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## Auteur Abdelouahab Zaatri |

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Algorithme parallele et serie pour la simulation temps reel et la commande des robots manipulateurs. / Amar Khadraoui

Titre : Algorithme parallele et serie pour la simulation temps reel et la commande des robots manipulateurs. : application a la cooperation multi-robots Type de document : texte imprimé Auteurs : Amar Khadraoui, Auteur ; Abdelouahab Zaatri, Directeur de thèse Editeur : constantine [Algérie] : Université Constantine 1 Année de publication : 2013 Importance : 158 f. Format : 30 cm. Note générale : 2 copies imprimées disponibles Langues : Français ( fre)Catégories : Français - Anglais

Génie MécaniqueTags : Modelisation Dynamique et Commande Copération Multi-robots Distribution

Optimale d’effort Programmation Quadratique Ordonnancement Traitement Parallèle Trans-puters multi-traitement Dynamic Modeling and Control Multi-robots Cooperation Optimal Force Dis-

tribution Quadratic Programming Parallel-Processing Transputers Multiprocessing Sche-duling.Index. décimale : 620 Génie Mécanique Résumé : The work defined for this thesis concerns the study and analysis of serial cooperative robot

manipulators to carry out tasks that cannot be performed by a single robot manipulator .

The work also relates to the study , the selection and application of certain serial and parallel algorithms to speed up the calculations for simulation purposes and especially for real-time cooperative robot control and coordination. As there is no general model of cooperation, it is necessary first to contribute by developing and adapting geometric, kinematic and dynamic models appropriate for the case of cooperation, taking into account the constraints of the inter- The work defined for this thesis concerns the study and analysis of serial cooperative robot

manipulators to carry out tasks that cannot be performed by a single robot manipulator .

The work also relates to the study , the selection and application of certain serial and parallel

algorithms to speed up the calculations for simulation purposes and especially for real-time

cooperative robot control and coordination. As there is no general model of cooperation, it is

necessary first to contribute by developing and adapting geometric, kinematic and dynamic

models appropriate for the case of cooperation, taking into account the constraints of the inter-

action of robots with the object to manipulate in its environment . A major constraint appears

here because of the computation time becomes prohibitive and does not allow for real-time

control of a cooperative group of robots. This is why , in the second place , it is necessary to

contribute in exploring and implementing serial and parallel computing approaches. But also

to accelerate the computation time for simulation and applications requiring control and real

time coordination. This can be done by implementing parallel computing algorithms dedicated

to network of processors as currently permitted by the transputer technology and DSP (Digital

Signal Processing), clusters and supercomputers. Restricted to cases of serial robot manipula-

tors in cooperation , an analysis of the state of the art as well as the results of our research has

highlighted the following elements :

a) - In terms of dynamic modeling , although the models of Newton - Lagrange and Newton-Euler have been developed for serial systems in open-chains , they are adaptable and generalized for cooperating robot manipulators systems . However, if the number of robots exceeds 3 robots of 6 DOF each, the mathematical formalism is difficult to organize and exploit because of the big size of symbolic expressions for the equations of the model.

b ) - For the control of the robotic system in real-time , parallel processing is necessary to mini- mize the computation time using algorithms dedicated to parallel computing and implemented on multiprocessor network systems. In this context , two main approaches have been highlighted and tested. A first approach uses parallel computing ( approach Zomaya ) by breaking down the complete task into subtasks resulting from the dynamic model using the recursive algo- rithm NE. The subtasks are assigned to a number of processors belonging to a multiprocessor architecture. A second approach that seeks to minimize the computation time by proposing al-

gorithms based on strategies of matrix decomposition and manipulation of the ynamic model in order to obtain a final decomposition for solving the system of equations the dynamic model( Fijani approach). In this second approach , the size of the problem determines the number of processors , if the robotic system has N dof , the network architecture requires N processors .

It allows a computational complexity of O(log N).

The thesis includes a significant investigations and many contributions . Note the following few elements :

1. Solving the problem of distribution of contact forces on robot anipulators under grasping constraints and without slip of the manipulated object . Constraints on the object have been included in the problem of optimal distribution of effort between the two arms by minimizing a quadratic cost criterion.

