Institut de Génie Electrique et d'Electronique

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Design and realization of mobile robot
(2015) Bouchetibat, Ahcen; Mekkakia Maaza, Yahia Abdeslem; Guettatfi, Zakarya (supervisor)
The main purpose of this work is to design and realize a mobile robot tricycle-platform; this robot is controlled remotely through a network by a graphical user interface. The robot sends its position to the graphical user interface for localization purposes. The robot motion is based on differential drive concept.A microcontroller board called Arduino Mega 2560 is used as the brain of the tricycleplatform; this tricycle platform is designed using AutoCAD. Arduino Mega controls the operation of two motors, GPS, and a Wi-Fi Module. The two DC motors are used to move the robot. The GPS is used to locate and specify the mobile robot coordinates, these coordinates are used by the graphical user interface to show the current location of the robot on a Google Map. The Wi-Fi module is used to add networking capabilities to the mobile robot; a network is set up based on server/client architecture to exchange data and commands between the graphical user interface and the mobile robot. The graphical user interface is developed using Visual C# and is deployed on our personal computer.As a conclusion, this work shows that differential drive concept is suitable for robots that are based on tricycle-platforms. The localization feature added by the GPS to the robot makes it reachable everywhere. Networking aspect is a good way for remotely controlling robots. And with all the powerful aspects offered by Visual Studio to develop a graphical user interface making it a good first choice to use.
Implementation and control of biped humanoid robot using static walk
(2015) Cherifi, Youssouf Ismail; Aroui, Zakaria; Mohammed Sahnoun, A.
Robotics is seen to be one of the most dominant aspects in several areas of interest by the human world, and one special type of them are humanoids, which are of an important use nowadays to ease the way of our life. This project is about building a biped humanoid robot, and applying a control system to it, so that it can walk forward. This biped robot has a height of thirty three centimeters (33 cm), with 8 degrees of freedom. Two main parts were required to implement this project, the construction part, and the control part. First, the construction part, which is all about finding a suitable design for the biped robot, and building the right model of it in the real world. This part was handled as follows: - Designing the mechanical structure of the biped robot and all its parts, and set the layout of its parts. - Modeling the parts using one millimeter (1mm) aluminum sheets. - Based on the overall design, we assembled the biped robot by adding the eight necessary actuators and the needed controller. Second, the control part, which is about making the biped robot walk properly. We made use of the static walk approach for this task; that is maintaining the robot statically stable during both phases of its walking sequence, the double support phase, and the single support phase. This is achieved by keeping the robot’s center of gravity within the support area. To conclude, this project is about using static walking mechanism to make the biped humanoid robot walk on a flat surface, in hope of further improvements in the future.
Implementation and Control of Biped Humanoid Robot Using Static Walk.
(2015) Cherifi, Youssouf Ismail; Aroui, Zakaria; Mohammed Sahnoun, A. (superviser)
Robotics is seen to be one of the most dominant aspects in several areas of interest by the human world, and one special type of them are humanoids, which are of an important use nowadays to ease the way of our life. This project is about building a biped humanoid robot, and applying a control system to it, so that it can walk forward. This biped robot has a height of thirty three centimeters (33 cm), with 8 degrees of freedom. Two main parts were required to implement this project, the construction part, and the control part. First, the construction part, which is all about finding a suitable design for the biped robot, and building the right model of it in the real world. This part was handled as follows: - Designing the mechanical structure of the biped robot and all its parts, and set the layout of its parts. - Modeling the parts using one millimeter (1mm) aluminum sheets. - Based on the overall design, we assembled the biped robot by adding the eight necessary actuators and the needed controller. Second, the control part, which is about making the biped robot walk properly. We made use of the static walk approach for this task; that is maintaining the robot statically stable during both phases of its walking sequence, the double support phase, and the single support phase. This is achieved by keeping the robot’s center of gravity within the support area. To conclude, this project is about using static walking mechanism to make the biped humanoid robot walk on a flat surface, in hope of further improvements in the future.
