvan, Jean-Baptiste Soyez, Daniel Dupont, Rochdi Merzouki, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Ecole Centrale de Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Ecole Centrale de Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Génie Informatique et d'Automatique de l'Artois (LGI2A), Université d'Artois (UA), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 (CRIStAL), Ecole Centrale de Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Ecole Centrale de Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Science et Technologie du Lait et de l'Oeuf (STLO), Institut National de la Recherche Agronomique (INRA)-AGROCAMPUS OUEST, Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Hautes Etudes d’Ingénieur [Lille] (HEI), JUNIA (JUNIA), and Université catholique de Lille (UCL)-Université catholique de Lille (UCL)

Subjects
Agent-based modeling (ABM), 0209 industrial biotechnology, Engineering, Computer Networks and Communications, 0211 other engineering and technologies, 02 engineering and technology, Vehicle dynamics, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], systems of systems (SoSs), Electrical and Electronic Engineering, Intelligent transportation system, complex system engineering, computer.programming_language, Functional specification, System of systems, 021103 operations research, business.industry, Cascading Style Sheets, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Computer Science Applications, Formalism (philosophy of mathematics), Control and Systems Engineering, Reaction model, Systems engineering, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, business, computer, Multilevel simulation, Information Systems
Abstract

International audience; —This paper deals with the generic modeling of systems of systems (SoSs) using agent-based modeling. SoSs are large-scale systems, including numerous—possibly heterogeneous— interacting component systems evolving in a dynamic environment. The aim of this paper is to provide generic formalism allowing to represent and control the whole complexity of a SoS using agent-based simulations. In particular, organizational aspects of SoSs are managed with the Agent–Group–Role model. Functional aspects, guiding SoSs to accomplish their global goals, are handled via a functional specification. Multilevel aspects are mod-eled with the Influence Reaction Model for Multilevel Simulation (IRM4MLS) agent-based meta-model. Models generated using this formalism encompass static and dynamic aspects of SoSs. They consider reorganization of SoSs caused by changes of goals or subsystem capacity. All these elements are illustrated in this paper using a SoS case study of Intelligent Autonomous Vehicles initiated by the Intelligent Transportation for Dynamic Environment (InTraDE) European project to automate the port container logistic. Index Terms—Agent-based modeling (ABM), complex system engineering, systems of systems (SoSs).

Published
2015

38. Formation Tracking of Fractional-Order Multi-Agent Systems Based on Error Predictor

Author

Ahmed Rahmani, Yongguang Yu, Guoguang Wen, Jing Bai, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), 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), Dpt of Mathematics [Beijing Jiaotong], and Beijing Jiaotong University (BJTU)

Subjects
If and only if, Control theory, Multi-agent system, Numerical analysis, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Graph (abstract data type), Graph theory, Directed spanning tree, 16. Peace & justice, ComputingMilieux_MISCELLANEOUS, Moral graph, Mathematics
Abstract

In this paper, formation tracking problem of fractional-order multi-agent systems is studied under fixed directed communication graph. Firstly, a control law based on error predictor is proposed to achieve formation tracking. Then, the effectiveness of the control law is proved by using matrix theory, graph theory and fractional-order theory. It is shown that the formation tracking can be achieved by using the proposed control law if and only if the directed communication graph among agents has a directed spanning tree. Finally, based on the numerical method, several simulations are given to illustrate the effectiveness of the obtained results.

Published
2015

39. On the Kinematic Modeling of a Class of Continuum Manipulators

Author

Rochdi Merzouki, Coralie Escande, Othman Lakhal, Achille Melingui, Blaise Conrard, Thor Morales Bieze, 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), Electrical and Telecommunications Engineering Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), École polytechnique universitaire de Lille (Polytech Lille), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Robot kinematics, Engineering, Inverse kinematics, business.industry, Continuum (topology), Concatenation, Parallel manipulator, Inverse, 02 engineering and technology, Kinematics, Autonomous robot, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Computer Science::Robotics, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, business
Abstract

International audience; — This paper addresses the forward kinematic model (FKM) of a continuum manipulator, namely the Compact Bionic Handling Assistant (CBHA). This model is an essential step in the design of an autonomous robot control. The CBHA is considered as a concatenation of three degrees of freedom (DoF) parallel robot with 3UPS-1UP (Universal-Prismatic-Spherical) joint structure along the backbone. A mathematical solution of the inverse kinematic problem of such manipulators is easy to derive; however, the forward kinematic problem is mathematically intractable. Therefore, a FKM of the CBHA based on the IKM of each parallel robot is proposed. A neural-network-based hybrid approach that solves the FKM with a good degree of accuracy is developed in this paper. The proposed approach is validated by real measurements obtained by using an industrial manipulator (Kuka) as an external sensor. A comparison with a quantitative geometric approach, according to the model accuracy is also presented.