2. The formulations of the dynamics and control of overall coordination in the operational space of a system multirobots manipulating an object in space. In this sense a simulator in Matlab was developed which allowed us to test the model and finally simulations were used to illustrate the results of the proposed approach.

3. Exploitation of parallel computing approach by decomposition and allocation of tasks to a multiprocessor system where the number of processors is chosen by the user ( Zomaya approach ) . The simulations were performed using Matlab, emulation and visualization of the implementation of the decomposition algorithm were developed in Labview .

Finally an estimate of the computing time comparing multiprocessor to monoprocessor has been derived.

4. Exploitation of parallel computing approach for matrix decomposition and allocation of tasks to a multiprocessor system where the number of processors is imposed by the size of the system ( approach Fijani). An illustrative example is given.

action of robots with the object to manipulate in its environment . A major constraint appears here because of the computation time becomes prohibitive and does not allow for real-time control of a cooperative group of robots. This is why , in the second place , it is necessary to contribute in exploring and mplementing serial and parallel computing approaches. But also to accelerate the computation time for simulation and applications requiring control and real time coordination. This can be done by implementing parallel computing algorithms dedicated to network of processors as currently permitted by the transputer technology and DSP (Digital

Signal Processing), clusters and supercomputers. Restricted to cases of serial robot manipula- tors in cooperation , an analysis of the state of the art as well as the results of our research has highlighted the following elements :

a) - In terms of dynamic modeling , although the models of Newton - Lagrange and Newton- Euler have been developed for serial systems in open-chains , they are adaptable and generalized for cooperating robot manipulators systems . However, if the number of robots exceeds 3 robots of 6 DOF each, the mathematical formalism is difficult to organize and exploit because of the big size of symbolic expressions for the equations of the model.

b ) - For the control of the robotic system in real-time , parallel processing is necessary to mini- mize the computation time using algorithms dedicated to parallel computing and implemented on multiprocessor network systems. In this context , two main approaches have been highlighted and tested. A first approach uses parallel computing ( approach Zomaya ) by breaking down the complete task into subtasks resulting from the dynamic model using the recursive algo- rithm NE. The subtasks are assigned to a number of processors belonging to a multiprocessor architecture. A second approach that seeks to minimize the computation time by proposing al- gorithms based on strategies of matrix decomposition and manipulation of the dynamic model in order to obtain a final decomposition for solving the system of equations the dynamic model ( Fijani approach). In this second approach , the size of the problem determines the number of processors , if the robotic system has N dof , the network architecture requires N processors .

It allows a computational complexity of O(log N).

The thesis includes a significant investigations and many contributions . Note the following few elements :

1. Solving the problem of distribution of contact forces on robot manipulators under grasping

constraints and without slip of the manipulated object . Constraints on the object have

been included in the problem of optimal distribution of effort between the two arms by

minimizing a quadratic cost criterion.

2. The formulations of the dynamics and control of overall coordination in the operational

space of a system multirobots manipulating an object in space. In this sense a simulator

in Matlab was developed which allowed us to test the model and finally simulations were

used to illustrate the results of the proposed approach.

3. Exploitation of parallel computing approach by decomposition and allocation of tasks to

a multiprocessor system where the number of processors is chosen by the user ( Zomaya

approach ) . The simulations were performed using Matlab, emulation and visualization of

the implementation of the decomposition algorithm were developed in Labview .

Finally an estimate of the computing time comparing multiprocessor to monoprocessor has been derived.

4. Exploitation of parallel computing approach for matrix decomposition and allocation of tasks to a multiprocessor system where the number of processors is imposed by the size of the system ( approach Fijani). An illustrative example is given.Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/KHA6461.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=9506 Algorithme parallele et serie pour la simulation temps reel et la commande des robots manipulateurs. : application a la cooperation multi-robots [texte imprimé] / Amar Khadraoui, Auteur ; Abdelouahab Zaatri, Directeur de thèse . - constantine (Route ain el bey, Algérie) : Université Constantine 1, 2013 . - 158 f. ; 30 cm.

