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S. LIM,S. MIN,J.P.Hong 한국자동차공학회 2016 International journal of automotive technology Vol.17 No.5
−This paper presents a new optimization method to obtain the structural design of permanent magnet motor which can reduce the mechanical vibration. The optimization problem is formulated to minimize a multi-objective function including the mean compliance of the whole stator for maximizing the stiffness under the magnetic force and the torque ripple by aligning torque profiles to a constant target value for maximizing the magnetic performance, with constraint for material usage. The level set function is introduced for representing the structural boundaries and calculating the material properties. A coupled magneto-mechanical analysis is performed to verify the vibration characteristic of the motor system and obtain the design sensitivities. To confirm the usefulness of the proposed design method and to obtain the optimum structural design for low vibration motor, a design example of 20 kW interior permanent magnet motor developed for the power train of a hybrid electric vehicle is provided.
Observer Based Adaptive Neuro-Sliding Mode Control for MIMO Nonlinear Systems
Slim Frikha,Mohamed Djemel,Nabil Derbel 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
In this paper, a stable adaptive neural sliding mode controller is developed for a class of multivariable uncertain nonlinear systems. For these systems not all state variables are available for measurements. By designing a state observer, adaptive neural systems, which are used to model unknown functions, can be constructed using the state estimations. Based on Lyapunov stability theorem, the proposed adaptive neural control system can guarantee the stability of the whole closed loop system and obtain good tracking performances. Adaptive laws are proposed to adjust the free parameters of the neural models. Simulation results illustrate the design procedure and demonstrate the tracking performances of the proposed controller.
Slim Dhahri,Anis Sellami,Fayçal Ben Hmida 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5
This paper presents a new approach for the design of robust H∞ sliding mode observer (SMO) for a class of Lipschitz nonlinear systems where both faults and uncertainties are considered. A sufficient condition using linear matrix inequality (LMI) optimization is derived to guarantee the asymptotically stability of the estimation error dynamics and compute the observer gains. A fault estimation scheme is presented where the estimation signal can approximate the fault to some degree of accuracy. Our design approach has some advantages. The Lipschitz constant of the nonlinear term in the system and the disturbance attenuation level are maximized simultaneously through convex multiobjective optimization. For this reason, the Lipschitz constant is suitable to a large class of uncertain nonlinear systems. Moreover, the fault estimation is much more robust against disturbances and nonlinear uncertainty and can preserve the fault signal shape effectively. Finally, a simulation study on a robotic arm system is presented to show the effectiveness of this approach.
Route Selection Algorithm for Blind Pedestrian
Slim Kammoun,Florian Dramas,Bernard Oriolaand,Christophe Jouffrais 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The vast majority of existing route selection processes is designed for vehicle navigation. In this paper we describe an adapted routing algorithm for visually impaired pedestrians based on users needs. Our aim was to find the most adapted route that connects origin and destination points, and which can provide the Blind with a sparse but helpful mental representation of the itinerary and surroundings. Based on multiple brainstorming sessions and interviews with blind people and an orientation and mobility (O&M) instructor, different classes of objects were defined and tagged in the Geographical Information System. The optimal route was then selected using the Dijkstra algorithm. This method will be used in NAVIG (Navigation Assisted by Artificial VIsion and GNSS), an assistive device for the Blind, whose aim is to improve orientation, mobility and objects localization.
HaptiSole: Wearable Haptic System in Vibrotactile Guidance Shoes for Visually Impaired Wayfinding
Slim Kammoun,Rahma Bouaziz,Faisal Saeed,Sultan Noman Qasem,Tawfik Al-Hadhrami 한국인터넷정보학회 2023 KSII Transactions on Internet and Information Syst Vol.17 No.11
During the last decade, several Electronic Orientation Aids devices have been proposed to solve the autonomy problems of visually impaired people. When hearing is considered the primary sense for Visually Impaired people (VI) and it is generally loaded with the environment, the use of tactile sense can be considered a solution to transmit directional information. This paper presents a new wearable haptic system based on four motors implemented in shoes, while six directions can be played. This study aims to introduce an interface design and investigate an appropriate means of spatial information delivery through haptic sense. The first experiment of the proposed system was performed with 15 users in an indoor environment. The results showed that the users were able to recognize, with high accuracy, the directions displayed on their feet. The second experiment was conducted in an outdoor environment with five blindfolded users who were guided along 120 meters. The users, guided only by the haptic system, successfully reached their destinations. The potential of tactile-foot stimulation to help VI understand Electronic Orientation Aids (EOA) instructions was discussed, and future challenges were defined.
A New Adaptive Neuro-sliding Mode Control for Gantry Crane
Slim Frikha,Mohamed Djemel,Nabil Derbel 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2
This paper presents a new adaptive neuro-sliding mode control for gantry crane as varying rope length. This control method derived from combining the sliding surfaces of three subsystem of the gantry crane (trolley position, rope length, anti-swing) to draw out two system sliding surfaces: the trolley position with the anti-swing and the rope length and the anti-swing. On the based of the sliding mode control principle, drawn out the equivalent controller and the switching controller for gantry crane. But due to the uncertain parameters-nonlinear model of gantry crane with the bound disturbances, combining the neural approximate method, defined the neural controller and the compensation controller for the difference between the equivalent controller and the neural controller for two system control inputs: trolley position and rope length. The adaptive control laws for these controllers were deduced from Lyapunov’s stable criteria to asymptotically stabilize the sliding surfaces. Simulation studies are performed to illustrate the effectiveness of the proposed control.
Hiba Trad,Sourour Ayed,Larbi Rhazi,Amine Slim,Jaime A Teixeira da Silva,Raoudha Hellal,Mounira Sghaier,Hajer Slim Amara 한국식품과학회 2014 Food Science and Biotechnology Vol.23 No.5
Six Tunisian durum wheat genotypes (4 landracesand 2 improved) were evaluated for protein content, glutenstrength, rheological characteristics, and HMW-GS patternsusing a LabChip system. Variance analysis identifiedgenotypic variation. The landraces Azizi, Mahmoudi, Chili,and Arbi exhibited the highest protein concentrations andgluten contents, and best dough tenacity and extensibilityvalues. The Mahmoudi and Chili varieties had the highestprotein contents (17.06 and 17.32% dry mass, respectively). Arbi and Chili had the highest gluten contents (60.88 and60.59%, respectively). Azizi, Mahmoudi, and Chili werecharacterized by higher dough tenacity, lower doughextensibility, and a greater alveograph configuration ratioP/L. The high molecular weight glutenin subunits 6+8(Azizi and Mahmoudi) and 7+15 (Chili), coded by the Glu-B1 locus, improved gluten strength and viscoelastic doughproperties. Calculated HMW to LMW-GS ratios werewithin a narrow range of 0.17-0.29. Some genotypes havepotential to be used as parents in breeding programs.