Browsing by Author "Belaidi, Hadjira"

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AC Loads Supply Continuity in Connected and Islanded Microgrids Systems
(2023) Kaddour, Djillali; Belaidi, Hadjira; Belaidi, Dehia; Faouzi, Didi
In the pursuit of establishing a sustainable and highly reliable microgrid, the continual operation and system dependability in both grid-connected and islanded configurations emerge as paramount objectives. Our vision centers on the implementation of an intelligent Energy Management System (EMS), complemented by cutting-edge optimization techniques and well-suitable resource sizing. These synergistic components empower the microgrid to adeptly manage peak demands, surmounting even the most adverse weather conditions, all the while liberating it from external resources or any additional draw from the grid facility. Conducting a compelling case study, we delve into the efficiency of our EMS algorithm, thoughtfully realized through MATLAB Simulink, by analyzing pertinent load profiles and power consumption data from buildings within our esteemed institution, IGEE (Institute of Electrical and Electronic Engineering). To transcend the confines of conventional grid-tied PV systems Inverter, we ingeniously propose a novel approach, coordinating a Diesel Generator-Photovoltaic panel (DG-PV) synchronization, thereby seamlessly enabling the grid-tied PV system to function in off-grid scenarios. This concept lies in achieving optimal performance through the deployment of uniform Distributed Energy Resources (DERs) sizes for Photovoltaic (PV) and Battery Energy Storage Systems (BESS) in both grid-connected and islanded modes. Supplemented by sophisticated control algorithms and real-time monitoring, the microgrid flawlessly transits between operational modes, ensuring unrivaled efficiency and unwavering dependability.
Advanced Trajectory Planning and 3D Waypoints Navigation of Unmanned Underwater Vehicles Based Fuzzy Logic Control with LOS Guidance Technique
(Science and Technology Publications, Lda, 2023) Demim, Fethi; Belaidi, Hadjira; Rouigueb, Abdenebi; Messaoui, Ali Zakaria; Louadj, Kahina; Saghour, Sofian; Benatia, Mohamed Akram; Chergui, Mohamed; Nemra, Abdelkrim; Allam, Ahmed; Kobzili, Elhaouari
Trajectory planning is a critical action for achieving the objectives of Unmanned Underwater Vehicles (UUVs). To navigate through complex environments, this study investigates motion trajectory planning using Rapidlyexploring Random Trees (RRT) and Fuzzy Logic Control (FLC). Our goal is to explore the use of the RRT trajectory planning algorithm to generate waypoints in a known static environment. In this case, the UUV’s planned trajectory can meet the required conditions for obstacle avoidance. By using various objective functions, the model can be solved, and the corresponding control variables can be adjusted to effectively accomplish the requirements of underwater navigation. This technique has been successfully applied in various experimental scenarios, demonstrating the effectiveness of the FLC regulator. For instance, The 3D waypoint navigation challenge has been tackled by implementing the Fuzzy Controller, which utilizes the robust Line-Of-Sight (LOS) guidance technique. Experimental results demonstrate that the FLC regulator efficiently navigates through the waypoints, maintains an accurate course, controls the pitch and yaw angles of the UUV, and successfully reaches the final destination.
Application of splines to three-dimensional map building for mobile robot
(2012) Belaidi, Hadjira; Bentarzi, Hamid; Belaidi, Abderrahmane
In mobile robot applications, building a map for mobile robot is very important task. In this work, a surface-based on numerical method such as Splines is used to investigate a model for the robot path planning. The developed algorithm generates a free collision path through the use of Splines for extracting the triangular mesh in the 3D environment surface. The triangular mesh helps the robot to locate the different stationary obstacles, the mobile robot and to track the target position. Synthetic Aperture Radar (SAR) sensors are used for acquiring the data related to the environment and the obstacles. The obtained results are very satisfactory
Backstepping Control of Drone †
(MDPI, 2022) Saibi, Ali; Boushaki, Razika; Belaidi, Hadjira
This work derives the models which can be used to design and implement control laws for six degrees-of-freedom (DOF) quadrotor stability. The first part of this paper deals with the presentation of the background of quadrotor modeling; the second part describes the direct control of the drone using the backstepping control principal. This principal is based on the division of the system into several sub-systems in a cascade, which makes the control laws generated on each subsystem, in a decreasing manner, until a global control law for the whole system is generated. The simulation results for the sm controller are generated on the MATLAB/Simulink platform; the results show a good performance in both the transient and steady-state operations.
