Papers by Toufik Bentaleb
Journées Nationales de la Robotique Humanoïde, 2020
This paper presents a contribution that is part of a larger project, consisting of developing a h... more This paper presents a contribution that is part of a larger project, consisting of developing a human-like gait and balance recovery simulator based on a linear model predictive controller. This paper specifically focuses on the influence of restricting or not the vertical dynamics of the whole body center of mass on the biped's balance recovery capacity.
Journal of Theoretical and Applied Mechanics, 2020
This paper proposes kinematic based calibration methods for Delta parallel robots. The boundary o... more This paper proposes kinematic based calibration methods for Delta parallel robots. The boundary of the robot workspace is computed using a forward kinematic model. Influence of errors in kinematic parameters on the workspace boundaries is investigated. The novelty of the proposed approach lies in Jacobian-based computation of kinematic models. Also, the present work extends and applies the existing calibration methods traditionally meant for serial robots on the Delta robot. These methods include the forward method and the inverse method. Simulation results confirm the efficacy of the proposed calibration strategies.
2019 IEEE International Conference on Systems, Man and Cybernetics (SMC) Bari, Italy. October 6-9, , 2019
A manual wheelchair (MWC) is an indispensable support for a person with reduced mobility. The res... more A manual wheelchair (MWC) is an indispensable support for a person with reduced mobility. The researches on improving performance of MWC, therefore, should be validated by a reliable simulation platform, which allows simulating the MWC operation in virtual reality (VR), before being tested on real conditions. This research aims to provide a fully-constituted dynamical model of MWC which will be used in simulator platform to simulate the real movements of wheelchair and to generate the force feedback (haptics) during the push phase (hand-to-rim contact). With focus on the performance of wheelchair at the low-speed region, this model comprised the tire-road contact forces and the influence of the front free caster wheels. Validation experiments simulating several typical daily maneuvers of the manual wheelchair were conducted. Compared to previous research, the new model presented in this paper overcomes the problem of overestimating the the yaw rate.
2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 2019
This paper describes a real-time multi-objective predictive control strategy for the wheelchair e... more This paper describes a real-time multi-objective predictive control strategy for the wheelchair ergometer platform , which allows simulating the manual wheelchair (MWC) propulsion in virtual reality (VR). A nonlinear least-square method is used to build the predictive wheelchair ergometer model, where the trust-region-reflective algorithm is adopted. A detailed study of the wheelchair dynamics, and its performance on the rollers, and the frictions are presented. The main contribution is the implementation of a wheelchair ergometer model into a proposed controller in order to provide realistic navigation within the VR world by accurately detecting and tracking the rotation of the driving wheels. In particular, the proposed strategy has two objectives: 1) to generate force feedback (haptics) during the push phase (hand-to-rim contact); 2) assistance control to make the wheelchair movement more realistic in the immersive virtual environment during the recovery phase (hand-to-rim no contact). Various numerical examples emphasize the flexibility of the approach and experimental results confirm that the proposed controller successfully tracks the speed reference. It is also shown that the real-time tracking ability of the explicit MPC (eMPC) controller is superior to that of the PI controller.
—This paper presents a bond graph (BG) model and a physical structural analysis of an intermediar... more —This paper presents a bond graph (BG) model and a physical structural analysis of an intermediary cooling system of a power plant. The main goal is to extend the techniques already in use for the physical structural analysis of mechatronic systems to perform static analysis and diagnosis on physical models in order to state whether they are well-posed and suitable for each step of the system's lifecycle (from its design to its operation). If a problem for modeling, for simulating or for solving the given engineering question is detected, the analysis shall localize the problem in the model and give the physical interpretation of the error. The objective is not to be able to diagnose all possible physical errors, but to add another type of analysis in order to improve error detection before compiling and running a model.
This paper presents a Bond Graph (BG) modelling approach to add and exploit on existing Modelica ... more This paper presents a Bond Graph (BG) modelling approach to add and exploit on existing Modelica models some information on the energy structure of the systems. The developed models in the ThermosysPro library (Modelica-based) are already validated against the experimental data in previous works. A plate heat exchanger (PHE), which is equipment for nuclear power plants, is considered as a case study in this paper. Simulation results of the BG model for the counterflow PHE are compared with simulation results of the tested Modelica model. Comparisons show good agreement between both model results.