Published
2014

40. Multilevel Reconfiguration Strategy for the System of Systems Engineering: Application to Platoon of Vehicles

Author

Belkacem Ould-Bouamama, Blaise Conrard, Rochdi Merzouki, Pushpendra Kumar, 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), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
050210 logistics & transportation, 0209 industrial biotechnology, Engineering, reconfiguration, business.industry, 05 social sciences, Multilevel model, Control reconfiguration, Control engineering, modeling, 02 engineering and technology, SoS, bond graph, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], IAV, 020901 industrial engineering & automation, 0502 economics and business, System of systems engineering, Platoon, business, Bond graph, Road traffic
Abstract

International audience; In the present work, a generic method for multilevel modeling and reconfiguration of the System of Systems Engineering (SoSE) is proposed based on the bond graph modeling approach. The proposed formulation is applied to the road traffic dynamic for a platoon of Intelligent Autonomous Vehicles (IAVs). A bond graph model-based reconfiguration strategy is proposed for the multilevel model of the road traffic dynamic combining three levels namely submicroscopic, microscopic and macroscopic. This multilevel model is simulated for two scenarios of normal and faulty situations in a platoon of four IAVs.

Published
2014

41. Inverse Kinematic modeling of a class of continuum bionic handling arm

Author

Achille Melingui, Coralie Escande, Abdelhakim Chibani, Rochdi Merzouki, Othman Lakhal, Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Université de Lille-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
Robot kinematics, Inverse kinematics, Kinematics, Workspace, Degrees of freedom (mechanics), [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, law.invention, Computer Science::Robotics, Control theory, law, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Robot, Cartesian coordinate system, Mathematics, Sequential quadratic programming
Abstract

International audience; — This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, combined with an optimal placement of the backbones. The latter is obtained using an optimization algorithm, based on a Sequential Quadratic Program (SQP). The main interest of developing such model is to design an autonomous control of the CBHA. The high number of Degrees of Freedom (DoF) present on the continuum structure of the CBHA, makes difficult the synthesis of the analytical IKM for the overall arm. To resolve this issue, it is proposed to assimilate the CBHA's behavior to that of a hyper-redundant robot manipulator. This robot is represented by a concatenation of hybrid (parallel and serial) vertebrae along the vertebral column or backbones of the CBHA. The combination of all these vertebra allows the reconstruction with optimal configuration of the real posture of the continuum arm inside its workspace, with only the knowledge of the Cartesian coordinates of the robot pose. Simulations and experimental validation of the model demonstrate the efficiency of the modeling approach for this class of CBHA.

Published
2014

42. A Multilevel Agent-Based Approach to model and simulate Systems of Systems

Author

Soyez, Jean-Baptiste, Morvan, Gildas, Merzouki, Rochdi, Dupont, Daniel, Morvan, Gildas, Intelligent Transportation for Dynamic Environment - InTraDE - INCOMING, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Génie Informatique et d'Automatique de l'Artois (LGI2A), Université d'Artois (UA), école HEI Lille, European Project: InTraDE, Hautes Etudes d’Ingénieur [Lille] (HEI), JUNIA (JUNIA), and Université catholique de Lille (UCL)-Université catholique de Lille (UCL)

Subjects
Complex system engineering, Agent-based modeling, System of Systems, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

International audience; This article proposes a generic modeling approach of systems of systems (SoS) using agent-based modeling (ABM). SoSs are large scale systems including numerous-possibly heterogeneous-interacting component systems (CS) evolving in a dynamic environment. The aim of this article is to provide generic formalism allowing to represent and control the whole complexity of a SoS using agent-based simulations. Models generated using this formalism encompass static and dynamic aspects of SoSs. They consider reorganization of SoSs caused by changes of goals or subsystem capacity. All these elements are illustrated in this article using a SoS case study of Intelligent Automated Vehicles (IAV) initiated by the InTraDE (Intelligent Transportation for Dynamic Environment) European project to automate the port container logistic.