Complex forms trajectory tracking in robotized welding
(2013) Belaidi, Hadjira; Belaidi, Abderrahmane
Actually, in the majority of mechanical systems such as industrial robots, mobile robots with embarked structure, etc… the end-effector mass widely exceeds that of the supported load, and lot of works do not take it into account in their algorithms. These systems must be designed based on dynamic model; moreover the synthesis of the algorithm of an autonomous manipulator must be accomplished by taking into account nonlinearity and complexity of its dynamic model, this is in order to increase the control effectiveness. Currently, tasks involving a high precision welding of complex forms with high characteristics are very required in industry in general. This paper introduces the modeling of the end-effector movement equations to allow a tracking of welding cords with complex forms in the acceptable working zone
Development of Instrumentation Adapted by C.M.M.S. Dedicate to Poly-articulated Mechanisms (Computer-assisted Maintenance Management System)
(Université M'hamed Bougara de Boumerdès : Laboratory of Signals and Systems, 2021) Benmisra, Abdelkader; Belaidi, Hadjira; Belaidi, Abderrahmane; Abdelhalim, Brahimi; Moufida, Ikri
In this article three study phases have been discussed: Landing phase of a civil transport aircraft, when part of the flow entering the reactors is redirected by thrust reversers. Phase of the functional and technical study of which reflects on the aircraft maintenance component, without forgetting the phase of synthesis of the landing system mechanisms. The approach presented relates to the description of the different instruments and languages used for the control of vibratory behavior in a maintenance plan. Active devices are used mainly in systems where the excitation acts permanently on the system and the minimization of the amplitude of the vibrations is the dominant criterion. This is the reason why it is important to plan and control the technical aspect which will contain the landing system from the point of view of geometry, torques, positions, speeds and accelerations, and trajectories from the mechanism design phase.
Enhanced backstepping control for disturbances rejection in quadrotors
(2022) Saibi, Ali; Belaidi, Hadjira; Boushaki, Razika; Recham, Zine Eddine; Amrouche, Hafid
This work studies the issue of quadrotor trajectory tracking control in presence of disturbances and model uncertainties. The paper starts by extracting the kinematics and dynamics models of the quadrotor. This results in the motion equations, which eventually serve as a blueprint for creating the suggested smart flight control scheme. Secondly, an enhanced backstepping controller (BSC) is developed and tested to keep the quadrotor tracking the desired trajectory both in steady state and in presence of disturbances. Finally, BSC beside two other controllers: sliding mode controller (SMC) and proportional derivative controller (PDC) are implemented in MATLAB/Simulink and the obtained results are compared and conclusions are extracted. Therefore, it is established that PDC is not robust to disturbances as noise will be amplified due to the derivative term. Whereas, although SMC is robust to parameter variations and disturbances; however, it is not continuous which may affect the actuators due to the increased gains which may saturate them. In contrast, BSC requires too many tuning parameters; however, it ensures Lyapunov Stability and does not depend on the system as it does not involve cancelling system nonlinearity. Moreover, BSC results are 1017 better than the results of the two other controllers.
Enhanced quadrotor motion analysis through extended
(SAGE, 2024) Saibi, Ali; Belaidi, Hadjira; Kobzili, Elhaouari; Demim, Fethi; Allam, Ahmed; Attouche, Nesrine; Belkacemi, Malak
This paper aims to develop a stable quadrotor’s flight controller using the ESP32 microcontroller, enabling wireless guidance through a Graphical User Interface (GUI) on Raspberry Pi. In this context, an Extended Kalman Filter (EKF) with a nonlinear control model is employed to estimate the angular velocity and speed of the quadrotor. Simulationswere conducted using two nonlinear controllers (BackStepping Controller (BSC) and Sliding Mode Controller (SMC)) across various scenarios to prove the efficiency of the proposed method for trajectory tracking. The performance was analyzed using Root Mean Square Error (RMSE) and compared to previous works. It was noticed that in the both control scenarios, the estimated states followed the desired instructions, although a potential overshoot was noted in the case of SMC. Additionally, two control approaches were practically implemented. The first approach utilizes the classical Proportional Integral Derivative (PID) technique, while the second approach employs the modern Backstepping technique. The results demonstrate that both control approaches deliver satisfactory performance and responsiveness in stabilizing the quadrotor in real-world scenarios. However, it has been noticed that the Backstepping controller achieves higher performance, whereas, the PID controller’sperformance is constrained by tuning and model limitations.
