Browsing by Author "Derragui, N.(supervisor)"

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    Adaptive impedance control for unknown environment
    (2022) Benbouali, Mohamed Amine; Derragui, N.(supervisor)
    This report presents a simulation, design, build and evaluation of a 2 degree of freedom robotic arm guided by an adaptive impedance control algorithm governed by a neural network. This neural network is trained and evaluated by an adaptive genetic algorithm, the implementation of the robot arm consists of a 3D printed interconnected body controlled by Python and Arduino equipped with high torque servo motors. Interaction force sensors are installed around the end effector of the robotic arm as feedback to the neural network to exert manipulative decisions.
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    Implementation of motion generation strategy for mobile robots with RFID sensors
    (2020) Sebaa, Abderrahmane; Derragui, N.(supervisor); Akil, Isma (supervisor)
    Some modern Robotics platforms use Radio Frequency IDenti cation (RFID) technology in various elds of application (industrial, service . . . ). RFID systems are composed of antennas, readers and tags. RFID tag consists of a memory storing information. The reader reads/writes information from/on the tags through the antennas. In robotic context, the tags can contain information about the environment such as obstacles, humans, robots. . . . This master thesis was carried in the Center of Development of Advanced Technologies (CDTA) and the main goal was to integrate a new software and hardware architecture for the di erential drive Robotic platform, with Integrating RFID Sensors in the motion strategy. The Proposed architecture was based on a Single-board Computer (RaspberryPi) embedded platform, a microcontroller based card and Robot Operating System (ROS) for the software im-plementation and the approach execution. The embedded platform has to control the movement of the mobile robot, and to read sensorial information (RFID, Laser measurement Sensor,. . . ). The navigation module should be introduced with integrating RFID technology. The robot takes decisions of regulating its speed or setting a new destination based on the information contained in the RFID tags it receives. This can be very bene cial in an industrial environments where a mobile robot can carry products to di erent lines in the production process based on the RFID tag attached to them. The value added by the architecture is to provide a fully functional and scalable di erential drive robotics platform with integrating RFID technology for further research and development projects.