This paper proposes a multivariable model predictive control scheme for discharge pressure regula... more This paper proposes a multivariable model predictive control scheme for discharge pressure regulation in centrifugal compressors. The main novelty of the proposed approach is that three control inputs are considered: the rotational speed of the compressor, an anti-surge valve for gas recycle and the inlet guide vane, whose variations allow one to significantly enlarge the operating region of the compressor and hence to enhance the authority of the control system. Surge prevention is achieved by including in the model an output variable accounting for the distance of the operating point from the surge limit. Such distance is defined on a compressor performance map which is invariant to changes in the inlet conditions, and thus its computation requires only standard pressure measurements available from the plant. Numerical simulations show that the proposed control system is able to meet the desired specifications, in the presence of different types of disturbances occurring along the pipeline.
Résumé : L'étalonnage des robots consiste à déterminer avec précision les paramètres géométri... more Résumé : L'étalonnage des robots consiste à déterminer avec précision les paramètres géométriques réels du robot. Les imprécisions sur ces paramètres sont en effet néfastes à la précision des robots, et posent un problème lors de la programmation hors ligne et pour l'interchangeabilité des robots. Notre travail approfondit la méthode existante afin de proposer des solutions appropriées à des contraintes de précision, de temps et de coût. On s'est intéressé également à l'étalonnage du robot parallèle Delta. Une méthode originale pour l'étalonnage de ce robot a été proposée et testée par simulation. Cette méthode consiste à réaliser des blocages mécaniques sur les articulations passives du robot, c'est une méthode autonome n'utilisant que les capteurs propres du robot. Abstract:
This paper proposes a multivariable model predictive control scheme for discharge pressure regula... more This paper proposes a multivariable model predictive control scheme for discharge pressure regulation in centrifugal compressors. The main novelty of the proposed approach is that three control inputs are considered: the rotational speed of the compressor, an anti-surge valve for gas recycle and the inlet guide vane, whose variations allow one to significantly enlarge the operating region of the compressor and hence to enhance the authority of the control system. Surge prevention is achieved by including in the model an output variable accounting for the distance of the operating point from the surge limit. Such distance is defined on a compressor performance map which is invariant to changes in the inlet conditions, and thus its computation requires only standard pressure measurements available from the plant. Numerical simulations show that the proposed control system is able to meet the desired specifications, in the presence of different types of disturbances occurring along the pipeline.
The objective of this work is to propose and implement a method allowing a humanoid robot imitati... more The objective of this work is to propose and implement a method allowing a humanoid robot imitation of captured human motion in realtime. As a step toward robotics imitation, we introduce an algorithm that possesses real-time human motion analysis based on reproduction of 3D human motion for humanoid robot imitation and by assuming a similar physical morphology between the robot and the human shapes. The captured trajectories have been converted into trajectories compatible with the kinematic constraints of the robot by using an approach of scaling joints angles positions and velocities. Other objective of this study is to develop an advance system not only for robotics imitation but also data from Vicon 8V system in real-time. The robustness of our method has been tested using humanoid robot James and simulated iCub. Based on the results it is evident that the proposed strategy can be capable of accomplishing real-time responses.
The objective of this paper is to develop a multi-variable control system for a class of centrifu... more The objective of this paper is to develop a multi-variable control system for a class of centrifugal compressors, which exploit as control signals both the rotational speed and the Inlet Guide Vane (IGV). Linear Quadratic Gaussian control with Integral action (LQGI) and Model Predictive Control (MPC) are investigated. The LQGI and MPC controllers are compared to a standard proportional integral (PI) controller, to regulate the discharge pressure of the compressor. The control algorithms are simulated and compared in different operating scenarios. Results demonstrate that the proposed multivariabe control schemes provide better performance than the single-loop PI controller, thus motivating the use of IGV for control purposes.