Implementation of a Biometric Identification System using Electrocardiogram ECG/EKG
(2015) Zebbiche, Badr Eddine; CHerifi, Dalila (superviser); Harizi, Farid (superviser)
Nowadays, Biometrics is extensively being used for the purpose of authentication in security related aspects. Biometrics deals with individuals’ identification through their physiological characteristics such as fingerprint, Deoxyribonucleic Acid DNA, Electrocardiogram ECG, Face, Voice…etc. Many of these models have limitations and contains: difficultly of extraction (DNA), unique utilization of the hardware (IRIS)…etc. Hence, ECG is chosen for its accuracy, hardware utilization in tele-monitoring, and high security level. In this presented treatise, an ECG based biometric system has been developed. The project is divided into two main parts: Hardware and Software. The hardware part, performs the signal acquisition, amplification, and digitalization. The hardware is provided with the alternative of wired via UART or wireless transmission via XBee RF modules. In software part, the biometric algorithm uses the concepts of machine learning and pattern recognition. Basically, the algorithm is divided into two main part: training (enrollment) phase and testing phase. In training phase, the system gets indoctrinated with a set of ECG data recordings of different people. Then, it extracts their features after pre-processing in a form of spectral information. Features are taken into higher dimensionality space of 28 (256D) and scattered separately to form labeled classes (Principal Components Analysis – PCA). Once the testing data arrives, classification process affects them into their corresponding class, which is identification decision, using the Euclidean distance. The algorithm was developed based on the MIT-BIH Arrhythmia Database and then tested on our customized database acquired using the developed hardware. The two main aspects that have been under focus are the execution time and accuracy or identification rate. An accuracy of 98% has been achieved with the developed system.
Building detection in remote sensing images using gabor filter
(Université M’Hamed BOUGARA de Boumerdes : Institut de génie electrique et electronique (IGEE), 2015) Fares, Dalila; Mallem, Ibtissem; Zemmouri, Karima; Daamouche, Abdelhamid (superviser)
buildings from remote sensing images. In this report, we propose an unsupervised method to extract building by means of Gabor filters and morphological operators. Our proposed method starts from a set of Gabor filter parameters which is selected empirically to generate a two-dimensional impulse response. The convolution of the impulse response with the image of interest enhances the buildings and attenuates the background. Moreover, morphological operators are applied to further refine the resulting class of interest. The developed algorithm is applied on many remotely sensed images; the obtained results are highly satisfactory and promising.
FPGA-Based car-like robot path follower with obstacle avoidance
(2016) Moulay, Aicha; Laoufi, Fatima; Benzekri, A.(Supervisor)
This project is about the design and implementation of an SOPC based automated path following with obstacle avoidance using infrared sensors and ultrasonic sensor. The Line follower robot is a mobile machine that can detect and follow the line drawn on the floor. The path is predefined as a black line on a white surface with a high contrasted color. This kind of robot should sense the path using infrared sensors which installed under the robot. After that the data is transmitted to the controller to be processed by specific transition buses. The processor is going to send proper commands to the driver unit circuit and thus the path will be followed by the line follower robot. This system is provided with obstacle avoidance mechanism using ultrasonic sensor. After avoiding the obstacle either from the right side or the left side the car then has to find its path again to reach its destination with the continuity of following and scanning the path. The car will stop if an obstacle is detected on the path and on both sides of it or if the path is ended. The digital controller is designed and implemented using both off-the-shelf integrated circuits and the FPGA. The FPGA subsystem is developed using Altera Quartus II development suite tools and the Altera monitor program software. It is realized on a CycloneII EP2C35F672C6 low-cost FPGA platform and tested on a physical structure constructed in the laboratory for its feasibility and functionality.
PID Controller Tuning using DE and PSO optimization techniques
(2016) Alem, Mohamed Mounir.; Saidoun, Hakim; Ouadi, A. (Supervisor)
The PID controllers are the most popular and widely used controllers in industry because of their simplicity; robustness and successful practical application that can provide excellent control performance despite the varied dynamic characteristics of plant .Determination or tuning of the PID parameters continues to be important as these parameters have a great influence on the stability and performance of the control system. Most of the processes are complex and nonlinear in nature resulting into their poor performance when controlled by traditional methods. The need for improved performance of the process has led to the development of optimal controllers. In this project, two modern heuristic techniques which are particle swarm optimization (PSO) and Differential evolution algorithm (DE) are used for tuning and optimizing PID parameters. A classical method, which is Ziegler and Nichols method, is also used. Finally, a comparison is made between classical method (ZN) and optimization methods (PSO and DE) are applied on high order system, the proposed methods were indeed more efficient and robust in improving the control performances of the PID algorithm.
