Villeneuve-la-Rivière, France
Villeneuve-la-Rivière, France

Time filter

Source Type

Zhang H.,École Centrale Lille | Collart-Dutilleul S.,ESTAS | Mesghouni K.,LAGIS
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2013

The world seaborne trade has been developing considerably in the last decade, mainly due to globalization and continued development of emerging countries. This world growth has an influence on the development of ports and maritime terminals. It is always a hot topic about how to make the port run in the maximum productivity with minimum cost. But in order to ameliorate the productivity in a confined space ports, it's important to optimize the assignment of the existing distributed resources, such as the cranes, the storages, the vehicles routing etc.. In this paper, given a P-time Petri Net model of a small size or middle size port with repetitive and periodic operation process, we propose a method to adjust the initial setting of system's parameters to keep itself run with maximum productivity and minimum cost. Moreover the necessities for changing the parameters of the resources are studied and a simple mathematical model to evaluate the cost of change is also proposed in the end of the paper. © IFAC.


Zhang H.,École Centrale Lille | Collart-Dutilleul S.,ESTAS | Mesghouni K.,LAGIS
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2015

This paper deals with the cyclic scheduling of flexible job-shop with time window constraints and resource capacity constraints. For time window constraints, the duration for processing products on machines and the duration for translating products from one machine to another by transfers are taken into account; for the resource capacity constraints, the confined operation space of machines and the length-limited transfers are considered. The example applied in this paper is a flexible job-shop of two kinds of products with demanded products ratio, which can be described as a P-time strongly connected event graph (PTSCEG). The mixed integer programming (MIP) is used to give proper constraints of token's cyclic activities in PTSCEG. Using CPLEX 12.5, the computational time is acceptable for 1-cyclic scheduling of small or medium sized cases. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.


Zhang H.,École Centrale Lille | Collart-Dutilleul S.,ESTAS | Mesghouni K.,LAGIS
IFAC Proceedings Volumes (IFAC-PapersOnline) | Year: 2013

These years the world seaborne trade has been developing considerably, mainly due to the economic globalization and continued development of emerging countries. This world side growth has an influence on the development of ports and maritime terminals. It is always an important target to realize the port running in the maximum productivity with minimum cost, but it is really difficult to find a proper solution to schedule the seaport workflow with the best productivity in real time on considering the complexity of the system, although it just needs to adjust the assignment of the existing distributed resources, such as the cranes, the storages, the vehicles routing etc. In this paper, by modeling the repetitive and periodic operation process with P-time Petri Net, we propose a method to adjust the initial setting of system's parameters to keep itself run with maximum productivity and minimum cost. Moreover the necessities for changing the parameters of the resources are studied. © IFAC.


Zheng T.,EcoleCentrale de Lille | Kamel A.E.,LAGIS | De Lille E.,LAGIS | Wang S.,Beihang University
2013 9th Asian Control Conference, ASCC 2013 | Year: 2013

The communication system of intelligence vehicle platform is consisted of a series of wireless communicators which is formed like wireless sensor network (WSN). Each of the vehicles behaves like a sensor in the WSN. The status data of the environment and the vehicle have been gathered and transmitted to a certain sink, another vehicle or the control center. So the quality-of-service (QoS) of the network should be guaranteed to ensure the reliability of the whole platform. The transmission path is consisted with nodes. The nodes' performance directly influence the performance of the network. This paper is established models of the nodes and packet behavior during the transmission. Data loss possibility and the delay can be reflected from the models. The result can provide a reference for the estimation of the reliability of the control system based on the WSN such as intelligence vehicle platform. © 2013 IEEE.


Ferchichi S.E.,National Engineering School of Tunis | Zidi S.,LAGIS | Laabidi K.,National Engineering School of Tunis | Ksouri M.,National Engineering School of Tunis | Maouche S.,LAGIS
2011 International Conference on Communications, Computing and Control Applications, CCCA 2011 | Year: 2011

Atmospheric data sets are represented by an amount of heterogeneous and redundant data. As number of measurements grows, a strategy is needed to select and efficiently analyze the useful information from the whole data set. The aim of this work is to propose a feature extraction technique based on construction of clusters of similar features. The main objective of the proposed process is to attempt to reach a more accurate classification task and to achieve a more compact representation of the underlying structure of the data. The paper reports the results obtained using the above extraction and analysis procedure of a real data set on atmospheric pollution. It is shown that the proposed approach is able to detect underlying relationship between features and thus get to ameliorate classification accuracy rate. © 2011 IEEE.


