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Fractional synergetic tracking control for robot manipulator

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Journal of Control and Decision 2024年第1期11卷 139-152页

作者： Asma Saif Raouf Fareh Saif Sinan maamar Bettayeb Department of Electrical Engineering University of SharjahSharjahUAE Department of Electrical Engineering École de technologie supérieureMontrealCanada CEIES King Abdulaziz UniversityJeddahSaudi Arabia

This work takes advantage of synergetic control theory and fractional calculus to develop and propose fractional synergetic control(FSC)strategy for Four Degrees of Freedom(4-DOF)robot *** proposed fractional synergetic control is designed to track a joint space as well as workspace desired *** calculus gives more flexibility in the design since it has a wider stability *** to that,as stated in the literature,compared to a similar approach such as sliding mode control,the synergetic control approach converges faster to the equilibrium point,without chattering with a fast *** paper proposes a new control strategy that takes advantage of fractional calculus and synergetic control *** proposed control strategy is tested experimentally on a 4-DOF manipulator to study the performance of the proposed control *** stability of the closed-loop system is proved using the Lyapunov *** experimental results have shown that the proposed FSC design has achieved a good tracking performance.

关键词： Synergetic control robust control robot manipulator fractional controller

Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter

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International Journal of Automation and computing 2018年第2期15卷 207-217页

作者： Derradji Nada Mounir Bousbia-Salah maamar Bettayeb LASA laboratory Department of Electronics Faculty of Engineering Badji Mokhtar Annaba University Department of Electrical and Computer Engineering College of Engineering University of Sharjah

This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy mea- surements. The measuring system is based on two odometers placed on the axis of the wheels combined with a magnetic compass to determine the position and orientation. Determination of displacements is implemented by an accelerometer. Data coming from sensors are combined and used as inputs to unscented Kalman filter （UKF）. Two data fusion architectures： measurement fusion （MF） and state vector fusion （SVF） are proposed to merge the available measurements. Comparative studies of these two architectures show that the MF architecture provides states estimation with relatively less uncertainty compared to SVF. However, odometers measurements determine the position with relatively high uncertainty followed by the accelerometer measurements. Therefore, fusion in the navigation system is needed. The obtained simulation results show the effectiveness of proposed architectures.

关键词： Data fusion unscented Kalman filter (UKF) measurement fusion (MF) navigation state vector fusion (SVF) wheelchair.

Cooling of the Vulcain Nozzle＇s Divergent Wall

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Journal of Mechanics Engineering and Automation 2015年第8期5卷 459-464页

作者： Nassir Chellou maamar Guendez Abdallah Benarous Department of Mechanical Engineering Faculty of Technology Hassiba Benbouali University of Chlef Chief02000 Algeria LCEMSM (Laboratory of ControL Tests Measures and Mechanical Simulation) UHB Chief02000 Algeria

Rocket engine nozzle is a propelling nozzle used to expand and accelerate the combustion gases produced by burning propellants to supersonic exit velocities. To furnish high performance and thrust, a maximum of the energy which is released inside the combustion chamber due to the reaction of the propellant and the oxidizer has to be converted into kinetic energy. This converted energy emits high heat fluxes that damage the nozzle that is so expansive to realize. For this matter, lots of researches were established to invent multiple cooling techniques in a way to avoid the damage of the nozzle, so recovering it for to be operative again. This work aims to identify the quality of cooling using the method of film injection. A numerical simulation is run on a scale model of a BKE propulsive nozzle. A parietal injection is conducted in the divergent section where the heat fluxes are enormous what allows us to predict the static temperature ＆ pressure on the walls without parietal injection ＆ then we include it in the parameters in order to see the efficiency of the film cooling technique in the nozzles. For this study, we used two different calculation codes： Ansys-Fluent was used to realize the simulation of the supersonic flow ＆ the parietal injection, where Solidworks simulation was used in the thermal study. The effects of the thermal fluxes ＆ pressure after ＆ before the fluidic injection on the wall are discussed.

关键词： Propulsive nozzle fluidic injection heat fluxes.

Kinetic Study of Non-Isothermal Crystallization in Se90-xZn10Sbx(x = 0, 2, 4, 6) Chalcogenide Glasses

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Journal of Crystallization Process and Technology 2014年第2期4卷 111-120页

作者： Lamia Heireche Mohamed Heireche maamar Belhadji Physics Department Faculty of Science Oran University Oran Algeria

Crystallization and glass transition kinetics of Se90-xZn10Sbx (x = 0, 2, 4, 6) chalcogenide glasses prepared by conventional melt-quenching technique were studied under non-isothermal condition using a differential scanning Calorimeter (DSC) measurement at different heating rates 5, 7, 10 and 12°C/min. The glass transition temperatures Tg, the crystallization temperatures Tc and the peak temperatures of crystallization Tp were found to be dependent on the compositions and the heating rates. From the dependence on the heating rates of Tg and Tp, the activation energy for glass transition, Eg, and the activation energy for crystallization, Ec, are calculated and their composition dependence is discussed. The activation energy of glass transition Eg, Avrami index n, dimensionality of growth m and activation energy of crystallization Ec have been determined from different models.

