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Versailles, France

Tayebi A.,University of Western Ontario | Tayebi A.,Lakehead University | Roberts A.,University of Western Ontario | Benallegue A.,LISV
Proceedings of the American Control Conference | Year: 2011

This paper deals with the attitude estimation and control problems for rigid bodies, using inertial vector measurements. First, we revisit the attitude estimation algorithm on SO(3) that has been recently proposed in the literature, and propose some practical extensions and new insightful unit-quaternion based proofs. Then, we propose an attitude stabilization control scheme using only inertial vector measurements. The originality of this control strategy stems from the fact that the explicit reconstruction of the attitude as well as the angular velocity measurements are not required anymore. © 2011 AACC American Automatic Control Council. Source


Cibert C.,ISTY | Hugel V.,LISV
Mechanism and Machine Theory | Year: 2013

This article presents a novel bio-mimetic inter-vertebral mechanism that can be incorporated into the trunk of a humanoid robot. It is composed of a central passive rod that joins two consecutive vertebrae. Two linear actuators connect both vertebrae laterally through Universal joints. Thanks to this mechanism, the top vertebra can be tilted in all directions with respect to the lower vertebra. The mechanism is modeled from a kinematic point of view to demonstrate the actual mobility, and to determine the optimal parameters regarding the placement of both lateral linear actuators taking into account maximal desired bending amplitudes. The kinematic model is also used to calculate the stress that the central rod will have to resist. The stress forces, namely shear forces, normal compression/tension forces, and twist torques are useful to fix the design specifications for the flexible rod that will be responsible for the compliance of the mechanism. © 2013 Elsevier Ltd. Source


Sikiru T.H.,Tshwane University of Technology | Jimoh A.A.,Tshwane University of Technology | Hamam Y.,School of Engineering in Information and Communication Science and Technology | Hamam Y.,Tshwane University of Technology | And 3 more authors.
Proceedings of the 2012 6th IEEE/PES Transmission and Distribution: Latin America Conference and Exposition, T and D-LA 2012 | Year: 2012

This paper seeks to identify and classify power system networks based on their inherent definitive structural property. The participation between the load buses is observable from the eigenvectors obtained from a Schur complement of the Y-admittance matrix. This is used to classify power system networks as either topologically strong or weak. Results show that in a topologically weak network, load voltages are below the nominal voltage limit. Conversely, in a topologically strong network they are above the nominal limit. © 2012 IEEE. Source


Sikiru T.H.,Tshwane University of Technology | Jimoh A.A.,Tshwane University of Technology | Hamam Y.,School of Engineering in Information and Communication Science and Technology | Hamam Y.,Tshwane University of Technology | And 3 more authors.
Proceedings of the 2012 6th IEEE/PES Transmission and Distribution: Latin America Conference and Exposition, T and D-LA 2012 | Year: 2012

This paper demonstrates voltage profile improvement by partitioning the Y-admittance and the application of circuit theory on power system networks. The partitioned Y-admittance matrix and eigenvalue decomposition technique were used to identify the suitable locations for reactive power compensators. The proposed approach was applied to the 40-bus Southwest England network and the results were compared with the classical Q-V sensitivity approach. The proposed approach improves the overall voltage profile towards the nominal voltage limit. © 2012 IEEE. Source


Saad C.,Robert Bosch GmbH | Maroteaux F.,LISV | Millet J.-B.,LISV | Aubertin F.,Robert Bosch GmbH
SAE Technical Papers | Year: 2011

This paper presents a DI Diesel engine combustion model based on double Wiebe equations approach. The aim of this work is to build a combustion model suitable for Hardware in the Loop (HiL) simulations, and thus to be able to run in Real-Time applications. First, an ignition model is presented and correlated function of engine operating conditions. Then the combustion model parameters have been calibrated with a curve fitting technique with test bench experimental results. The calibration and validation process have been realized first on Matlab. Then the combustion model was coded in S-functions Simulink blocks suitable for HiL implementation. Offline test results for single injection cases with high engine speed (>4000 rpm) are presented in this paper. Copyright © 2011 SAE International. Source

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