Published
2014

43. Conception et modélisation de systèmes de systèmes : une approche multi-agents multi-niveaux

Author

Soyez, Jean Baptiste, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Projet européen InTraDE (Intelligent Transportation for Dynamic Environment), École des Hautes Études d'Ingénieur (HEI, Lille), Université de Lille 1, Rochdi Merzouki, and European Project: InTraDE

Subjects
modèle Influence/Réaction, Systems of systems, intelligent autonomous vehicles, systèmes complexes, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, modélisation et simulation multi-agents multi-niveaux, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Systèmes de systèmes, [INFO.INFO-PF]Computer Science [cs]/Performance [cs.PF], [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], organisational approach, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Influence/Reaction model, véhicules intelligents autonomes, multi-level multi-agent modeling and simulation, complex systems, approche organisationnelle
Abstract

The main problematic of this thesis, which takes place in the context of the european project InTraDE (Intelligent Transportation for Dynamic Environment), deals with the modeling of systems of systems (SoS). A SoS is a system composed of a hierarchy of autonomous systems present in several representation levels. This thesis answers the need of generic modeling tools respecting the fundamental characteristics of SoS, proposing a multi-level multi-agent formalism and algorithms wich insure their respect. The use of a multi-agent model allows to take advantage of the natural autonomy of agents and the multi-level aspect of our model permits to modeled entities to reason about the organisational hierarchy of the system, carrying the explicit notion of level.Besides the modeling of complex systems, this thesis also deals with the problematic related to their simulations,particularly, the fact that computer resources (used memory and microchips) needed to simulate with precision such systems are truly important. We propose a methodology to benefit from the muli-level simulations capacity to producecompromise between the simulation precision and the used computer resources.; La problématique générale de cette thèse, qui s'inscrit dans le contexte du projet européen InTraDE (Intelligent Transportation for Dynamic Environment), concerne la modélisation de systèmes de systèmes (SdS). Un SdS est un système composé d'une hiérarchie de systèmes autonomes présents à différents niveaux de représentation. Cette thèse répond au besoin d'outils de modélisation généralistes respectant les caractéristiques fondamentales des SdS,en proposant un formalisme multi-agents multi-niveaux et les algorithmes qui assurent le respect de ces caractéristiques. L'utilisation d'un modèle multi-agents permet de profiter de l'autonomie naturelle des agents et l'aspect multi-niveaux de notre modèle permet aux entités modélisées de raisonner à propos de l'organisation hiérarchique du système en leur offrant la notion explicite de niveau.En plus de la modélisation des systèmes complexes, cette thèse aborde les problématique liées à leur simulation, en particulier, le fait que les ressources informatiques (mémoire et microprocesseur utilisés) nécessaires pour simuler avec précision de tels systèmes sont particulièrement importantes. Nous proposons ainsi une méthodologie pour tirer partie de la capacité des simulations multi-niveaux à produire un compromis entre la précision de la simulation et les ressources informatiques utilisées.

Published
2013

44. Merging Bond-Graphs and Signed Directed Graphs to improve FDI procedure

Author

Chatti, Nizar, Ould Bouamama, Belkacem, Gehin, Anne-Lise, Merzouki, Rochdi, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Systèmes Tolérants aux Fautes (STF), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2013

45. Model based tracking control using Jerky behavior in platoon of vehicles

Author

Blaise Conrard, Vincent Coelen, Rochdi Merzouki, Pushpendra Kumar, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), 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), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, business.industry, Control (management), Fault tolerance, Mobile robot, 010103 numerical & computational mathematics, 02 engineering and technology, Tracking (particle physics), 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Vehicle dynamics, 020901 industrial engineering & automation, Laser rangefinder, Platoon, 0101 mathematics, business, Simulation, Collision avoidance, ComputingMilieux_MISCELLANEOUS
Abstract

In this work, a reconstruction of the sensor-based tracking control in a platoon of autonomous vehicles is developed. This control is reproduced with accuracy in the absence of data from the laser rangefinder. Only the velocity of each involved vehicle in the platoon is considered, as well as the inter-vehicle communication. This reconstruction occurs when the laser rangefinder is disturbed or failed. It helps maintaining a fault tolerant control when the measurement is unavailable. The control strategy is validated on a real-time simulator of vehicles dynamic, based on experimental measurements, acquired from autonomous vehicles.

Published
2013

46. Signed Bond Graph for health monitoring of PEM fuel cell

Author

Chatti, Nizar, Ould Bouamama, Belkacem, Gehin, Anne-Lise, Merzouki, Rochdi, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Systèmes Tolérants aux Fautes (STF), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; To guarantee the safe operation of the Fuel Cell (FC) systems, it is necessary to use systematic techniques to detect and isolate faults for diagnosis purposes. The problematic for Fault Detection and Isolation (FDI) model-based of fuel cell consists in that such system is bad instrumented, its model is complex (because of coupling of multi-physical phenomena such as electrochemical, electrical, thermo fluidic...) and the numerical values related to it are not always known. This is why qualitative model (based on existence or not of the links between variables and the relations) is well suited for fuel cell diagnosis. In this paper, we propose a new graphical model (named Signed Bond Graph) allowing to combine both qualitative and quantitative features for health monitoring (in terms of diagnosis and prognosis) of the fuel cell. The innovative interest of the presented paper is the use of only one representation for not only structural model but also diagnosis of faults which may affect the fuel cell. The developed theory is illustrated by an application to a Proton Exchange Membrane Fuel Cell (PEMFC).

