Institut des sciences et techniques appliquées (ISTA)

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Approche distribuée de l'apprentissage : Application au contrôle de la trajectoire d'un robot hexapode
(Journal Européen des Systèmes Automatisés. Volume 39- n°8. pp 965-993, 2005-10-01) Zennir Youcef
Une approche distribuée de l’apprentissage par renforcement de type Q-learning est proposée dans laquelle des groupes d’agents contribuant à une même tâche mènent leur apprentissage en tenant compte ou non de l’existence des autres agents. L’approche est appliquée à la commande d’un robot hexapode pour qu’il apprenne à marcher et à changer de trajectoire tout en contrôlant sa posture. Les résultats de simulation valident l’approche proposée. D’autres travaux de recherche relatifs au domaine sont discutés.
New insight into the average probability of failure on demand and the probability of dangerous failure per hour of safety instrumented systems
(Journal of Risk and Reliability.Vol. 224 Part O.pp 75-86, 2010-06-02) Innal Fares
The aim of this paper is to give a new insight into some fundamental concepts of the IEC 61508 standard. First, low and high or continuous demand modes of operation of safety instrumented systems are examined by analysing their official definitions given in the IEC 61508 and IEC 61511 standards. In this context, the paper proposes a new criterion for distinguishing these two modes of operation. A study allowing the determination of accident frequency is also presented, where the system under study consists of one element under control and its associated safety instrumented system. Second, the relationship between the average probabilities of failure on demand and the risk reduction factor is studied. It is shown that the commonly used approach (the standard approach) may lead to an optimistic value for the risk reduction factor. Finally, the paper clarifies the nature of the probability of failure per hour of a safety instrumented system and proposes different ways to compute this in the general case, based on fault tree, Markov model, and Petri nets approaches.
Performance Assessment of an Emergency Plan Using Petri Nets
(JOURNAL CHEMICAL ENGINEERINGTRANSACTIONS.Vol 32 pp235-240, 2013-01-01) Innal Fares
Emergency plans (EP) are complex systems which incorporate elements of three different natures: technical, human and organizational. In addition, they must be executed under time and efficiency constraints. This inherent complexity may leads to a number of failures, such as unavailability of critical personnel or technical assets and inappropriate operators' actions. In this paper we present a Petri Netbased approach to model and evaluate the performance of an EP related to condensate storage tank fire scenario. In fact, Petri Nets are a powerful tool to describe complex systems and their inherent interactions. Due to the model complexity, results are obtained thanks to Monte Carlo simulation.
Uncertainty analysis of industrial fire effects simulation
(CHEMICAL ENGINEERING TRANSACTIONS. VOL35.pp 1423-1428, 2013-01-02) Innal Fares
In this study, we have studied the relative influence of uncertainty in input parameters of an atmospheric dispersion model (wind speed, NOx initial concentration and NOx diffusivity coefficient) on the variation of the outputs. Knowing the uncertainty of a prediction is critical for the decision making process. While the uncertainties in various elements of the modelling process are being determined, it is also important to investigate how those uncertainties interact with each other and contribute to the uncertainty in the final result (e.g. NOx concentration predictions). Therefore, decision-makers should not base their judgment solely on the mean values, but they should, in particular, consider the upper bound plume concentration. In further work, we will include all parameters and also consider the parametric sensitivity analysis of the numerical dispersion model.
Industrial fire simulation and uncertainty associated with the Emission Dispersion Model
(Journal Clean Technologies and Environmental Policy, 2014-10-01) Innal Fares
The use of numerical modeling in the field of industrial fire accidentology has become common nowadays and this tendency is expected to increase with the development of performance simulation tools. Despite the constant development of fire modeling tools, the current state of the art is not yet able to accurately predict fire phenomena. This gap between the reality and simulations is probably due to the presence of some level of uncertainty, which may occur from the meteorological inputs, diffusion assumptions, plume dynamics, or emission production. To cope with the presence of uncertainties in the input data, we propose an uncertainty analysis enabling to avoid as much as possible bad decisions that may have a large impact in domains such as safety. In this study, we are interested in the uncertainty propagation related to NO2 atmospheric dispersion resulting from a crude oil tank fire. Uncertainties were defined a priori for each of the following input parameters: wind speed, NO2 emission rate, and viscosity and diffusivity coefficients. For that purpose, a Monte Carlo approach has been used. In order to evaluate the importance of the considered parameters on the NO2 dispersion, new sensitivity indicator has been developed. The obtained results showed that the viscosity coefficient and the wind speed are the most significant input parameters with respect to NO2 concentration near to the source of fire, while the wind speed and the initial concentration are the important parameters for distant areas.