2 copies imprimées disponibles

Langues : Français (fre)

Catégories : Français - Anglais

Génie MécaniqueTags : Modelisation Dynamique et Commande Copération Multi-robots Distribution

Optimale d’effort Programmation Quadratique Ordonnancement Traitement Parallèle Trans-puters multi-traitement Dynamic Modeling and Control Multi-robots Cooperation Optimal Force Dis-

tribution Quadratic Programming Parallel-Processing Transputers Multiprocessing Sche-duling.Index. décimale : 620 Génie Mécanique Résumé : The work defined for this thesis concerns the study and analysis of serial cooperative robot

manipulators to carry out tasks that cannot be performed by a single robot manipulator .

The work also relates to the study , the selection and application of certain serial and parallel algorithms to speed up the calculations for simulation purposes and especially for real-time cooperative robot control and coordination. As there is no general model of cooperation, it is necessary first to contribute by developing and adapting geometric, kinematic and dynamic models appropriate for the case of cooperation, taking into account the constraints of the inter- The work defined for this thesis concerns the study and analysis of serial cooperative robot

manipulators to carry out tasks that cannot be performed by a single robot manipulator .

The work also relates to the study , the selection and application of certain serial and parallel

algorithms to speed up the calculations for simulation purposes and especially for real-time

cooperative robot control and coordination. As there is no general model of cooperation, it is

necessary first to contribute by developing and adapting geometric, kinematic and dynamic

models appropriate for the case of cooperation, taking into account the constraints of the inter-

action of robots with the object to manipulate in its environment . A major constraint appears

here because of the computation time becomes prohibitive and does not allow for real-time

control of a cooperative group of robots. This is why , in the second place , it is necessary to

contribute in exploring and implementing serial and parallel computing approaches. But also

to accelerate the computation time for simulation and applications requiring control and real

time coordination. This can be done by implementing parallel computing algorithms dedicated

to network of processors as currently permitted by the transputer technology and DSP (Digital

Signal Processing), clusters and supercomputers. Restricted to cases of serial robot manipula-

tors in cooperation , an analysis of the state of the art as well as the results of our research has

highlighted the following elements :

a) - In terms of dynamic modeling , although the models of Newton - Lagrange and Newton-Euler have been developed for serial systems in open-chains , they are adaptable and generalized for cooperating robot manipulators systems . However, if the number of robots exceeds 3 robots of 6 DOF each, the mathematical formalism is difficult to organize and exploit because of the big size of symbolic expressions for the equations of the model.

b ) - For the control of the robotic system in real-time , parallel processing is necessary to mini- mize the computation time using algorithms dedicated to parallel computing and implemented on multiprocessor network systems. In this context , two main approaches have been highlighted and tested. A first approach uses parallel computing ( approach Zomaya ) by breaking down the complete task into subtasks resulting from the dynamic model using the recursive algo- rithm NE. The subtasks are assigned to a number of processors belonging to a multiprocessor architecture. A second approach that seeks to minimize the computation time by proposing al-

gorithms based on strategies of matrix decomposition and manipulation of the ynamic model in order to obtain a final decomposition for solving the system of equations the dynamic model( Fijani approach). In this second approach , the size of the problem determines the number of processors , if the robotic system has N dof , the network architecture requires N processors .

It allows a computational complexity of O(log N).

The thesis includes a significant investigations and many contributions . Note the following few elements :

1. Solving the problem of distribution of contact forces on robot anipulators under grasping constraints and without slip of the manipulated object . Constraints on the object have been included in the problem of optimal distribution of effort between the two arms by minimizing a quadratic cost criterion.

2. The formulations of the dynamics and control of overall coordination in the operational space of a system multirobots manipulating an object in space. In this sense a simulator in Matlab was developed which allowed us to test the model and finally simulations were used to illustrate the results of the proposed approach.

3. Exploitation of parallel computing approach by decomposition and allocation of tasks to a multiprocessor system where the number of processors is chosen by the user ( Zomaya approach ) . The simulations were performed using Matlab, emulation and visualization of the implementation of the decomposition algorithm were developed in Labview .

Finally an estimate of the computing time comparing multiprocessor to monoprocessor has been derived.

