Génie électrique

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FDA*: A FOCUSED SINGLE‐QUERY GRID BASED PATH PLANNING ALGORITHM
(Journal of Automation, Mobile Robotics and Intelligent Systems, 2022-02-09) Boumediene Mouad; Mehennaoui Lamine; Lachouri Abderazzak
Square grid representations of the state‐space are a com‐ monly used tool in path planning. With applications in a variety of disciplines, including robotics, computatio‐ nal biology, game development, and beyond. However, in large‐scale and/or high dimensional environments the creation and manipulation of such structures become too expensive, especially in applications when an accurate re‐ presentation is needed. In this paper, we present a method for reducing the cost of single‐query grid‐based path planning, by focu‐ sing the search to a smaller subset, that contains the optimal solution. This subset is represented by a hyper‐ rectangle, the location, and dimensions of which are cal‐ culated departing from an initial feasible path found by a fast search using the RRT* algorithm. We also present an implementation of this focused discretization method cal‐ led FDA*, a resolution optimal algorithm, where the A* algorithm is employed in searching the resulting graph for an optimal solution. We also demonstrate through si‐ mulation results, that the FDA* algorithm uses less me‐ mory and has a shorter run‐time compared to the classic A* and thus other graph‐based planning algorithms, and at the same time, the resulting path cost is less than that of regular RRT based algorithms.
Multi-objective Optimal Power Flow and Emission Index Based Firefly Algorithm
(Periodica Polytechnica Electrical Engineering and Computer Science, 2023-10-21) Nabil Mezhoud
The economic operation of electric energy generating systems is one of predominant problems in energy systems. In this work one evolutionary optimization method, based on the meta-inference behavior called the Firefly Algorithm (FFA) is applied to solve such as the multipurpose optimum power flow (OPF) and emission index (EI) problems. Our main goal is to improve the objective function necessary to achieve the best balance between production and its energy consumption, which is presented as a non-linear function, taking into account some constraints of equality and inequality. The goal is to reduce the total cost of generations, active losses, and emission index. The FFA approach was examined and tested on a standard IEEE-30 bus system. The validations of obtained results were compared with some well-known and recently published references. The efficiency and credibility of the proposed method has been proven by the obtained results.
Sensorless Predictive Direct Power Control PDPC-SVM For PWM Converter Under Different Input Voltage Conditions
(Indonesian Journal of Electrical Engineering and Informatics (IJEEI), 2020-03-26) Ismail Boukhechem; Ahcen Boukadoum; Lahcene Boukelkoul; Houssam Eddine Medouce
In this paper, a new virtual flux (VF) based predictive direct power control (VF-PDPC) applied for a three-phase pulse width modulation (PWM) rectifier is proposed. The virtual flux estimation is performed using a pure integrator in series with a new adaptive algorithm in order to cancel dc offset and harmonic distortions in the estimated VF. The introduced structure is able to produce two virtual flux positive sequence components orthogonal output signals under unbalanced and distorted voltage conditions. The main features of the proposed virtual flux estimator are, it's a simple structure, accuracy, and fast VF estimation over the excited integrators. Therefore, the estimated VF is then used for robust sensorless VF-PDPC with a constant switching frequency using space vector modulation (SVM) and tested through numerical simulations. The instantaneous active and reactive powers provided by orthogonal VF positive sequence components are directly controlled. More importantly, this configuration gives quasi-sinusoidal and balanced current under different input voltage conditions without using the power compensation methods. The results of the simulation confirmed the validity of the proposed virtual flux algorithm and demonstrated excellent performance under different input voltage conditions, a complete rejection of disturbances.
Stabilization of the cart-inverted-pendulum system using trivial state-feedback to output-feedback control conversion
(Automatika, 2022-04-15) Messikh Lotfi; Guechi El-Hadi; Bourahala Fayçal; Sašo Blažič
A new linear observer-free output-feedback controller with five adjustable parameters is proposed to stabilize the cart-inverted-pendulum system (CIP) at the unstable equilibrium point. The controller architecture is deduced from a trivial conversion of the linear state-feedback controller that is obtained using a two-step method. First, based on a set of cart change variables, a slightly modified state-feedback controller is developed. Then, the output-feedback controller is obtained through the judicious combination of the cart step reference input internal model and a convenient open-loop state estimator with the above modified state-feedback controller. The local stability of the output-based control system is conducted using the signature formulas method to get simplified conditions. A partial single parameter tuning method and optimal global single parameter tuning method are proposed for adjusting the controller gains to maximize a new efficiency-based objective function. Numerical simulations are first conducted to reveal the simplicity of output-feedback controller design using the partial tuning method, where the state-feedback gains are assumed to be known. Then, an optimal output-feedback controller is designed using the global tuning method. The proposed output-feedback controller is equivalent in terms of performance efficiency to the best five-parameter output-feedback two PID controller.
The Objective Oriented Design of a CUBE Cable - based Parallel Robot for Arm Rehabilitation Tasks
(WSEAS TRANSACTIONS on SYSTEMS, 2023-10-31) FOUED INEL; MOHAMMED KHADEM; ABDELGHAFOUR SLIMANE TICH TICH
- Rehabilitation robots have been employed for training of neural impaired subjects or for assistance of those with weak limbs. A cube, cable-based parallel robot with eight cables designed for assisting patients in upper-limb rehabilitation activities, with control over the end-location effector's while locking its rotation around the horizontal and vertical axes, the device has a lightweight structure that is simple to set up and use for home usage for both pre-determined and personalized exercises. In this context, we have limited the tensions of the cables (always positive) and the lengths of the robot do not exceed the workspace. In addition, the design's kinematic and dynamic studies are presented. The aim of this paper is to help the patient rehabilitate the upper limb in axes (y-z) and (x-y) with improved patient safety, such that the arm for the patient can move it in the two planes. The simulation exercises with solidworks and matlab software demonstrate the effectiveness of our proposed design
Wind Driven Optimization based Optimal Energy Management of Microgrid Impregnated with Renewable Energy Sources
(Algerian Journal of Renewable Energy and Sustainable Development, 2023-12-05) Nabil Mezhoud; Ahmed Bahri; Bilel Ayachi
The desire for increased dependability, high energy quality, reduced cost, and a clean environment has led to a rise in the use of renewable energy sources (RES) in recent years, such as solar energy and wind energy. In this study, the optimal energy management (OEM) problem of a microgrid (MG) infused with RES is solved through the application of a nature-inspired meta-heuristic approach termed Wind Driven Optimisation (WDO), which is based on atmospheric motion. Our primary purpose is to minimise the nonlinear objective function of an electrical microgrid, which is expressed by minimising the MG operating cost while accounting for various operational limits related to equality and inequality through the best possible OEM control variable adjustment. A variety of DGs, including fuel cells (FC), wind turbines (WT), photovoltaic systems (PV), micro turbines (MT), and loads with energy storage systems (ESS), have been studied and tested using the WDO approach on MG linked. The outcomes show how the suggested strategy may effectively and robustly tackle OEM problems in various operational circumstances, which is encouraging. The suggested method's outcomes were verified and compared to those of reputable references that were recently published.

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