Several requirements have been addressed in the robots working in workshops related to the use an... more Several requirements have been addressed in the robots working in workshops related to the use and management of robotized sites. These requirements take place within the definition and design stages of the robotized site. The need to validate and define the industrial tasks has lead to develop tools that provide aid to the user, e.g. the optimum placement (position and orientation) of the robot in its working site, the robot trajectory to accomplish the task etc. Additionally, the placement of the robot in the robotized sites carries potential benefits in terms of task accomplishment time as well as the overall cost in industries and automation. In this paper, we propose a general approach based on SolidWorks Application Programming Interface (API) to provide a virtual representation of the site allowing the determination of the robot placement and orientation zone and the optimization of the task time based on this zone. To validate the developed approach, an important and frequent industrial robotics task (spotwelding) is considered. The proposed modelling and simulation strategy show the effectiveness of the method. Namely, we show how the optimum robot placement and orientation is achieved with consideration of minimum time criterion. As well, we present how the designers deal with the definition of the robotised tasks and their feasibility. Moreover, our API-based scheme facilitates handling of commonly encountered problems related to the real implementation of serial robots.
L’implémentation des robots dans les ateliers pose différents problèmes liés à l’utilisation et l... more L’implémentation des robots dans les ateliers pose différents problèmes liés à l’utilisation et la gestion des sites robotisés dont le manipulateur est l’un des composants majeurs. Ces problèmes se posent tout au long des phases de définition d’un site robotisé. La nécessité de leur maîtrise a conduit au développement de différents outils qui visent à apporter une aide à l’utilisateur ou au concepteur ; ils concernent, entre autres objectifs, le choix du robot le plus adapté à la tâche, la programmation de cette tâche dans le site et le placement du robot dans son environnement de travail. Ceux ci peuvent être mieux pris en charge par l’utilisation d’un système CAO (Conception assistée par ordinateur) robotique. Celui-là offre des outils graphiques qui permettent de traiter facilement certains problèmes cités. Il permet en outre, de trouver un moyen graphique, pour programmer et simuler les tâches en hors ligne. Les problèmes d’accessibilités de la tâche et l’évitement de collisions peuvent être vérifiés lors de la simulation.
Dans ce travail, nous présentons le volume de travail en 3D de différentes structures de robots, une procédure pour rechercher les points de fixation d’un robot permettant de couvrir tous les points de la tâche et une procédure permettant de vérifier l’appartenance de ces points au volume de travail du robot.
The need to validate and define the industrial tasks has lead to develop tools that help to provi... more The need to validate and define the industrial tasks has lead to develop tools that help to provide aid to the user, e.g. the optimum placement of the robot in its working site, the robot trajectory to accomplish a specific task, etc. Additionally, the placement of the robots in the robotized sites carries potential benefits in terms of task execution time as well as overall cost in industrial and automation industries. In this paper, we propose a general approach based on SolidWorks Application Programming Interface to provide a virtual simulated representation of the site allowing robot optimal placement of the performed task.
Talks by Toufik Bentaleb
This paper presents a contribution that is part of a larger project, consisting of developing a h... more This paper presents a contribution that is part of a larger project, consisting of developing a human-like gait and balance recovery simulator based on a linear model predictive controller. This paper specifically focuses on the influence of restricting or not the vertical dynamics of the whole body center of mass on the biped's balance recovery capacity.
Realization of a dynamic simulator in virtual reality to evaluate manual wheelchair locomotion in... more Realization of a dynamic simulator in virtual reality to evaluate manual wheelchair locomotion in a controlled environment.
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Papers by Toufik Bentaleb
Dans ce travail, nous présentons le volume de travail en 3D de différentes structures de robots, une procédure pour rechercher les points de fixation d’un robot permettant de couvrir tous les points de la tâche et une procédure permettant de vérifier l’appartenance de ces points au volume de travail du robot.
Talks by Toufik Bentaleb
Dans ce travail, nous présentons le volume de travail en 3D de différentes structures de robots, une procédure pour rechercher les points de fixation d’un robot permettant de couvrir tous les points de la tâche et une procédure permettant de vérifier l’appartenance de ces points au volume de travail du robot.