Enhancing Echo Processing Through the Integration of Support Vector Machine and Weber’s Law Descriptors
(SciTePress, 2024) Hedir, Mehdia; Demim, Fethi; Messaoui, Ali Zakaria; Messaoui, Aimen Abdelhak; Belaidi, Hadjira; Rouigueb, Abdenebi; Nemra, Abdelkrim
Removing ground echoes from weather radar images is a topic of great importance due to their significant impact on the accuracy of processed data. To address this challenge, we aim to develop methods that effectively eliminate ground echoes while preserving the precipitation, which is a crucial meteorological parameter. To accomplish this, we propose to test Local Descriptors based on Weber’s law (WLD), as well as descriptors that combine Weber’s law with Local Binary Pattern (WLBP), using Support Vector Machine (SVM) classifiers to automate the recognition of both types of echoes. The proposed methods are rigorously tested at the sites of Setif and Bordeaux to evaluate their effectiveness in accurately identifying the ground echoes and precipitation. The results of our experiments demonstrate that the proposed techniques are highly effective in eliminating ground echoes while preserving the precipitation, and can be considered satisfactory for practical applications in meteorological data processing.
Hardware/Software Codesign for Intelligent Motor Drive on an FPGA
(IEEE, 2020) Benzekri, Azzouz; Belaidi, Hadjira
The paper aims to address the design, simulation and implementation processes of a fuzzy logic controller to regulate in real-time the speed of an armature-controlled DC motor using hardware/software co-design methodology. A fuzzy logic control law and a digital pulse width modulation (DPWM) technique are used as a computational solution, while the implementation is carried on a reconfigurable computing hardware platform. The computationally intensive tasks are implemented as custom hardware accelerators using VHDL, while data flow and data control are implemented in software using the system-on-programmable-chip (SoPC) approach. Computer simulation results show the effectiveness and merit of this design flow. In addition, the real-time applicability of this heterogeneous controller is exemplified on an armature-controlled DC motor platform.
Human–Robot shared control for path generation and execution
(Springer, 2019) Belaidi, Hadjira; Hentout, Abdelfetah; Bentarzi, Hamid
A telerobotic system consists of integrating an operator into the control loop of a remote robot. Due to safety considerations, it is very important sometimes that the operator be able to remotely take control of the task and the robot. In this paper, a shared control mode for mobile robots is defined according to the operator ability to control the robot and the autonomy level of the robot itself. In this mode, the task execution is simultaneously accomplished by the operator and the robot, according to the percentage of the task-share coefficient. This depends on several factors such as robot autonomy, user ability, environment accessibility and task difficulty. An experimental application of the developed shared control for path generation task execution is planned for a non-holonomic mobile robot evolving inside a workspace cluttered with static obstacles. In this case, Non-Uniform Rational B-Splines curves are used to generate the robot path linking the Starting point I and the Target point F. The operator can control the robot even by selecting or inserting new control points on the initial feasible path, or by directly moving the robot via the developed Human/Robot Interface or the joystick
Hydraulic model of a lifting and handling manipulator
(IEEE, 2020) Benmisra, Abdelkader; Belaidi, Hadjira
This publication concerns hydraulic robots used in flexible production lines, in fact in hydraulic systems, energy is transmitted and controlled by means of a pressurized fluid circulating in a circuit. which form a new series of applications pick place (Patents: N° 9507799623622 AL 1996088,9622856 AL 19960801, 9620818 AL 19960711...). Circuit diagrams are an aid facilitating the understanding, study and description of production cells. The new, very simple structure of the hydraulic robot is a novelty in Algeria and has been adapted to the data of a production line made up of seven production lines.In order to avoid any confusion and error during development, production, installation and maintenance and in order to transform this production line into a flexible cell, it appears essential that these diagrams be linked to a standardized representation