Lombardi W.,Supelec | Olaru S.,Supelec | Niculescu S.-I.,Supelec | Hetel L.,LAGIS
International Journal of Control | Year: 2012

This article deals with the robust control design problem for linear time invariant systems affected by variable feedback delay. Constraints on the system state are considered in the system description. The starting point is the construction of a predictive control law which guarantees the existence of a nonempty robust positive invariant (RPI) set with respect to the closed-loop dynamics. Subsequently, an iterative algorithm is proposed in order to obtain an approximation of the maximal RPI set. The problem can be treated in the framework of piecewise affine systems due to the explicit formulations of the control law obtained via multiparametric programming. © 2012 Taylor & Francis.


Halawana H.,LAGIS | Hamdan H.,Supelec
Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 | Year: 2010

Most of the stereo algorithms were based only on the analysis of the luminance information. However with the advances in camera technology, in addition to the fact that color information can robustly improve matching, color stereovision gained more and more interest. Color stereovision setups are usually based on single-sensor cameras which provide Color Filter Array (CFA) images. In those, a single color component is sampled at each pixel rather than the three required ones (R, G, B). We show that standard demosaicing techniques, used to interpolate missing components, are not well adapted when the resulting color pixels are matched for estimating image disparities. In order to avoid this problem while exploiting color information, we propose a new matching cost designed for dense stereovision based on pairs of CFA images. © 2010 ISAROB.


Bera T.K.,LAGIS | Merzouki R.,LAGIS | Ould Bouamama B.,LAGIS | Samantaray A.K.,IIT
Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering | Year: 2012

An overwhelming controller provides robustness against uncertain parameters, disturbances and un-modelled dynamics. A simplified inverse dynamics model is used in the present paper to develop an overwhelming controller for a parallel manipulator (a Stewart platform), where the controller accommodates modelling uncertainties such as the simplifications made for development of the inverse model in order to improve the computational efficiency. Such a control strategy leads to good trajectory tracking accuracy in the presence of unknown disturbances. However, in addition to trajectory tracking performance, the controller for a Stewart platform should also be able to control or limit the interaction forces in applications such as robot assisted surgery and low-impact docking. The environmental forces can be accommodated during the interaction period by modulating the impedance at the interface of manipulator and environment through virtual flexible foundations. The positional error induced during the force control phase can be recovered during the free flight or idle phase. While this approach has been used successfully in the past to control serial manipulators, the closed loop kinematic architecture in a parallel manipulator introduces many difficulties. This paper proposes a modified overwhelming control scheme for parallel manipulators with compensations for interaction force control and positional error recovery. Bond graph modelling is used as an integrated model and controller development tool. Force controlled machining on a spherical surface, which is akin to a surgical operation, is considered as an example application of the developed control strategy. The simulation results from the bond graph model of the controlled Stewart platform are presented to demonstrate the performance of the developed hybrid position force controller. © 2012 IMechE.


Dieulot J.-Y.,LAGIS
International Conference on Integrated Modeling and Analysis in Applied Control and Automation | Year: 2011

Overactuated Intelligent Autonomous Electric Vehicles may possess up to 6 degrees of freedom, such as two steering devices and four independent traction wheels, which serve to control yaw, lateral and longitudinal velocities. It is shown that the coupled nonlinear control problem can be set as an optimal control strategy, which consists of a distribution of contact forces or steering angles according to yaw and lateral speed control. Then, the motor torques of the DC drives are computed in order to ensure dominant wheel rolling operation for a 4 × 4 motion or to ensure that all wheels are in the rolling state when using steering angles.


Melingui A.,LAGIS | Merzouki R.,LAGIS | Mbede J.B.,University of Yaounde I | Escande C.,LAGIS | And 2 more authors.
Proceedings of the International Joint Conference on Neural Networks | Year: 2014

Compact Bionic Handling Assistant (CBHA) is a continuum manipulator, with pneumatic-based actuation and compliant gripper. This bionic arm is attached to a mobile robot named Robotino. Inspired by the elephant's trunk, it can reproduce biological behaviors of trunks, tentacles, or snakes. Unlike rigid link robot manipulators, the development of high performance control algorithm of continuum robot manipulators remains a challenge, particularly due to their complex mechanical design, hyper-redundancy and presence of uncertainties. Numerous studies have been investigated for modeling of such complex systems. Such continuum robots, like the CBHA present a set of nonlinearities and uncertainties, making difficult to build an accurate analytical model, which can be used for control strategies development. Hence, learning approach becomes a suitable tool in such scenarios in order to capture un-modeled nonlinear behaviors of the continuous robots. In this paper, we present a qualitative modeling approach, based on neuronal model of the inverse kinematic of CBHA. A penalty term constraint is added to the inverse objective function into Distal Supervised Learning (DSL) scheme to select one particular inverse model from the redundancy manifold. The inverse kinematic neuronal model is validated by conducting a real-time implementation on a CBHA trunk. © 2014 IEEE.

Loading LAGIS collaborators
Loading LAGIS collaborators