Microstrip band-pass filters for dual band applications, design and implementation
(2016) Mermoul, Ali; Hocine, Kenza; Challal, M. (Supervisor)
In this work, three new different microstrip dual-band bandpass filters (BPFs) operating at (2.1 GHz, 5.1 GHz), (1.6 GHz, 5.15 GHz) and (2.45 GHz, 5.5 GHz) for 3G, Wi-Fi, WLAN and satellite communications are investigated and realized. The three filters are obtained from modified second order hairpin filter. The proposed filters present satisfactory performances and meet the requirements of modern wireless communication systems. The substrate material used for all designs is FR4 with a thickness of 1.62 mm, a relative dielectric constant of 4.3 and a dielectric tangent loss of 0.0017.
Robust Passivity-based control of active surge
(2016) Malki, Mohammed Lamine; Yahamdi, Mohammed Amin; Boushaki, Razika (Supervisor)
In this work, we address the stability of compression systems and the active control of surge, considering the Moore-Greitzer model with recycling valve. Despite considerable efforts to stabilize centrifugal compressors at efficient operating points, preventing surge is still a challenging problem. Here, a passivity-based control is suggested to robustly stabilize the used model for centrifugal compressors. In this project we have showed that we can use the recycle valve as an active surge actuator and the results were successful. After that, classical solution (the use of the PI controller) has been explored in addition to the use passivity-based control as a new type of controllers. Talking then in terms of performance and robustness, the passivity-based control has achieved these two goals. Simulation of the obtained results is done with Simulink.
Identification of A distributed parameter system using the least squares technique
(2016) Dahlouk, Abdelkader; Azzoug, El-Mehdi; Kouadri, Abdelmalek (Supervisor)
The identification of such systems represents one of the important directions of theoretical and practical research, due to large class of applications; fluid flow systems, heat diffusion systems, etc. In this context, we consider the linear parametric identification of distributed parameters systems using the Least Square. Two numerical examples of heat transfer systems are presented where linear and nonlinear models are obtained from heat difference equation. The third application is about the identification of a heat conduction in a cement rotary kiln using experimental data. We anticipate that this work be intuitive for practical applications in the areas of controls and signal processing.
Study and simulation of the link adaptation technology in the LTE standard
(2016) Meziane, Mokrane; Allilat, Fetta; Zitouni, Abdelkader (Supervisor)
The Long Term Evolution first introduced by the link adaptation system as a massive step forward in the control of the network resources. It is mainly based on measuring instantaneous Signal to Interference and Noise Ratio (SINR) which is used to investigated the influence of several parameters on the link adaptation error characteristics. Adaptive Modulation and Coding (AMC) is used to increase the network capacity or downlink data rates. Spatial multiplexing techniques for MIMO antenna configurations are also considered. This report has outlined the various scheduling techniques used in the link adaptation process to increase the throughput of the network. Three major channel state report measurements are used to perform the adaptations which are: CQI (channel quality indicator), PMI (Precoding Matrix Indicator), and RI (Rank Indicator) measurements. An analysis and a comparison of these scheduling algorithms were done through simulations executed on MATLAB software. The impact of the scheduling schemes was examined on the throughput (Average Data Rate) and the Bit Error Rate (BER), and it was compared to the case where no adaptation is done. The fairness of the results given by each scheduling scheme was investigated. The link adaptation improved the transmission robustness through minimizing the error and increased the spectral efficiency to produce a satisfactory average data.
Digital Filters for reducing the effects of dispersion in optical communication
(2016) Grainat, Youcef; Mebarki, Yaser; Zitouni, Abdelkader (Supervisor)
The aim of this project is to use digital filters to reduce the effects of dispersion in modern WDM optical communication systems at two transmission speeds, 2.5 and 5 Gbps. For this purpose two types of filters [Gaussian Filter (GF) and Cosine Roll Off Filter (CROF)] have been tested by simulation using OptiSystem and Matlab in single mode fiber links at the operating wavelength of 1550 nm. From the obtained results a comparative study with respect to the conventional Dispersion Compensating Fibers (DCF) has been carried out.
