Generic decoupled image-based visual servoing for cameras obeying the unified projection model

In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform

Imposed Switching Frequency Direct Torque Control of Induction Machine Using Five Level Flying Capacitors Inverter

The paper proposes a new control structure for sensorless induction motor drive based on a five-level voltage source inverter (VSI). The output voltages of the five-level VSI can be represented by nine groups. Then, the amplitude and the rotating velocity of the flux vector can be controlled freely. Both fast torque and optimal switching logic can be obtained. The selection is based on the value of the stator flux and the torque. This paper investigates a new control structure focused on controlling switching frequency and torque harmonics contents. These strategies, called ISFDTC, indeed combines harmoniously both these factors, without compromising the excellence of the dynamical performances typically conferred to standard DTC strategies. The validity of the proposed control technique is verified by Matlab/Simulink. Simulation results presented in this paper confirm the validity and feasibility of the proposed control approach and can be tested on experimental setup.Peer reviewe

Visual servoed micropositioning for protein manipulation tasks

In this paper, we present a framework for cell manipulation tasks with visual servoing micromanipulation strategies. A vision based micropositioner is designed in order to address the requirement of high precision needed to perform manipulation of objects under 100 μm in size. The system calibration (microscope-camera-micropositioner) and the model of the observed scene are not known. Experimental results for micropositioning tasks with respect to protein cells are presented and demonstrate the validity of the proposed approach

Path Planning for Robust Image-Based Visual Servoing

Vision feedback control loop techniques are efficient for a large class of applications but they come up against difficulties when the initial and desired robot positions are distant. Classical approaches are based on the regulation to zero of an error function computed from the current measurement and a constant desired one. By using such approach, it is not obvious to introduce any constraint in the realized trajectories and to ensure the convergence for all the initial configurations. In this paper, we propose a new approach to resolve these difficulties by coupling path planning in image space and image-based control. Constraints such that the object remains in the camera field of view or the robot avoids its joint limits can be taken into account at the task planning level. Furthermore, by using this approach, current measurements always remain close to their desired value and a control by image-based servoing ensures the robustness with respect to modeling errors. The proposed method is based on the potential field approach and is applied when object shape and dimensions are known or not, and when the calibration parameters of the camera are well or badly estimated. Finally, real time experimental results using an eye-in-hand robotic system are presented and confirm the validity of our approach

Modeling and Lyapunov-designed based on adaptive gain sliding mode control for wind turbines

In this paper, modeling and the Lyapunov-designed control approach are studied for the Wind Energy Conversion Systems (WECS). The objective of this study is to ensure the maximum energy production of a WECS while reducing the mechanical stress on the shafts (turbine and generator). Furthermore, the proposed control strategy aims to optimize the wind energy captured by the wind turbine operating under rating wind speed, using an Adaptive Gain Sliding Mode Control (AG-SMC). The adaptation for the sliding gain and the torque estimation are carried out using the sliding surface as an improved solution that handles the conventional sliding mode control. Furthermore, the resultant WECS control policy is relatively simple, meaning the online computational cost and time are considerably reduced. Time-domain simulation studies are performed to discuss the effectiveness of the proposed control strateg

Proposal for an approach to evaluate continuity in service supply chains: Case of the Moroccan electricity supply chain

The purpose of this paper is to develop an approach to analyse and evaluate continuity in Service Supply Chain (SSC), through a case study. This approach is based on the data-driven quality strategy "Define, Measure, Analyze, Improve, Control" (DMAIC) which is used to drive Six Sigma projects, and on the characteristics of Smart Supply Chain. It combines Business process management (BPM), Supply Chain Operations Reference (SCOR), and the Root cause analysis tree diagram. The chosen case study is the electricity SCC, especially the business process 'management of electricity for residential buildings' of the Moroccan electricity SSC. The paper shows that the suggested approach identifies the discontinuity causes for the studied SSC, improves the business process behavior and manages its control by providing a dashboard that encompasses KPIs for periodically controlling of the SSC "to-be" state

Gene Expression Profiling of Placenta from Normal to Pathological Pregnancies

The placenta is a unique temporary organ essential for growth of the fetus, which determines the success of pregnancy. Its originality relies on a combination of nutritive, endocrine and immunological functions that control maternal immune tolerance to fetus. In the present chapter, we review gene expression programs of placenta from placenta tissue to isolated cells using high throughput transcriptomic approach. Beside trophoblasts, we focused on immune cells including macrophages, dendritic cells and mast cells. From the gene expression signatures, we identify key pathways for the different trimesters of the normal pregnancy and pathological alterations including preeclampsia and gestational diabetes mellitus