4. Exploitation of parallel computing approach for matrix decomposition and allocation of tasks to a multiprocessor system where the number of processors is imposed by the size of the system ( approach Fijani). An illustrative example is given.

action of robots with the object to manipulate in its environment . A major constraint appears here because of the computation time becomes prohibitive and does not allow for real-time control of a cooperative group of robots. This is why , in the second place , it is necessary to contribute in exploring and mplementing serial and parallel computing approaches. But also to accelerate the computation time for simulation and applications requiring control and real time coordination. This can be done by implementing parallel computing algorithms dedicated to network of processors as currently permitted by the transputer technology and DSP (Digital

Signal Processing), clusters and supercomputers. Restricted to cases of serial robot manipula- tors in cooperation , an analysis of the state of the art as well as the results of our research has highlighted the following elements :

a) - In terms of dynamic modeling , although the models of Newton - Lagrange and Newton- Euler have been developed for serial systems in open-chains , they are adaptable and generalized for cooperating robot manipulators systems . However, if the number of robots exceeds 3 robots of 6 DOF each, the mathematical formalism is difficult to organize and exploit because of the big size of symbolic expressions for the equations of the model.

b ) - For the control of the robotic system in real-time , parallel processing is necessary to mini- mize the computation time using algorithms dedicated to parallel computing and implemented on multiprocessor network systems. In this context , two main approaches have been highlighted and tested. A first approach uses parallel computing ( approach Zomaya ) by breaking down the complete task into subtasks resulting from the dynamic model using the recursive algo- rithm NE. The subtasks are assigned to a number of processors belonging to a multiprocessor architecture. A second approach that seeks to minimize the computation time by proposing al- gorithms based on strategies of matrix decomposition and manipulation of the dynamic model in order to obtain a final decomposition for solving the system of equations the dynamic model ( Fijani approach). In this second approach , the size of the problem determines the number of processors , if the robotic system has N dof , the network architecture requires N processors .

It allows a computational complexity of O(log N).

The thesis includes a significant investigations and many contributions . Note the following few elements :

1. Solving the problem of distribution of contact forces on robot manipulators under grasping

constraints and without slip of the manipulated object . Constraints on the object have

been included in the problem of optimal distribution of effort between the two arms by

minimizing a quadratic cost criterion.

2. The formulations of the dynamics and control of overall coordination in the operational

space of a system multirobots manipulating an object in space. In this sense a simulator

in Matlab was developed which allowed us to test the model and finally simulations were

used to illustrate the results of the proposed approach.

3. Exploitation of parallel computing approach by decomposition and allocation of tasks to

a multiprocessor system where the number of processors is chosen by the user ( Zomaya

approach ) . The simulations were performed using Matlab, emulation and visualization of

the implementation of the decomposition algorithm were developed in Labview .

Finally an estimate of the computing time comparing multiprocessor to monoprocessor has been derived.

4. Exploitation of parallel computing approach for matrix decomposition and allocation of tasks to a multiprocessor system where the number of processors is imposed by the size of the system ( approach Fijani). An illustrative example is given.Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/KHA6461.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=9506 ## Exemplaires (1)

Code-barres Cote Support Localisation Section Disponibilité KHA/6461 KHA/6461 Thèse Bibliothèque principale Thèses Disponible## Documents numériques

texte intégraleAdobe Acrobat PDF

Titre : Analyse cinématique des robots parallèles Type de document : texte imprimé Auteurs : Abdelhakim Cherfia ; Université Mentouri, Editeur scientifique ; Abdelouahab Zaatri, Directeur de thèse Année de publication : 2007 Importance : 104 f. Note générale : 01 Disponible à la salle de recherche 02 Disponibles au magazin de la B.U.C. 01 CD Langues : Français ( fre)Catégories : Français - Anglais

Génie MécaniqueTags : Robot parallèle contraint Ségment passif modèles géométriques Singularités Espace de travail Index. décimale : 620 Génie Mécanique Diplôme : Doctorat En ligne : ../theses/gmecanique/CHE4851.pdf Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=673 Analyse cinématique des robots parallèles [texte imprimé] / Abdelhakim Cherfia ; Université Mentouri, Editeur scientifique ; Abdelouahab Zaatri, Directeur de thèse . - 2007 . - 104 f.