Building a micro-processor based mobile robot using computer vision
(2016) Mezheri, Adel; Yahoui, Sofiane; Belaidi, Hadjira (Supervisor)
This project presents the concepts and techniques used for the design and implementation of an autonomous mobile robot platform able to navigate, detect and avoid obstacles in an unknown environment using computer vision. The first part of this project proposes the strategy used for the detection of obstacles using only a camera as sensor, implemented on a Raspberry microprocessor. The second part consists of the avoidance of the obstacles found by dealing with the read of digital data from the camera and processes them in order to make the right decisions to permit the robot to reach its goal. The work will be achieved with an experimental platform realization of the robot.
Adaptive PID fuzzy logic control of the recycle compression systems
(2016) Lahbiben, Yasmine; Ouacif, Hadjer; Boushaki, Razika (Supervisor)
Centrifugal compressors play an integral role in the oil and gas industry, helping power the multiple processes that convert oil and gas into thousands of practical products. These types of compressors can encounter a very dangerous and detrimental problem called surge. This work deals with the study of Centrifugal compressor surge and its prevention. In order to avoid the surge occurrence and ensure compressor’s operation in the stable region with maximum efficiency, appropriate techniques are considered based on PID regulator. Classical PID controllers remain one of the simplest, most effective, robust, and easily certifiable control strategies. However, this simplicity comes with a price. Design tradeoffs between integral and derivative gain in a linear PID controller often make it difficult to achieve optimal performance. To solve this problem, the design of a multistage fuzzy PID controller is proposed in this thesis. The simulation results show the effectiveness of the multistage fuzzy PID controller in maintaining the speed and stability of the system.
Development and implementation of an even and uneven environment navigation strategy
(2016) Belkalem, Jugurtha; Abed, Mohamed Amine; Belaidi, Hadjira (Supervisor)
Industrial robotics is evolving quickly around the world, a great interest is shown for these machines.The robot’s age is close, new citizens will join our society. However, for these machines to operate complex algorithms are needed and required to handle various situations. An important capability for mobile robots is navigation, reaching a destination without colliding the obstacles, this problem is referred as Path Planning. Path planning is required for an autonomous mobile robot to find an optimal trajectory to the destination, a human controller is not needed anymore. A new approach has been proposed in this work, built upon the internet of objects ; computers are focused on path computation and robots on the execution, information is exchanged through the network (wireless local area network). The results outperform by far the classical implementations where robots were making every decision. Scalability is also achieved easily using the proposed topology, multiple robots can be controlled without impacting on the implementation. In this project, intelligent and robust software has been written to automate every task, a simple input of the map will trigger the whole process, the computer will compute an optimal trajectory then sends it to the robot for execution through the wireless medium(WIFI). The path is preplanned and can be saved for further exploitation. The robot is also able to detect a change in the environment and report it to the computer to get a new path.
FPGA-based arabic LCD display controller IP design
(2016) Rahil, Lillia; Aggoune, Khedidja; Khouas, A. (Supervisor)
A 2x16 character Liquid Cristal Display (LCD) is one of the most common Input/Output (I/O) devices. It allows designers to communicate with the outside world. Alphanumeric LCD can display English and some other special characters. However, Arabic characters cannot be displayed since the Arabic fonts are not embedded in the LCD controller, thus there are no corresponding American Standard Code for Information Interchange (ASCII) codes for it. To allow Arabic display on an LCD module and reduce designs’ time, we suggest to create an Intellectual Property (IP) core for Arabic character LCD display controller. The design was done by creating a block diagram of the LCD controller and interface it to a clock divider module and an IP core memory namely a Block Random Access Memory (BRAM). The whole design was initialized and tested using VHDL codes. The LCD initialization is done using some specific commands. These commands allow Arabic characters to be generated and read from the Character Generator RAM (CG RAM) which is one of the controller’s memory regions. The complete LCD module was described and synthesized using Xilinx Integrated Synthesis Environment (ISE) design suite tools, and implemented and tested using Xilinx Virtex 5 Field Programmable Gate Array (FPGA) and Digilent Genesys board. After creating the needed design, a simulation of each component has been made using a test bench VHDL code. However, Displaying Arabic characters using FPGA couldn’t be achieved due to lack of time and some problems, mainly changing the FPGA board, wasting time in working on some other Xilinx tools and lack of the needed documentations. Moreover, once we implemented the design LCD displayed just a cursor blinking to show clearly that the generated character couldn’t be displayed .It has not been well introduced in the CGRAM of the controller. What we suggest is to try to reuse those commands and test it once again since the same method works once we tested it on a microcontroller.
