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Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2010年第4期11卷 231-239页

作者： Marco CECCARELLI Lotfi romdhane Laboratory of Robotics and Mechatronics DIMSATUniversity of Cassino-CassinoItaly Département de Mécanique Avancée Ecole Nationale d'Ingénieurs de SousseTunisia

We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy *** an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist *** date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient *** specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.

关键词： Robot design Robot applications Cable-based parallel manipulators Human-machine mechanical interfaces

An Efficient Two-Phase Model for Computing Influential Nodes in Social Networks Using Social Actions

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Journal of Computer Science & Technology 2018年第2期33卷 286-304页

作者： Mehdi Azaouzi Lotfi Ben romdhane Modeling of Automated Reasoning Systems Research Laboratory LR17ES05 Higher Institute of Computer Science and Telecom University of Sousse Sousse 526-~002 Tunisia

The measurement of influence in social networks has received a lot of attention in the data mining community. Influence maximization refers to the process of finding influential users who make the most of information or product adoption. In real settings, the influence of a user in a social network can be modeled by the set of actions （e.g., ＂like＂, ＂share＂, ＂retweet＂, ＂comment＂） performed by other users of the network on his/her publications. To the best of our knowledge, all proposed models in the literature treat these actions equally. However, it is obvious that a ＂like＂ of a publication means less influence than a ＂share＂ of the same publication. This suggests that each action has its own level of influence （or importance）. In this paper, we propose a model （called Social Action-Based Influence Maximization Model, SAIM） for influence maximization in social networks. In SAIM, actions are not considered equally in measuring the ＂influence power＂ of an individual, and it is composed of two major steps. In the first step, we compute the influence power of each individual in the social network. This influence power is computed from user actions using PageRank. At the end of this step, we get a weighted social network in which each node is labeled by its influence power. In the second step of SAIM, we compute an optimal set of influential nodes using a new concept named ＂influence-BFS tree＂. Experiments conducted on large-scale real-world and synthetic social networks reveal the good performance of our model SAIM in computing, in acceptable time scales, a minimal set of influential nodes allowing the maximum spreading of information.

关键词： social network social influence social action personalized PageRank influence-BFS tree

Analysis and optimal synthesis of single loop spatial mechanisms

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2011年第9期12卷 665-679页

作者： Med Amine LARIBI Lotfi romdhane Sad ZEGHLOUL Laboratoire de Génie Mécanique LAB-MA-05 Ecole Nationale d'Ingénieurs de Sousse Institut Pprime-UPR 3346 CNRS-Université de Poitiers-ENSMA Département Génie Mécanique et Systémes Complexes SP2MIBP30179 86962 Futuroscope France

In this work, a systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-Hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm （GA） has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RSCR and RSPC （R： revolute; S： spherical; C： cylindrical; P： prismatic）, have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic （GA-FL） method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither difficulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods.

关键词： Spatial mechanisms Genetic algorithm-fuzzy logic (GA-FL) method Denevit-Hartenberg parameters Mechanism synthesis

Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators

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International Journal of Automation and computing 2011年第2期8卷 215-220页

作者： Mezghani Ben romdhane Neila Damak Tarak Industrial Processes Control Unit National Engineering School of SfaxUniversity of Sfax

In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is ***,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the *** resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic *** applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and ***,the proposed controller can eliminate the chattering effect without losing the robustness *** stability of the control algorithm can be easily verified by using Lyapunov *** proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness.

关键词： Terminal sliding mode sliding mode control adaptive control of robot robust control Lyapunov method.

Second Order Sliding Mode Control for Discrete Decouplable Multivariable Systems via Input-output Models

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International Journal of Automation and computing 2015年第6期12卷 630-638页

作者： Houda romdhane Khadija Dehri Ahmed Said Nouri Numerical Control of Industrial Processes National Engineering School of Gabes University of Gabes

The problem of the chattering phenomenon is still the main drawback of the classical sliding mode control. To resolve this problem, a discrete second order sliding mode control via input-output model is proposed in this paper. The proposed control law is synthesized for decouplable multivariable systems. A robustness analysis of the proposed discrete second order sliding mode control is carried out. Simulation results are presented to illustrate the effectiveness of the proposed strategy.