01 Disponible à la salle de recherche 02 Disponibles au magazin de la B.U.C. 01 CD

Langues : Français (fre)

Catégories : Français - Anglais

Génie MécaniqueTags : Robot parallèle contraint Ségment passif modèles géométriques Singularités Espace de travail Index. décimale : 620 Génie Mécanique Diplôme : Doctorat En ligne : ../theses/gmecanique/CHE4851.pdf Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=673 ## Exemplaires (1)

Code-barres Cote Support Localisation Section Disponibilité CHE/4851 CHE/4851 Thèse Bibliothèque principale Thèses Disponible

Titre : Analyse de l’interaction homme - robot dans les systemes supervises multimodaux Type de document : texte imprimé Auteurs : Billel Bouchemal, Auteur ; Abdelouahab Zaatri, Directeur de thèse Editeur : constantine [Algérie] : Université Constantine 1 Année de publication : 2015 Importance : 203 f. Format : 30 cm. Note générale : 2 copies imprimées disponibles

Langues : Français ( fre)Catégories : Français - Anglais

ElectroniqueTags : Interaction homme-robot Systèmes multimodaux supervisés Contrôle haut niveau Human-robot interaction Supervised multimodal systems High level of control ??????? ??? ??????? ? ????? ??????? ?????? ????? ?????? ??? ??????? ?????? ???? ??????? Index. décimale : 621 Electronique Résumé : The monitoring and control of local or remote supervised systems dedicated to carry out missions and complex tasks require different levels and modes of interaction with the human operator when facing different situations. Examples of such systems are found in many application areas including critical areas such as the art of war, the dismantling of nuclear power plants, the space exploration, the télé-surgery, etc.

The subject is related to a very complex area of futurist technology. It aims to carry out the analysis, development, implementation and performance evaluation of a multimodal interface to ensure flexible and adaptable Human-Robot interaction. This multimodal interface will be the pivot of the whole Human-Robot system and is inspired from the natural Human-Human interaction which operates and combines high-level control modes (speech, gestures, locating objects by vision, manual manipulation).

The main objective of this thesis is to conduct an analysis concerning the human robot interaction in multimodal supervised systems. It intends to study the influence of the nature and the number of available modes, the human factors, the performance of the operational system, the complexity of the task or mission. Of course, because of its own complexity caused by the mode multiplicity and by the possibilities of their combinations; the degree of structural complexity of the system is expected to increase and mobilize the multiple sensory skills of the operator. But from the adopted design that is user centered and that uses a high abstraction level; the functional and operational complexity of the overall system will be masked enabling flexibility and adaptability of

use ensuring therefore better performance.

The major contributions of this thesis are:

The development of a multimodal interface combining different high-level control modes:

voice control, gesture control, control by pointing on an image (click-and-point) and joystick control.

The design and implementation of a new robotic system which is the parallel cable-based robot that open lines of research for original applications, particularly in the areas of rehabilitation.

The development of an original application that uses a 4 cables robot and the multimodality to built up a special class of a rehabilitation and learning center.

The proposal of a method for performance evaluation of multimodal supervised systems that takes into account some human factors by fitting an evaluation method called Analytical Hierarchy Process (AHP), which allows merging qualitative and quantitative criteria.

Diplôme : Doctorat en sciences En ligne : ../theses/electronique/BOU6688.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=9935 Analyse de l’interaction homme - robot dans les systemes supervises multimodaux [texte imprimé] / Billel Bouchemal, Auteur ; Abdelouahab Zaatri, Directeur de thèse . - constantine (Route ain el bey, Algérie) : Université Constantine 1, 2015 . - 203 f. ; 30 cm.

2 copies imprimées disponibles

Langues : Français (fre)

Catégories : Français - Anglais

ElectroniqueTags : Interaction homme-robot Systèmes multimodaux supervisés Contrôle haut niveau Human-robot interaction Supervised multimodal systems High level of control ??????? ??? ??????? ? ????? ??????? ?????? ????? ?????? ??? ??????? ?????? ???? ??????? Index. décimale : 621 Electronique Résumé : The monitoring and control of local or remote supervised systems dedicated to carry out missions and complex tasks require different levels and modes of interaction with the human operator when facing different situations. Examples of such systems are found in many application areas including critical areas such as the art of war, the dismantling of nuclear power plants, the space exploration, the télé-surgery, etc.