Impact of integrating DERs and ESS on Smart-Grid supply continuity : a review
(IEEE, 2022) Kaddour, Djillali; Belaidi, Hadjira
Smart-grid power distribution system's ideal objective is to provide a continuous power supply. The voltage waveform, Frequency also amplitude must meet their expected values in all respects, defining the power supply's quality. Electric distribution system continuity is essential for utilities as well as consumers. Progress in the economy, public health, and general well-being are all affected by the continuity and reliability of the power-grid distribution system. When the power supply goes down, The term "interruption of supply" or simply "interruption" is used to describe this. From the client's point of view, less frequent and briefer interruptions improve supply quality and continuity. By integrating distributed energy resources (DERs) and energy storage systems (ESS) into the power grid, reliability and continuity of power supply in the Smart-grid distribution system will increase. It is necessary to use continuity indicators, also known as "continuity indices" or "reliability indices", to quantify the continuity of the power supply. The main indices used in most countries are the SAIDI, SAIFI, and CAIDI. These indices are specified in IEEE Std. 1366. In this work, various studies are discussed and some researches on supply continuity in smart grids and the effects of integrating DERs and ESS on the reliability and continuity of power supply based on continuity indicators (SAIFI, SAIDI and CAIDI) are reviewed. Case studies on African countries is also included to demonstrate the usefulness and significance of continuity indicators to evaluate the grid distribution system's continuity
Implementation of a mobile robot platform navigating in dynamic environment
(2017) Belaidi, Hadjira; Bentarzi, Hamid; Belaid, Mohamed
Currently, problems of autonomous wheeled mobile robots in unknown environments are great challenge. Obstacle avoidance and path planning are the back bone of autonomous control as it makes robot able to reach its destination without collision. Dodging obstacles in dynamic and uncertain environment is the most complex part of obstacle avoidance and path planning tasks. This work deals with the implementation of an easy approach of static and dynamic obstacles avoidance. The robot starts by executing a free optimal path loaded into its controller; then, it uses its sensors to avoid the unexpected obstacles which may occur in that path during navigatio
Implementation of Battery Characterization System
(MDPI, 2023) Zermout, Abdelaziz; Belaidi, Hadjira; Maache, Ahmed
The successful transfer toward green renewable energy depends heavily on good, reliable Energy Storage Systems (ESS). Lithium-ion batteries are the preferred choice for many applications; however, they need careful management, especially an accurate State-Of-Charge (SOC) estimation. Hence, in this paper an overview of some SOC estimation methods is briefly described; then, an automated battery cell test system prototype that will enable further improvement is designed and implemented. Some tests are conducted on an aged lithium-ion cell and the obtained results are satisfactory and accurate with an error of around 0.5 × 10−3 (V or A), thus validating the proposed prototype.
Improving the License Plate Character Segmentation Using Naïve Bayesian Network
(Science and Technology Publications, Lda, 2023) Rouigueb, Abdenebi; Demim, Fethi; Belaidi, Hadjira; Messaoui, Ali Zakaria; Benatia, Mohamed Akrem; Djamaa, Badis
Character segmentation plays a pivotal role in automatic license plate recognition (ALPR) systems. Assuming that plate localization has been accurately performed in a preceding stage, this paper mainly introduces a character segmentation algorithm based on combining standard segmentation techniques with prior knowledge about the plate’s structure. We propose employing a set of relevant features on-demand to classify detected blocks into either character or noise and to refine the segmentation when necessary. We suggest using the naïve Bayesian network (NBN) classifier for efficient combination of selected features. Incrementally, one after one, high computational cost features are computed and involved only if the low-cost ones cannot decisively determine the class of a block. Experimental results on a sample of Algerian car license plates demonstrate the efficiency of the proposed algorithm. It is designed to be more generic and easily extendable to integrate other features into the process.
