52nd IEEE Conference on Decision and Control, 2013
ABSTRACT This paper describes the design of a novel non-linear kinematic controller which allows ... more ABSTRACT This paper describes the design of a novel non-linear kinematic controller which allows a wheeled mobile robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the robot's relative position. This estimate is used to automatically adjust the proportional gain of the controller in order to regulate the tracking error.
2010 IEEE International Symposium on Industrial Electronics, 2010
This work takes place within the more general framework of the design of a test bench which detec... more This work takes place within the more general framework of the design of a test bench which detects the failing signals (control and video) on the printed circuit boards which control the TFT-LCD color screens embedded inside the cars. It describes the design of an innovating diagnosis method of the video signals (RSDS), resting on a Frame Rate Control (FRC)
2013 2nd International Conference on Advances in Biomedical Engineering, 2013
ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Dise... more ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Disease (PD). Summarizing more than twelve years of accumulated data, presenting the techniques used, and evaluating their results would create a reference paper for future works. We traced the development of diverse researches and sensor-based systems (acceleration, force resistive, angle, EMG, etc…) to expand and refine the results, pointing out flaws and demonstrating the advantages of each one. The paper sums up the investigations in one of the most unpredictable and impairing symptoms of PD, specifically the area of FoG detection and prevention.
This paper concerns the control design of multi-sources renewable energy systems. Dynamic equatio... more This paper concerns the control design of multi-sources renewable energy systems. Dynamic equations describing the coupling of buck converters are derived and a robust sliding mode dynamic controller is designed. The aim is to show that the proposed control gives good results in terms of robustness and stability according to the fluctuations of renewable sources and the load variations, without the use of cascade structure commonly used in literatures. The simulation results are presented and show a fast dynamic response of the DC bus voltage and robustness to load and input voltage variations.
2013 2nd International Conference on Advances in Biomedical Engineering, 2013
ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Dise... more ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Disease (PD). Summarizing more than twelve years of accumulated data, presenting the techniques used, and evaluating their results would create a reference paper for future works. We traced the development of diverse researches and sensor-based systems (acceleration, force resistive, angle, EMG, etc…) to expand and refine the results, pointing out flaws and demonstrating the advantages of each one. The paper sums up the investigations in one of the most unpredictable and impairing symptoms of PD, specifically the area of FoG detection and prevention.
This paper describes a three stages control strategy for electrical energy transfers in multisour... more This paper describes a three stages control strategy for electrical energy transfers in multisource renewable energy systems. The aim of the control design is to optimize the energy transfers, according to the sources power variations and the load characteristics. The proposed controller determines the operating mode of the multisource renewable energy system, calculates the power ratio provided by each source and drives the dc/dc converters with local current and voltage loops. Another contribution of this work consists in using an estimation of the duty cycle value of the dc/dc power converters as decision criteria to switch the power sources and drive the power ratios. The proposed method doesn't need extra sensors to measure the available power sources for switching. The performance of the controller is compared with classical method based on direct measurements of the available powers (solar radiations, wind turbine shaft speed/torque)
This paper addresses the problem of diagnosability for bounded or unbounded Petri nets and monito... more This paper addresses the problem of diagnosability for bounded or unbounded Petri nets and monitored with sensor configurations that are specified with partially observed Petri nets. The proposed method gives a necessary and sufficient condition for diagnosability. It is based on the computation of the finite coverability graph and its transformation into the graph of observation sequences that includes all sequences of measured markings and events with respect to the sensor configuration. Diagnosability is obtained from the analysis of the observation graph.
We present in this paper a backstepping controller for vision based target tracking with an Unman... more We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles).
52nd IEEE Conference on Decision and Control, 2013
ABSTRACT This paper describes the design of a novel non-linear kinematic controller which allows ... more ABSTRACT This paper describes the design of a novel non-linear kinematic controller which allows a wheeled mobile robot to track a moving target at a given separation distance. The Double Exponential Smoothing algorithm is employed to deal with uncertainties in the measurements and to acquire a predictive estimate for the robot's relative position. This estimate is used to automatically adjust the proportional gain of the controller in order to regulate the tracking error.
2010 IEEE International Symposium on Industrial Electronics, 2010
This work takes place within the more general framework of the design of a test bench which detec... more This work takes place within the more general framework of the design of a test bench which detects the failing signals (control and video) on the printed circuit boards which control the TFT-LCD color screens embedded inside the cars. It describes the design of an innovating diagnosis method of the video signals (RSDS), resting on a Frame Rate Control (FRC)
2013 2nd International Conference on Advances in Biomedical Engineering, 2013
ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Dise... more ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Disease (PD). Summarizing more than twelve years of accumulated data, presenting the techniques used, and evaluating their results would create a reference paper for future works. We traced the development of diverse researches and sensor-based systems (acceleration, force resistive, angle, EMG, etc…) to expand and refine the results, pointing out flaws and demonstrating the advantages of each one. The paper sums up the investigations in one of the most unpredictable and impairing symptoms of PD, specifically the area of FoG detection and prevention.
This paper concerns the control design of multi-sources renewable energy systems. Dynamic equatio... more This paper concerns the control design of multi-sources renewable energy systems. Dynamic equations describing the coupling of buck converters are derived and a robust sliding mode dynamic controller is designed. The aim is to show that the proposed control gives good results in terms of robustness and stability according to the fluctuations of renewable sources and the load variations, without the use of cascade structure commonly used in literatures. The simulation results are presented and show a fast dynamic response of the DC bus voltage and robustness to load and input voltage variations.
2013 2nd International Conference on Advances in Biomedical Engineering, 2013
ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Dise... more ABSTRACT This paper is about the initiative of detecting Freezing of Gait (FoG) in Parkinson Disease (PD). Summarizing more than twelve years of accumulated data, presenting the techniques used, and evaluating their results would create a reference paper for future works. We traced the development of diverse researches and sensor-based systems (acceleration, force resistive, angle, EMG, etc…) to expand and refine the results, pointing out flaws and demonstrating the advantages of each one. The paper sums up the investigations in one of the most unpredictable and impairing symptoms of PD, specifically the area of FoG detection and prevention.
This paper describes a three stages control strategy for electrical energy transfers in multisour... more This paper describes a three stages control strategy for electrical energy transfers in multisource renewable energy systems. The aim of the control design is to optimize the energy transfers, according to the sources power variations and the load characteristics. The proposed controller determines the operating mode of the multisource renewable energy system, calculates the power ratio provided by each source and drives the dc/dc converters with local current and voltage loops. Another contribution of this work consists in using an estimation of the duty cycle value of the dc/dc power converters as decision criteria to switch the power sources and drive the power ratios. The proposed method doesn't need extra sensors to measure the available power sources for switching. The performance of the controller is compared with classical method based on direct measurements of the available powers (solar radiations, wind turbine shaft speed/torque)
This paper addresses the problem of diagnosability for bounded or unbounded Petri nets and monito... more This paper addresses the problem of diagnosability for bounded or unbounded Petri nets and monitored with sensor configurations that are specified with partially observed Petri nets. The proposed method gives a necessary and sufficient condition for diagnosability. It is based on the computation of the finite coverability graph and its transformation into the graph of observation sequences that includes all sequences of measured markings and events with respect to the sensor configuration. Diagnosability is obtained from the analysis of the observation graph.
We present in this paper a backstepping controller for vision based target tracking with an Unman... more We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles).
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Papers by Francois Guerin