关键词： Discrete second order sliding mode control decoupl

Design Study of a Cable-based Gait Training Machine

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Journal of Bionic Engineering 2017年第2期14卷 232-244页

作者： Houssein Lamine Med Amine Laribi Sami Bennour Lotfi romdhane Said Zeghloul Mechanical Laboratory of Sousse (LMS) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Department of GMSC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mechanical Engineering Department American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

关键词： gait rehabilitation cable-driven robots body weight support system design optimization

Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

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Journal of Bionic Engineering 2022年第2期19卷 390-402页

作者： Ferdaws Ennaiem Abdelbadia Chaker Juan Sandoval Sami Bennour Abdelfattah Mlika Lotfi romdhane Said Zeghloul Med Amine Laribi Department of GMSC Pprime Institute CNRSENSMAUniversity of PoitiersUPR 3346PoitiersFrance Mechanical Laboratory of Sousse(LMS) National Engineering School of SousseUniversity of Sousse4000 SousseTunisia American University of Sharjah PO Box 26666SharjahUnited Arab Emirates

An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this *** exercises were prescribed by an occupational therapist for the upper limb *** movement patterns of five participants,recorded using a Qualisys motion capture system,are compared based on the Analysis of Variance(ANOVA)*** survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation,which is able to reproduce the three selected *** comparison is performed to justify,whether or not,there is enough similarity between the participants’gestures,and so a single reference trajectory can be adopted as the robot-prescribed *** the results of the comparative study,an optimization process of the sought robot design is carried out,where the structure size and the cable tensions simultaneously minimized.

关键词： Human motion repeatability Activities of Daily Living(ADL) Analysis of Variance(ANOVA) Task workspace Cable-driven parallel robot Upper limb rehabilitation Optimization

Dual Anthropogenic Origin of Global Warming through GHGs and IR Radiation Emissions from Artificialized Soils

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Journal of Atmospheric Science Research 2021年第4期4卷 36-41页

作者： romdhane Ben Slama ISSAT Gabes University of GabesTunisia

This paper contributes to explain the global warming instead of"giving up"and thinking about passively adapting to climate change or global *** makes more sense to tackle what creates the greenhouse effect and contributes to global *** greenhouse effect is not only due to GHGs emissions,but also to the excess IR radiation emitted during the day,by artificial surfaces,following the absorption of solar *** phenomenon should be compared to that of radiative forcing well known by climatologists and which makes the link between atmospheric pollution and the density of heat fluxes stopped by the atmosphere inducing global *** becomes clear that type an equation *** surplus CO2 and IR radiation emissions influence global warming,not to mention the direct part of the heat released by the combustion of fossil fuels and even renewable(wood fires,biogas,friction of wind turbine propellers with the air).

关键词： Greenhouse gazes Global warming Infrared radiation emission Artificilised soils

Hydrogen Production by Water Electrolysis Effects of the Electrodes Materials Nature on the Solar Water Electrolysis Performances

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Natural Resources 2013年第1期4卷 1-7页

作者： romdhane Ben Slama Unit of Research: Environment Catalysis & Processes Analysis National School of Engineers of Gabes University of Gabes Gabes Tunisia

Our contribution in the production of hydrogen, vector of energy, consists in testing the water electrolysis by photovoltaic solar energy. The realization of some electrolysers whose electrodes are various materials, showed a clear difference from the point of view produced hydrogen flow, conversion efficiency, energy specific consumption and the electrodes lifespan. This made it possible to classify materials, by performances descending order, as follows: copper, lead, bronzes, aluminum, stainless, graphite and steel. However lead has a too low flow and aluminum corrodes quickly. Steel admits poor yield and lifespan. Then, we retain primarily copper like anode metal. To increase the hydrogen produced flow by electrolysis, the electrolysers parallel assembly choice is essential. According to the hour of the day, the evolution of the parameters such as consumed current, efficiency, and specific energy differs from a material with another, which can be explained by the variation of solar energy during the day.

关键词： Hydrogen Electrolysis Photovoltaic Electrodes Corrosion