The subject is related to a very complex area of futurist technology. It aims to carry out the analysis, development, implementation and performance evaluation of a multimodal interface to ensure flexible and adaptable Human-Robot interaction. This multimodal interface will be the pivot of the whole Human-Robot system and is inspired from the natural Human-Human interaction which operates and combines high-level control modes (speech, gestures, locating objects by vision, manual manipulation).

The main objective of this thesis is to conduct an analysis concerning the human robot interaction in multimodal supervised systems. It intends to study the influence of the nature and the number of available modes, the human factors, the performance of the operational system, the complexity of the task or mission. Of course, because of its own complexity caused by the mode multiplicity and by the possibilities of their combinations; the degree of structural complexity of the system is expected to increase and mobilize the multiple sensory skills of the operator. But from the adopted design that is user centered and that uses a high abstraction level; the functional and operational complexity of the overall system will be masked enabling flexibility and adaptability of

use ensuring therefore better performance.

The major contributions of this thesis are:

The development of a multimodal interface combining different high-level control modes:

voice control, gesture control, control by pointing on an image (click-and-point) and joystick control.

The design and implementation of a new robotic system which is the parallel cable-based robot that open lines of research for original applications, particularly in the areas of rehabilitation.

The development of an original application that uses a 4 cables robot and the multimodality to built up a special class of a rehabilitation and learning center.

The proposal of a method for performance evaluation of multimodal supervised systems that takes into account some human factors by fitting an evaluation method called Analytical Hierarchy Process (AHP), which allows merging qualitative and quantitative criteria.

Diplôme : Doctorat en sciences En ligne : ../theses/electronique/BOU6688.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=9935 ## Exemplaires (1)

Code-barres Cote Support Localisation Section Disponibilité BOU/6688 BOU/6688 Thèse Bibliothèque principale Thèses Disponible

Titre : Contribution a la modelisation dynamique d’un robot flexible bionique Type de document : texte imprimé Auteurs : Ammar Amouri, Auteur ; Abdelouahab Zaatri, Directeur de thèse ; Chawki Mahfoudi, Directeur de thèse Editeur : جامعة الإخوة منتوري قسنطينة Année de publication : 2017 Importance : 132 f. Format : 30 cm. Note générale : 2 copies imprimées disponibles

Langues : Français ( fre)Catégories : Français - Anglais

Génie MécaniqueTags : Multi-section flexible robots design geometric modeling methaheuristic methods dynamic

modeling control Robots flexibles multi-sections conception modélisation géométrique méthodes méthaheuristiques modélisation dynamique commande ????? ??? ????? ??????? ??????? ??????? ???????? ??? ????????? ??????? ??????????? ??????Index. décimale : 620 Génie Mécanique Résumé : This thesis deals with the design, geometric, kinematic and dynamic modeling of bionic

flexible robots. In particular, we are mainly interested in cable-driven flexible robots and a

bionic robot named ‘‘Compact Bionic Handling Assistant (CBHA)’’.

Initially, we have proposed two kind of design of flexible robots, including a planar robot

and a space robot, both powered by cables. Based on this study, we have undertaken the

construction of a prototype with a single flexible section. This design and realization have

also been used to estimate the inertial parameters that will be used in the dynamic models of

these prototypes. First, we have developed the mathematical formulations describing the

structure of the flexible robots which represents a general case of multi-section flexible

robots. Next, we have developed an approach for solving the problem of inverse geometric

modeling of multi-section flexible robots, assuming that each flexible section bends as a

circular arc while keeping the principal axis of the structure inextensible. The problem was

formulated mathematically in terms of optimization of a quadratic cost function under some

constraints of equality (lengths conservation). The problem has been solved by developing an

optimization algorithm including metaheuristic methods, namely the Particle Swarm

Optimization (PSO) and the Genetic Algorithm (GA). This approach was validated by

simulation and two experimental test benches performed on the CBHA robot. Then, we have

also proposed dynamic models, direct and inverse, for the two cable-driven flexible robots,

planar and spatial, using the Lagrange method. In order to simplify the calculations and avoid

some numerical singularities, the dynamic models were approximated by expansion of