A study and optimization of the JPEG2000 image compression algorithm
(2016) Boumedine, Ahmed Yassine; Nehar, Sallah Eddine; Kerouh, Fatma (Supervisor)
The aim of this project is to study and optimize JPEG2000 compression algorithm. JPEG2000 is a compression standard that uses wavelet transform. A color space transformation is first achieved, then the compression process in the wavelet domain is applied. Our purpose is to find the optimal color space, optimal wavelet, and optimal resolution level to compress any image. To carry out the experiments, the basic JPEG2000 algorithm is first implemented using MATLAB software. Then, tests are performed on different images selected from a free database named LIVE. For the study, three color spaces have been considered, Red, Green, Blue (RGB), Luminance/ Chrominance (YCbCr), and Hue/ Saturation/ Value (HSV). Furthermore, different wavelets and resolution levels have been considered. The compressed images are evaluated in terms of compression ratio, Detail Index (DI), and three quality metrics a full reference spatial metric named PSNR (Peak Signal to Noise Ratio), structural quality metric named MS-SSIM, and a blur metric (IQA).
Photovoltaic emulator
(Université M’Hamed BOUGARA de Boumerdes : Institut de génie electrique et electronique (IGEE), 2016) Reffafa, Abderrahmane; Derradji, Houssam Eddine; Chafai, Mahfoud (Supervisor)
This work is concerned with the design and implementation of photovoltaic source emulator, which is a power converter whose output voltage and current are controllable so that to reproduce the electrical behavior of a photovoltaic panel. This is achieved through a simulation environment based on a Matlab algorithm that receives the photovoltaic panel parameters, the applied irradiance and temperature, and then calculates the corresponding I-V curve and operating point. These are transferred to the hardware through a microcontroller. Finally the hardware generates the desired Voltage and current, which emulate the output of the real PV panel.
A Proposed algorithm for diffusion magnetic resonance imaging brain tractography
(2016) Boudjada, Messaoud; Morsli, Abdelatif; Cherifi, Dalila (Supervisor)
Most of previously published diffusion magnetic resonance imaging reconstruction methods are linked to their own track integration method, some of them use Euler integration others try to improve the integration using the second order and the fourth-order Rang Kutta algorithms. In this work, we have formulated a general, deterministic tractography algorithm (CIERTE), which is a combination of Improved Euler and Range-Kutta fourth-order algorithm, which combine the speed and accuracy at the same time. We have used also trilinear interpolation, which works with voxel level information about fiber orientations including multiple crossings, and employs a range of stopping criteria as those described in EuDX [1] algorithm and FACT [2]. The purpose of this algorithm is to make tracking accurate and fast at the same time and make it general for all deterministic tracking methods.
QRS detection in ECG signals
(2016) Boutoudj, Taous; Benaziz, Meriem; Daamouche, Abdelhamid
The detection of QRS complexes is of great importance for the analysis of the electrocardiogram (ECG) signal, which traces the activity of the heart. ECG signal is the most used non invasive method to acquire the electrical heart activity. Because of its ease of measurement and its availability, the ECG signal is widely used to identify different types of arrhythmias. In our project, we have used MATLAB to implement two softwares that detect QRS complex by means of both types of digital filters (IIR and FIR). To test the performance of these two implementations, we have used the benchmark MIT-BIH dataset and also we have generated a data base by recording the ECG of different persons at rest and in activity situations, what was done at CDTA by the help of two doctors. Also, the R peak count was done by a doctor from MUSTAPHA Hospital to be able to evaluate our results.