Efficient and secure real-time mobile robots cooperation using visual servoing

This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method

Intelligent Health Monitoring of Machine Bearings Based on Feature Extraction

This document is the Accepted Manuscript of the following article: Mohammed Chalouli, Nasr-eddine Berrached, and Mouloud Denai, ‘Intelligent Health Monitoring of Machine Bearings Based on Feature Extraction’, Journal of Failure Analysis and Prevention, Vol. 17 (5): 1053-1066, October 2017. Under embargo. Embargo end date: 31 August 2018. The final publication is available at Springer via DOI: https://doi.org/10.1007/s11668-017-0343-y.Finding reliable condition monitoring solutions for large-scale complex systems is currently a major challenge in industrial research. Since fault diagnosis is directly related to the features of a system, there have been many research studies aimed to develop methods for the selection of the relevant features. Moreover, there are no universal features for a particular application domain such as machine diagnosis. For example, in machine bearing fault diagnosis, these features are often selected by an expert or based on previous experience. Thus, for each bearing machine type, the relevant features must be selected. This paper attempts to solve the problem of relevant features identification by building an automatic fault diagnosis process based on relevant feature selection using a data-driven approach. The proposed approach starts with the extraction of the time-domain features from the input signals. Then, a feature reduction algorithm based on cross-correlation filter is applied to reduce the time and cost of the processing. Unsupervised learning mechanism using K-means++ selects the relevant fault features based on the squared Euclidian distance between different health states. Finally, the selected features are used as inputs to a self-organizing map producing our health indicator. The proposed method is tested on roller bearing benchmark datasets.Peer reviewe

Energy Efficient and Safe Weighted Clustering Algorithm for Mobile Wireless Sensor Networks

The main concern of clustering approaches for mobile wireless sensor networks (WSNs) is to prolong the battery life of the individual sensors and the network lifetime. For a successful clustering approach the need of a powerful mechanism to safely elect a cluster head remains a challenging task in many research works that take into account the mobility of the network. The approach based on the computing of the weight of each node in the network is one of the proposed techniques to deal with this problem. In this paper, we propose an energy efficient and safe weighted clustering algorithm (ES-WCA) for mobile WSNs using a combination of five metrics. Among these metrics lies the behavioral level metric which promotes a safe choice of a cluster head in the sense where this last one will never be a malicious node. Moreover, the highlight of our work is summarized in a comprehensive strategy for monitoring the network, in order to detect and remove the malicious nodes. We use simulation study to demonstrate the performance of the proposed algorithm