Publications Scientifiques

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Author: search.filters.author.Benazzouz, DjamelSubject: search.filters.subject.Energy consumption

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    Mobile robot energy modelling integrated into ros and gazebo-based simulation environment
    (2021) Touzout, Walid; Benazzouz, Djamel; Benmoussa, Yahia
    Mobile robots' autonomy is limited by the capacity of their batteries; thus, their energy consumption estimation and management are important issues to deal with energy minimization techniques, such as path planning, tasks scheduling etc. These techniques need to be tested, evaluated, and approved for different scenarios; however, this cannot be feasible in case of huge scenarios and may require much hardware setup. In this paper, we introduce a numerical solution by enriching the Robot Operating System (ROS) infrastructure with modelling, monitoring, and energy management tools by integrating an energy consumption model of a differential drive mobile robot into ROS/Gazebo-based simulator. The obtained results involve realtime power consumption of the virtual robot for predefined scenarios, and the total energy consumption is monitored numerically at the end of each scenario without any hardware requirement.
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    Differential Drive Mobile Robot Energy Model Integration into ROS–Based Simulation Environment
    (2019) Touzout, Walid; Benazzouz, Djamel; Ouelmokhtar, Hand; Benmoussa, Yahia
    Nowadays, mobile robots are used in different applications however they are constrained by the limitation of their batteries making reducing energy consumption a significant challenge for mobile robots’ community. Thus, energy consumption modelling is therefore becoming an important approach to reducing energy cost. However, power reduction techniques evaluation and approbation may require much hardware configuration and can be time consuming especially in case of huge scenarios. We present in this paper a methodology used to enrich the Robot Operating System (ROS) infrastructure with modelling, monitoring, and energy management tools by integrating an energy consumption model of a differential drive mobile robot into ROS and Gazebo-based simulator. The simulation results illustrate the instantaneous power consumption of the robot for three different scenarios. Thereafter, the total energy consumption can be monitored without any hardware requirement at the end of each scenario
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    Unmanned surface vehicle energy consumption modelling under various realistic disturbances integrated into simulation environment
    (Elsevier, 2021) Touzout, Walid; Benmoussa, Yahia; Benazzouz, Djamel; Moreac, Erwan; Diguet, Jean-Philippe
    Energy consumption estimation and management of the maritime Unmanned Surface Vehicles (USV) is an important issue to deal with energy minimization techniques such as path planning, tasks scheduling, etc. In this paper, we introduce the energy consumption parameter in USV simulation through three contributions: 1) An analytic USV's energy consumption model is developed based on the three-degrees-of-freedom dynamic model of surface vessels. 2) A reverse engineering approach is proposed to identify the previously used dynamic model parameters based on a set of scenarios executed within a recent simulation environment. 3) The simulator engine is enriched with the consumption modelling tools such that the power absorbed by the USV is instantaneously calculated and returned; thus, the required energy of any predefined scenario is available as a new simulation result
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    A methodology for performance/energy consumption characterization and modeling of video decoding on heterogeneous SoC and its applications
    (Elsevier, 2015) Benmoussa, Yahia; Boukhobza, Jalil; Senn, Eric; Hadjadj-Aoul, Yassine; Benazzouz, Djamel