Published
2013

47. Fault Diagnosis and Fault-Tolerant Control of an Electric Vehicle Overactuated

Author

Rochdi Merzouki, Mustapha Ouladsine, Belkacem Ould Bouamama, Mohand Djeziri, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Robotique de Versailles (LRV), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Centre National de la Recherche Scientifique (CNRS), Méthodes et Outils pour la Conception Intégrée de Systèmes (MOCIS), 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)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Laboratoire des Sciences de l'Information et des Systèmes (LSIS), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), and Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Université de Toulon (UTLN)-Aix Marseille Université (AMU)

Subjects
0209 industrial biotechnology, Engineering, business.product_category, Computer Networks and Communications, business.industry, 020208 electrical & electronic engineering, Aerospace Engineering, Control reconfiguration, Fault tolerance, Control engineering, 02 engineering and technology, Remotely operated underwater vehicle, Fault (power engineering), Automotive engineering, Fault detection and isolation, Vehicle dynamics, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Control system, Automotive Engineering, Electric vehicle, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, business, ComputingMilieux_MISCELLANEOUS
Abstract

This paper deals with an embedded fault detection and isolation (FDI)-fault-tolerant control approach applied to an overactuated electric vehicle. This method is described in the following three major steps: 1) trajectory planning based on the inverse kinematic modeling of the vehicle; 2) model-based fault diagnosis of the traction system; and 3) vehicle control reconfiguration in faulty situations. Autonomous vehicles, as studied in this paper, are very suited to accomplish missions in confined space or in hostile environments (in radioactive environments and spatial programs), where the success of the mission is more important than the cost of the additional actuators. The proposed FDI approach provides an early detection of the faults, allowing safe reconfiguration of the system control. Cosimulation results using experimental data show the performances and advantages of the presented approach.

Published
2013

48. Intelligent Mechatronic Systems: Modelling, Control and Diagnosis

Author

Merzouki, Rochdi, Samantaray, A.K., Pathak, M., Ould Bouamama, Belkacem, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2013

49. Functional and behavioural models for the supervision of an intelligent and autonomous system

Author

Chatti, Nizar, Gehin, Anne-Lise, Ould Bouamama, Belkacem, Merzouki, Rochdi, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Systèmes Tolérants aux Fautes (STF), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), and Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
supervision, Bond graph (BG), user operating modes, electromechanical system, self-diagnosis, functional analysis, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; The graphical approaches often have different backgrounds and view a system or an algebraic model from different perspectives in order to facilitate the communication and the understanding. These graphical approaches satisfy the modeling needs and give a clear and easily understandable overview of the behavioral and functional models and make easier to see what the process is, which vulnerabilities and asset that are involved and how the system works. The main goal of this paper is to develop and implement a methodology which combines the functional analysis and the bond graph (BG) tool for intelligent and autonomous systems. As a result, a supervisory interface is obtained, given under a finite automaton, displaying to the operators the possibilities the system has to achieve or not, its objectives. Each operating mode, corresponding to a vertex of the automaton, is associated with a set of services from a functional point-of-view and is defined accurately by a behavioral BG model. Furthermore, the service availability (associated to the BG elements) and the conditions for switching from one mode to another one are analyzed by fault detection and isolation algorithms generated on the basis of the structural and causal properties of the BG tool. Moreover, when a fault is not completely isolable some results can nevertheless be expressed in terms of available or unavailable services.

Published
2013

50. Bond Graph Modeling of an Over-actuated Intelligent Autonomous Vehicle with Decoupled Steering Wheel

Author

Arun Kumar Samantaray, B. Ould-Bouamama, Rochdi Merzouki, Tarun Kumar Bera, LAGIS-MOCIS, Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), and Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, InformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g.,HCI), medicine.medical_treatment, 02 engineering and technology, Electronic differential, GeneralLiterature_MISCELLANEOUS, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, InformationSystems_MODELSANDPRINCIPLES, 020901 industrial engineering & automation, Motor controller, law, 0202 electrical engineering, electronic engineering, information engineering, medicine, Torque steering, ComputingMilieux_MISCELLANEOUS, business.industry, Control engineering, Steering linkage, Steering wheel, Traction (orthopedics), Modular design, 020201 artificial intelligence & image processing, business, Bond graph
Abstract

This article deals with modeling of an intelligent autonomous vehicle with four traction wheels, four braking wheels and four-wheel steering system. The bond graph model of the integrated vehicle dynamic system is developed in a modular and hierarchical modeling environment. The Ackerman steering concept was used in the steering motor controller. Simulation results show the advantages of four-wheel steering during tight maneuvers.

Published
2012

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