Taylor's series. These models have been validated by simulations under the MATLAB

environment. In addition, the inverse dynamic model was validated by real measurements

obtained from the robot UR5. Finally, a proportional-integral-derivative controller (PID) has

been proposed to track trajectories using the point-to-point method.Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/AMO7101.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10500 Contribution a la modelisation dynamique d’un robot flexible bionique [texte imprimé] / Ammar Amouri, Auteur ; Abdelouahab Zaatri, Directeur de thèse ; Chawki Mahfoudi, Directeur de thèse . - [S.l.] : جامعة الإخوة منتوري قسنطينة, 2017 . - 132 f. ; 30 cm.

2 copies imprimées disponibles

Langues : Français (fre)

Catégories : Français - Anglais

Génie MécaniqueTags : Multi-section flexible robots design geometric modeling methaheuristic methods dynamic

modeling control Robots flexibles multi-sections conception modélisation géométrique méthodes méthaheuristiques modélisation dynamique commande ????? ??? ????? ??????? ??????? ??????? ???????? ??? ????????? ??????? ??????????? ??????Index. décimale : 620 Génie Mécanique Résumé : This thesis deals with the design, geometric, kinematic and dynamic modeling of bionic

flexible robots. In particular, we are mainly interested in cable-driven flexible robots and a

bionic robot named ‘‘Compact Bionic Handling Assistant (CBHA)’’.

Initially, we have proposed two kind of design of flexible robots, including a planar robot

and a space robot, both powered by cables. Based on this study, we have undertaken the

construction of a prototype with a single flexible section. This design and realization have

also been used to estimate the inertial parameters that will be used in the dynamic models of

these prototypes. First, we have developed the mathematical formulations describing the

structure of the flexible robots which represents a general case of multi-section flexible

robots. Next, we have developed an approach for solving the problem of inverse geometric

modeling of multi-section flexible robots, assuming that each flexible section bends as a

circular arc while keeping the principal axis of the structure inextensible. The problem was

formulated mathematically in terms of optimization of a quadratic cost function under some

constraints of equality (lengths conservation). The problem has been solved by developing an

optimization algorithm including metaheuristic methods, namely the Particle Swarm

Optimization (PSO) and the Genetic Algorithm (GA). This approach was validated by

simulation and two experimental test benches performed on the CBHA robot. Then, we have

also proposed dynamic models, direct and inverse, for the two cable-driven flexible robots,

planar and spatial, using the Lagrange method. In order to simplify the calculations and avoid

some numerical singularities, the dynamic models were approximated by expansion of

Taylor's series. These models have been validated by simulations under the MATLAB

environment. In addition, the inverse dynamic model was validated by real measurements

obtained from the robot UR5. Finally, a proportional-integral-derivative controller (PID) has

been proposed to track trajectories using the point-to-point method.Diplôme : Doctorat en sciences En ligne : ../theses/gmecanique/AMO7101.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10500 ## Exemplaires (1)

Code-barres Cote Support Localisation Section Disponibilité AMO/7101 AMO/7101 Thèse Bibliothèque principale Thèses DisponibleElaboration d'une stratégie optimale pour l'exploitation combinée des energies renouvelables / Souad Belhour

Titre : Elaboration d'une stratégie optimale pour l'exploitation combinée des energies renouvelables Type de document : texte imprimé Auteurs : Souad Belhour, Auteur ; Abdelouahab Zaatri, Directeur de thèse Editeur : جامعة الإخوة منتوري قسنطينة Année de publication : 2016 Importance : 163 f. Format : 30 cm. Note générale : 2 copies imprimées disponibles

Langues : Français ( fre)Catégories : Français - Anglais

PhysiqueTags : Systèmes Energétiques Hybrides Energies Renouvelables Systèmes Photovoltaïques Systèmes d'Energie Eolienne Systèmes Photothermiques PWM Programmation Linéaire hybrid energy systems renewable energy photovoltaic systems wind energy systems photothermal systems anaerobic digesters Linear Programming ????? ?????? ??????? ??????? ???????? ?????? ?????????? ?????? ??????? ??????