关键词： Crystallization Kinetics Chalcogenide Glasses Crystallization Temperature Activation Energy Differential Scanning Calorimetry

Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System

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Computers, Materials & Continua 2022年第3期70卷 5133-5142页

作者： Ibrahim M.Mehedi Rachid Mansouri Ubaid M.Al-Saggaf Ahmed I.M.Iskanderani maamar Bettayeb Abdulah Jeza Aljohani Thangam Palaniswamy Shaikh Abdul Latif Abdul Latif Department of Electrical and Computer Engineering(ECE) King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddah21589Saudi Arabia L2CSP Laboratory Mouloud Mammeri UniversityTizi OuzouAlgeria Electrical&Computer Engineering Department University of SharjahUnited Arab Emirates Department of Nuclear Engineering King Abdulaziz UniversityJeddah21589Saudi Arabia Department of Mathematics King Abdulaziz UniversityJeddah21589Saudi Arabia

A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this *** this control scheme,the performance against disturbances,uncertainties,and attenuation is *** active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like *** this FOI action improves the robustness of the standard *** set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement *** effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance ***,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.

关键词： Active disturbance rejection fractional calculus ADRC pole placement linear flexible joint system robust control

Tellurium Crystallisation in GeTeSb System

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Journal of Crystallization Process and Technology 2011年第3期1卷 63-65页

作者： maamar Belhadji Hassan Khoussa Yahia Zanoun Mohamed Belbachir Noureddine Hakiki 不详

Devitrification study of Ge15Te82Sb3 is compared to Ge14Te84.5Sb1.5 amorphous alloys using differential scanning calo-rimetry (DSC) and X-ray diffraction;we show tellurium effect in isothermal crystallization phenomena. The DSC traces of Ge15Te82Sb3 fixed at 413?C show the phase separation in the sample with increasing transition temperatures Tg followed by two crystallization temperatures Tc1 and Tc2. This sample is compared to Ge14Te84.5Sb1.5 which crystallized by two transition temperatures and two crystallization temperatures Tc1 and Tc2. By X. Rays diffraction, we show that this behaviour is due to the presence of two phases in the amorphous sample with composition vitreous change during heating sample, the most important first one corresponds to the tellurium crystallization in the hexagonal form with 1.8 eV activation energy. The second correspond essentially to the crystallization of Te+ GeTe phase with 2.1 eV activation energy.

关键词： Chalcogenide DSC Switching Kissinger Model Crystallization Kinetics

Hydrothermal Alterations in Irbiben Gold Deposit (Tagragra Akka, Western Anti-Atlas, Morocco): Petrographic and Geochemical Characterization

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Journal of Geoscience and Environment Protection 2017年第11期5卷 46-60页

作者： Tokpa Kakeu Lionel-Dimitri Boya N’Guessan Nestor Houssou Marc Ephrem Allialy Allou Gnanzou Lamia Erraioui Benyounes maamar Souad M. Rabet Geology of Basement and Metallogeny Laboratory (GBML) Training and Research Unit of Earth Sciences and Mining Resources University of Felix HOUPHOUET-BOIGNY Abidjan-Cocody C&#244te d’Ivoire Georesources and Environment Laboratory Department of Geology Faculty of Sciences University Ibn Tofail Kenitra Morocco Managem Group Tower A Twin Center Casablanca Morocco

Irbiben is a small gold deposit of the Precambrian inlier Tagragra d’Akka located in the Moroccan western Anti-Atlas, approximately 160 km southeast from Tiznit. Petrographic study shows that host rocks of Irbiben deposit are green schist facies metamorphic rocks, like metamorphic sandstone and schist, meta-pelite and quartzite. Gold is located in quartz veins or host rock with frequent injections of quartz. The petrographic characterization of alteration through the description of the alteration profiles and the comparative study of protolith and altered rocks showed a development of dominant quartz and calcite in mineralization wall-rocks. In moving away from it, there is rather sericite and chlorite. These phenomena are materialized respectively by the development of SiO2 and CaO in the wall-rocks but rather that ferromagnesian elements (FeO, MgO) and K2O away from the mineralization. These trends were demonstrated by the geochemical study through Harker diagrams, description of alteration profiles, comparative study of protolith and altered rocks, and use of a new alteration index, MIA, elaborated during this work.

关键词： Irbiben Gold Deposit Hydrothermal Alteration Petrography Geochemistry Morocco

GeTeSb Physical Properties Investigation

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材料科学与工程（中英文B版） 2012年第10期2卷 534-538页

作者： Abelhamid Badaoui maamar Belhadji Mohamed Belbachir Noureddine Hakiki Laboratoire de Chimie des Polymeres LCP Es-Senia University Oran 31000 Algeria Physics Department Es-Senia University Oran31000 Algeria

Physical properties, such as coordination number, number of constraints, lone pair electrons, heat of atomization and mean bond energy of Te based chalcogenide (GeTeSb) system are studied for different Te contents, each one with different compositions. We found that all the properties decrease with increasing Sb contents, while the number of the lone pair electrons increases with Sb addition. The glass transition temperature Tg is then deduced with a proper proportionality with the mean bond energy.

关键词：物理特性玻璃化转变温度孤对电子平均键能物理性质硫属化物配位数组合物