Interest of the theory of uncertain in the Dynamic LCAFire methodology to assess fire effects
(journal Physics Procedia n° 55 .pp 207 – 214, 2014-12-01) Innal Fares
Life Cycle Impact Assessment (LCIA) is the third phase of Life Cycle Assessment (LCA) described in ISO 14042. The purpose of LCIA is to assess a product system’s life cycle inventory analysis (LCI) in order to better understand its environmental significance. However, LCIA typically excludes spatial, temporal, threshold and dose-response information, and combines emissions or activities over space and/or time. This may diminish the environmental relevance of the indicator result. The methodology, Dynamic LCA -Fire proposed in this paper to complete the International Standard ISO 14042 in the fire field, combines the LCA - Fire method with the Dispersion Numerical Model. It is based on the use of the plume model used to assess pollutant concentrations and thermal effects from fire accident scenarios. In this study, The Dynamic LCA - Fire methodology is applied to a case study for petroleum production process management.
A new tool for risk analysis and assessment in petrochemical plants
(Alexandria University. Alexandria Engineering Journal.2016.55,pp2919-2931, 2016-06-09) Mechhoud El-Arkam ; ;
The aim of our work was the implementation of a new automated tool dedicated to risk analysis and assessment in petrochemical plants, based on a combination of two analysis methods: HAZOP (HAZard and OPerability) and FMEA (Failure Mode and Effect Analysis). Assessment of accident scenarios is also considered. The principal advantage of the two analysis methods is to speed-up hazard identification and risk assessment and forecast the nature and impact of such acci- dents. Plant parameters are analyzed under a graphical interface to facilitate the exploitation of our developed approach. This automated analysis brings out the different deviations of the operating parameters of any system in the plant. Possible causes of these deviations, their consequences and preventive actions are identified. The result is risk minimization and dependability enhance- ment of the considered system. 2016 Faculty of Engineering, Alexandria University. Production and hosting by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Minimum time control of a two DOF robotic arm with noised measurements
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS) .Vol.2, Issue 1.pp 21-30, 2017-04-01) Zennir Youcef
This paper presents a new approach for minimum time control dynamics of a two links manipulator robot in the case of noised outputs. Briefly, this technique consists of linearizing a nonlinear dynamic model of the robot by using a feedback linearization control. Once, the linear model has been obtained, a minimum time control with constraints, using the Pontryagin Minimum Principle will be developed. Here, the objective is to control the arm robot from an initial configuration to the final configuration in minimum time. The state variables are estimated by a Kalman-Luenberger observer. In order to show the efficiency of the proposed method, some simulation results are given.
IMC Multi-Controller Strategies applied on a Manipulator Robot
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol.2, Issue 1.pp 51-62, 2017-04-01) Zennir Youcef
The paper focuses on the use of multi-controller approach to control a robot wrist (STÄUBLI robot RX 90). The descriptions of a nonlinear mathematical model of the process have been presented with the local parametric models around operating points. Controller design of a conventional PID, IMC control, LQG control and Hv (loop shaping) has been described around each selected operating points for each local parametric models. Finally , in order to show the efficiency of the proposed method, some simulation results in CAO 3D solid-works and MATLAB environments are given.