IoT Path Planning Approach for Mobile Robots
(IEEE, 2018) Belaidi, Hadjira; Jugurtha, Belkalem; Abed, Mohamed Amine; Bentarzi, Hamid
Path planning is an essential task for any autonomous mobile robot to extract an optimal free path from a given initial position to a defined target. In this work, new approach built upon the internet of things (IoT) has been proposed; microprocessor based devices are used on path generation and robot platforms focus on path following. Hence, two different algorithms, Bug0 and Potential Field, are merged to create a hybrid approach using fixed cell decomposition for the environment and a map of this environment is created. Data are exchanged via the wireless LAN (local area network). The obtained results surpass the traditional implementations where robots were making every decision. Moreover, the proposed topology accomplishes scalability easily. Therefore, this work consists of the development and the implementation of intellectual and robust software to automate the robot tasks. A map, built basing on data acquired from a camera, will activate the whole process; then, a computer (or any microprocessor device) will treat these data and generate an optimal trajectory and send it to the robot platform via the wireless medium to enable it to navigate from any given initial point to any target. The robot is also able to detect a change in the environment and report it to the computer to get a new path.
Microgrid energy management strategy based on MAS
(IEEE, 2022) Chalah, Samira; Belaidi, Hadjira; Merrad, Lydia; Alili, Thiziri
Microgrid energy management controllers are usually developed to combine various kinds of energy sources into a cooperated microgrid system. Therefore, this microgrid must be able to feed itself and satisfy its loads using its own resources. Moreover, in case of a supply failure, it must be able to disconnect itself from the main grid and continue producing and consuming electricity. However, in presence of different types of renewable resources, the complexity of calculating their availability and managing their energy makes the incorporation of efficient energy management models in a microgrid a challenging task. Hence, this paper proposes a strategy for optimal microgrid power consumption management based on MAS (multi-agent system) approach; where the microgrid resources try to satisfy the load requirements without the need for the other neighbors’ microgrids. Otherwise, it has to request help from the neighboring microgrids based on an optimized order of priorities. The agent controllers are programmed using Python and the validation results are evaluated using the packet tracer
Multi-agent system for voltage regulation in smart grid
(Springer, 2020) Belaidi, Hadjira; Bentarzi, Hamid; Rabiai, Zakaria; Abdelmoumene, Abdelkader
In this research work, a new approach of decentralized energy management for smart grid is proposed to solve the problem of distributed voltage regulation. Where, micro-grids and aggregators are used as smart agents that can communicate with each other to share information, distribute energy and control their own energy consummation. Aggregators make the link between flexible resources. Smart-agents are an emerging technology for decentralized computation and data storage, secured by a combination of cryptographic signatures and a distributed consensus mechanism. So, two types of agents: energy Generation AGent (GAG) and Bus Agent (BAG) are used to regulate the voltage levels by injecting more power at some buses using the renewable energy sources. The interaction between the two types of agents is based on communication and exchange of information about the parameters and the state of the power grid. For testing this approach, a developed tester by our laboratory has been used that gives a good result
Multi-microgrids system’s resilience enhancement
(Institute of Advanced Engineering and Science (IAES), 2024) Chalah, Samira; Belaidi, Hadjira
Nowadays, electricity consumption is increasing rapidly which leads to conventional power systems exhaustion. Therefore, micro-grids (MGs) implantation can enhance the resilience of power systems by implication of new resources, such as renewable energy sources (solar panel and wind power systems), electric vehicles (EV), and energy storage systems (ESS). This paper proposes a new strategy for optimal power consumption inside one microgrid; then, the approach will be extended to optimize the power consumption to enhance the resilience in the case of multi-MGs systems. The system controller of each microgrid has been implemented using ESP32 microcontroller and Raspberry IP4. The proposed approach intends to enhance the resilience of the system to react to any contingency in the system such as loss of power linkage between MG and the network in case of any natural disaster, especially in the rural area. Two controllers are implemented; the first one ensures MG autonomy by the efficient use of its own sources. The second one handles the system resilience cases by demanding/delivering power from/into neighbor microgrids. Hence, this work enhances the system resilience with an optimal cost. Thus, the MG can offer ancillary services for the neighboring MGs.