????? ????? ??????? ??????Index. décimale : 530 Physique Résumé : The research topic formulated initially concerned the study and the development of an

optimal strategy for the operation of hybrid energy systems based on renewable energy.

To do this, we theoretically and experimentally studied some photovoltaic systems. The

procedure was the analysis of the internal and external parameters of photovoltaic cells based on the code data of the illumination measurements, the temperature over a long period. We studied the theory of wind systems and performed experiments on an experimental system developed locally.

We studied the theoretical models for the production of methane by anaerobic digesters, and carried out experiments on an experimental digester performed locally. We studied the theory of photothermal systems and conducted tests on photo-thermal developed locally.

Given the energy loss during conversion and regulation, we studied the conversion of

electrical energy from Renewable Energy systems. We conducted the study and choppers prototype simulation PWM (Pulse Width Modulation) to minimize energy conversion losses. The systems considered are nonlinear systems with more or less filter first and second order.

To reduce the cost of energy system based on a single renewable resource; we have adopted an approach of considering based on zonal characteristics and demand, the combination of two or more renewable resources that are available (solar photovoltaic, solar photo-thermal, wind power, biogas obtained by anaerobic bio reactors).

We used an optimal allocation of management resources ER model that exploits the internal and environmental characteristics. Linear programming model has been used in the case where resources are continuous and in case where these resources are discrete units, they also available.

The program is generic and can be used for any other ER resource provided to present the expression that connects the internal annual energy and environmental characteristics.Diplôme : Doctorat en sciences En ligne : ../theses/physique/BEL6875.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10191 Elaboration d'une stratégie optimale pour l'exploitation combinée des energies renouvelables [texte imprimé] / Souad Belhour, Auteur ; Abdelouahab Zaatri, Directeur de thèse . - [S.l.] : جامعة الإخوة منتوري قسنطينة, 2016 . - 163 f. ; 30 cm.

2 copies imprimées disponibles

Langues : Français (fre)

Catégories : Français - Anglais

PhysiqueTags : Systèmes Energétiques Hybrides Energies Renouvelables Systèmes Photovoltaïques Systèmes d'Energie Eolienne Systèmes Photothermiques PWM Programmation Linéaire hybrid energy systems renewable energy photovoltaic systems wind energy systems photothermal systems anaerobic digesters Linear Programming ????? ?????? ??????? ??????? ???????? ?????? ?????????? ?????? ??????? ??????

????? ????? ??????? ??????Index. décimale : 530 Physique Résumé : The research topic formulated initially concerned the study and the development of an

optimal strategy for the operation of hybrid energy systems based on renewable energy.

To do this, we theoretically and experimentally studied some photovoltaic systems. The

procedure was the analysis of the internal and external parameters of photovoltaic cells based on the code data of the illumination measurements, the temperature over a long period. We studied the theory of wind systems and performed experiments on an experimental system developed locally.

We studied the theoretical models for the production of methane by anaerobic digesters, and carried out experiments on an experimental digester performed locally. We studied the theory of photothermal systems and conducted tests on photo-thermal developed locally.

Given the energy loss during conversion and regulation, we studied the conversion of

electrical energy from Renewable Energy systems. We conducted the study and choppers prototype simulation PWM (Pulse Width Modulation) to minimize energy conversion losses. The systems considered are nonlinear systems with more or less filter first and second order.

To reduce the cost of energy system based on a single renewable resource; we have adopted an approach of considering based on zonal characteristics and demand, the combination of two or more renewable resources that are available (solar photovoltaic, solar photo-thermal, wind power, biogas obtained by anaerobic bio reactors).

We used an optimal allocation of management resources ER model that exploits the internal and environmental characteristics. Linear programming model has been used in the case where resources are continuous and in case where these resources are discrete units, they also available.

The program is generic and can be used for any other ER resource provided to present the expression that connects the internal annual energy and environmental characteristics.Diplôme : Doctorat en sciences En ligne : ../theses/physique/BEL6875.pdf Format de la ressource électronique : Permalink : https://bu.umc.edu.dz/md/index.php?lvl=notice_display&id=10191 ## Exemplaires (1)

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