Robust Sliding Mode Control for Novel Type of Parallel Robo
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Volume : 2 Issue : 4.pp 218-227, 2017-12-01) Zennir Youcef
in this paper we present a new control architecture based on the robust sliding mode control applied to control a nonlinear system (parallel cable robot). This approach is widely used to address the uncertainties and disturbances of nonlinear systems and to improve the performance of the robot in terms of tracking a desired path. A dynamic model is presented followed by the description of the control approach used. To do this, numerical simulations were carried out by developing a specific code including a graphical user interface for a user-friendly real time. The simulation results for a dynamic model with sliding mode control are discussed for different trajectories applied to this robot, to confirm the validity of accurate tracking of a desired path before future work description
Robust Fuzzy Path Tracking Control of a Platooning Vehicles
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 2, Issue 4.pp 228-239, 2017-12-01) Zennir Youcef
The paper present our control approach based in fuzzy controller for platooning vehicles. this approach based to control lateral and longitudinal movement of vehicles in different navigation trajectory. kinematic model of vehicles are described follows by describe of controller design. The communication is provided between vehicles with exchange information, speed and orientation angle with a fixed safety distance between vehicles. 3D simulation developed with matlab, Simulink and v-rep software were carried . Different reference trajectory are used to compared and approve our approach. The simulation results illustrate the efficiency of our control design and open the perspectives for future work.
Automated depandability analysis of the HDPE Reactor using D-higraphs HAZOP assistant
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS). Vol. 2, Issue 4.pp 255-265, 2017-12-01) Mechhoud El-Arkam; Zennir Youcef
In this paper we present a HAZOP Assistant based on D-higraphs and dedicated to a functional modeling technique that gathers functional and structural information of the process under study. This work is applied to the study of an industrial case - High Density Polyethylene reactor part of the CP2K plant situated in the petrochemical platform of Skikda- and its results are compared with the conventional HAZOP study and SADT method.
Robust H Controller of a nonlinear unstable system: Robotics wrist
(INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES.Volume 11.pp 273-278, 2017-12-01) Zennir Youcef
The paper presents a new multi-controllers approach with H control applied to control a manipulator robot wrist (Staubli RX-90). A brief description of process and linear mathematical modeling of the process. Principle of multicontrollers approach of control is briefly presented. Our new proposals concerning the type of the controllers used in the multicontroller approach of control and which are one controller based on H control for nonlinear system and linear local models around each operating points. The principal of H control has been described and finally the simulation results obtained approve the efficiency of our design control followed by a conclusion and some perspectives for future work.
Control Of Mobile Robot Navigation Under The Virtual World Matlab-Gazebo
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS) .Vol. 2, Issue 4.pp 207-217, 2017-12-01) Zennir Youcef Bensaci Chaima
In this paper, we present our navigation control approach of a mobile robot (Turtlebot 2 robot) based on the stability Lyapunov function; our mobile robot is composed of two differential wheels. The kinematic model of the robot is presented followed by the description of the control approach. A 3D simulation under the Gazebo software is developed in interaction with the kinematic model and the control approach under MATLAB-SIMULINK software. The purpose of this study is to carry out an autonomous navigation; we initially planned different trajectories then we tried to be followed them by the robot. Our navigation strategy based on its odometry information, based on robot position and orientation errors; Velocity commands are sent for the robot to follow the chosen path. Different simulations were performed in 2D and 3D and the results obtained are presented followed by the envisaged future work.
Multi-model system design using Hv Multi-controllers for a robotic wrist
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 3, Issue 1.pp 44-53, 2018-03-01) Zennir Youcef
In this paper we present a novel approach of multi-model system design used multi-controllers of Hv control type applied to control robotic wrist. we have presented modeling of our system( nonlinear and linear model) follows by the principal of our approach of control. we have presented Hv control principal used for control nonlinear system and linear local models around each operating points choose . Different simulations are realized in matlab-simulink software improve efficiency of our approach. Finally we have presented conclusion and discussed of obtained results followed by some perspectives for future work
Optimal PSO- PIOD P Multi -Controller for a Robotic Wrist
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 3, Issue 1.pp 22-34, 2018-03-01) Zennir Youcef; Mechhoud El-Arkam
Comparative study between to approach of control based in conventional PID controller and robust Fractional PID controller (FOPID) using PSO algorithm applied to control robotics wrist (Robot RX-90 Staübli). The mathematic model of robot are described follows by design of architecture control. two approximation method of fractional order are used and finally a different simulation study comparative between (PID, PSO-PID, FOPID and PSO-FOPID) with obtained results has been presented discussed and approved the efficiently of the architecture control with PSO-FOPID controller followed by a conclusion and some perspectives for future work.
MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study†
(Machines Journals. Machines 2018, 6, 37; doi:10.3390.pp 01-14, 2018-08-17) Zennir Youcef
This study examined the control of a planar two-link robot arm. The control approach design was based on the dynamic model of the robot. The mathematical model of the system was nonlinear, and thus a feedback linearization control was first proposed to obtain a linear system for which a model predictive control (MPC) was developed. The MPC control parameters were obtained analytically by minimizing a cost function. In addition, a simulation study was done comparing the proposed MPC control approach, the linear quadratic (LQ) control based on the same feedback linearization, and a control approach proposed in the literature for the same problem. The results showed the efficiency of the proposed method.
A Comparative Study of STPA Hierarchical Structures in Risk Analysis: The case of a Complex Multi-Robot Mobile System
(Hal open science journal.Volume 18, 2019.pp 163-174, 2019-01-01) Zennir Youcef; Bensaci Chaima
Autonomous multi-robot systems are among the most complex systems to control, especially when those robots navigate in fully hazardous and dynamic environments such as chemical analysis laboratories which include dangerous and harmful products (poisonous, flammable, explosive...). This paper presents an approach for systems-complex and theoretic safety assessment, also it considers their coordinating, cooperating and collaborating using different control architectures (centralized, hierarchical and modified hierarchical). We classified at first those control architectures according to their properties using Bowtie analysis method, and then we used a systems-theoretic hazard analysis technique (STPA) to identify the potential safety hazard scenarios and their causal factors .
Evaluation of safety barriers deduced from the HAZOP study of fired heater F201-101, ADRAR refinery, Algeria using ETA method.
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 5, Issue 1.pp 47-52, 2020-03-01) Zennir Youcef
This paper described the method of event tree analysis that is commonly used to identify, characterize and estimate the risk. Quantitative estimates for probability of breach or failure and the resulting consequences can be obtained using event trees. Qualitative depictions of potential failure modes and consequences can also be developed using event trees. An event tree analysis (ETA) is an inductive procedure that shows all possible outcomes resulting from an accidental (initiating) event. An event tree consists of a sequence of interconnected nodes and branches. Each node defines a random variable that represents an uncertain event or state of nature. Branches originating from a node represent each of branches to represent the likelihood for each event or condition. These probabilities are conditional on the occurrence of the preceding events to the left in the tree. Our work includes a HAZOP study to determine the necessary safety barriers as a first step. And as a second step is their evaluation using ETA method of fired heater F201-101, ADRAR refinery, Algeria. This particular method is well suited to estimating the risk stemming from process plant failure. Neither the initiators of industrial accidents nor the layers of protection that prevent them are typically complex, that is, they do not usually require analysis by redundant systems or the time for on-line repair. Thus, they can be accurately characterized with the probability multiplication methods that from the basis of event tree analysis
Design and Simulation of Graphical User interface for Cables Parallel Robot
(ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 5, Issue 1.pp 66-72, 2020-03-01) Innal Fares; Zennir Youcef
In this paper, we have presented the 3D cables parallel robot in pyramid’s form. The dynamic equation has been established including the dynamic behavior, in this context; we investigated to use the Runge Kutta method of 4th order to solving non-linear partial differential equation of our system. The main contribution of this work is firstly: a graphical user interface (GUI) has been developed and implemented based on the geometric model, in order to visualizing the position of end effect or, taking account model uncertainties and payload variation. Secondly, we have studied and solved our system’s dynamical equation with implementation the PD control. This last, applied for different trajectories so as to test the accurate tracking the desired trajectory simulation using MATLAB software. As a result, the simulation tests on this robot verify the efficiency performance of the proposed controller.

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