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Boubaker O.,Tunisian National Institute of Applied Sciences and Technology
International Journal of Advanced Robotic Systems | Year: 2013

For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, in nonlinear control theory. The fundamental focus of this work is to enhance the wealth of this robotic benchmark and provide an overall picture of historical and current trend developments in nonlinear control theory, based on its simple structure and its rich nonlinear model. In this review, we will try to explain the high popularity of such a robotic benchmark, which is frequently used to realize experimental models, validate the efficiency of emerging control techniques and verify their implementation. We also attempt to provide details on how many standard techniques in control theory fail when tested on such a benchmark. More than 100 references in the open literature, dating back to 1960, are compiled to provide a survey of emerging ideas and challenging problems in nonlinear control theory accomplished and verified using this robotic system. Possible future trends that we can envision based on the review of this area are also presented. © 2013 Boubaker. Source


Clodoveo M.L.,University of Bari | Hachicha Hbaieb R.,Tunisian National Institute of Applied Sciences and Technology
Food Research International | Year: 2013

The entire virgin olive oil (VOO) process has changed very little over the last 20years. One of the essential challenges of VOO industrial plant manufacturing is to design and build advanced machines in order to improve the working capacity of the industrial plants and create more sustainable engineering solutions. Ultrasound (US) and microwave (MW) are emerging technologies that have already found application in the food industry. Yet, application in the VOO sector has been scarcely investigated. In order to ascertain if the mentioned emerging technologies are able to increase the environmental sustainability improving VOO extraction yields, two different treatments (US and MW) of olive paste were adopted in the VOO extraction process on a pilot scale plant. In these experimental conditions, the main parameters legally established (acidity, peroxide value, and specific extinction coefficients (K232 and K270)) to evaluate VOO quality were not affected by the US and MW treatments. Moreover US and MW processes reduced significantly the length of the malaxation and improved the extraction yield as compared with the control when the oils were extracted from the paste without malaxation. Results also prove that US technology was more sustainable than MW which appears as an energy consuming method in a pilot scale plant. Therefore the industrial application of these technologies could represent the first step toward the development of continuous new devices. © 2013 Elsevier Ltd. Source


AbdelMalek F.,Tunisian National Institute of Applied Sciences and Technology
IEEE Photonics Technology Letters | Year: 2011

In this letter, we theoretically propose a biosensor based on a two-dimensional left-handed photonic crystal coupled to an M-shaped resonator. The sensor is optimized to operate in an aqueous environment. By controlling the radius of the air cylinder defect, a strong interaction between light and biomolecules in aqueous solution is achieved. We demonstrate numerically that by confining the biomolecular into the region of interest, a high sensitivity is reached. It is shown that shifts in the peak wavelength values are strongly related to the refractive index changes. © 2006 IEEE. Source


Mehdi H.,Tunisian National Institute of Applied Sciences and Technology | Boubaker O.,Tunisian National Institute of Applied Sciences and Technology
International Journal of Social Robotics | Year: 2012

In this paper, stiffness and impedance control concepts are used to solve position and force control for robot-aided rehabilitation. New asymptotic stability conditions are proposed using a suitable Lyapunov approach and based on the relationship between the dynamics of the robot and its energy. The efficiency of the proposed approach is tested on a planar 3 DOF robot-aided rehabilitation constrained to a circular trajectory. The robotic device is configured to be safe and stable in compliant motion in contact with the human arm. It is also designed to be adapted easily to different subjects for performing different tasks. Force and control parameters are tuned using a non linear optimization strategy for which the stability conditions are considered as inequality constraints. Simulation results show that the robot could guide the upper limb of subjects in circular movements under predefined model of the external force and prove the stability and the performances of the compliant motion control strategy. © 2011 Springer Science & Business Media BV. Source


Mehdi H.,Tunisian National Institute of Applied Sciences and Technology | Boubaker O.,Tunisian National Institute of Applied Sciences and Technology
International Journal of Advanced Robotic Systems | Year: 2011

This paper presents an efficient and fast method for fine tuning the controller parameters of robot manipulators in constrained motion. The stability of the robotic system is proved using a Lyapunov-based impedance approach whereas the optimal design of the controller parameters are tuned, in offline, by a Particle Swarm Optimization (PSO) algorithm. For designing the PSO method, different index performances are considered in both joint and Cartesian spaces. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the performances of the proposed approach. The simulation results show the stability and the performances of the proposed approach. © 2011 Mehdi and Boubaker; licensee InTech. Source

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