Papers by Laurent Vermeiren
Depuis plusieurs annees, des travaux traitant du probleme de l'analyse de la stabilite d'... more Depuis plusieurs annees, des travaux traitant du probleme de l'analyse de la stabilite d'une boucle de regulation floue comprenant un modele flou de type Takagi Sugeno Kang (TSK) ont vu le jour. La stabilite de ces modeles a ete etudiee a partir de plusieurs points de vue (approche par Lyapunov, mise sous la forme d'un modele lineaire avec des incertitudes de modelisation …). Ainsi, le probleme est de pouvoir determiner une loi de commande stabilisante, qui tres souvent est basee sur une synthese classique rencontree dans la litterature et baptisee PDC (Parallel Distributed Compensation). Dans ce cas, la partie conclusion de la loi de commande floue est une loi de commande par retour d'etat et l'analyse de la stabilite de tels systemes commandes se fait en utilisant une approche de type Lyapunov. Le travail presente dans ce memoire propose un certain nombre de lois de commande pour les modeles flous de la forme TSK qui ne sont pas directement basees sur le concept PDC. Dans un premier temps, est proposee, une premiere approche inspiree de la stabilisation simultanee d'une famille de modeles lineaires SIMO. Des conditions suffisantes d'existence d'une loi de commande pour des modeles flous continus SIMO de type TSK sont donnees ainsi qu'un principe de separation permettant l'utilisation d'un observateur flou. Ensuite, une seconde approche propose sur une famille de modeles particuliers, qui s'etendent au cas multivariable, des conditions qui permettent de reduire la conservativite de certains resultats trouves dans la litterature. Un principe de separation est egalement donne pour ces modeles particuliers permettant le calcul d'un observateur. Dans le cas MIMO, les outils de la commande optimale sont utilises pour resoudre le probleme de la commande et de l'observation. Pour ces approches les proprietes de stabilite peuvent etre deduites efficacement en resolvant numeriquement un ensemble d'inegalites lineaires matricielles (LMIs) au moyen d'outils informatiques et mathematiques issus de l'optimisation convexe. Enfin deux applications reelles ont ete traitees. La premiere concerne une regulation floue de type classique permettant de commander le defluxage d'un moteur electrique. La seconde application concerne le systeme bien connu du pendule inverse qui a permis de valider ces differentes approches.
Http Www Theses Fr, 1998
Depuis plusieurs annees, des travaux traitant du probleme de l'analyse de la stabilite d'... more Depuis plusieurs annees, des travaux traitant du probleme de l'analyse de la stabilite d'une boucle de regulation floue comprenant un modele flou de type Takagi Sugeno Kang (TSK) ont vu le jour. La stabilite de ces modeles a ete etudiee a partir de plusieurs points de vue (approche par Lyapunov, mise sous la forme d'un modele lineaire avec des incertitudes de modelisation …). Ainsi, le probleme est de pouvoir determiner une loi de commande stabilisante, qui tres souvent est basee sur une synthese classique rencontree dans la litterature et baptisee PDC (Parallel Distributed Compensation). Dans ce cas, la partie conclusion de la loi de commande floue est une loi de commande par retour d'etat et l'analyse de la stabilite de tels systemes commandes se fait en utilisant une approche de type Lyapunov. Le travail presente dans ce memoire propose un certain nombre de lois de commande pour les modeles flous de la forme TSK qui ne sont pas directement basees sur le concept PDC. Dans un premier temps, est proposee, une premiere approche inspiree de la stabilisation simultanee d'une famille de modeles lineaires SIMO. Des conditions suffisantes d'existence d'une loi de commande pour des modeles flous continus SIMO de type TSK sont donnees ainsi qu'un principe de separation permettant l'utilisation d'un observateur flou. Ensuite, une seconde approche propose sur une famille de modeles particuliers, qui s'etendent au cas multivariable, des conditions qui permettent de reduire la conservativite de certains resultats trouves dans la litterature. Un principe de separation est egalement donne pour ces modeles particuliers permettant le calcul d'un observateur. Dans le cas MIMO, les outils de la commande optimale sont utilises pour resoudre le probleme de la commande et de l'observation. Pour ces approches les proprietes de stabilite peuvent etre deduites efficacement en resolvant numeriquement un ensemble d'inegalites lineaires matricielles (LMIs) au moyen d'outils informatiques et mathematiques issus de l'optimisation convexe. Enfin deux applications reelles ont ete traitees. La premiere concerne une regulation floue de type classique permettant de commander le defluxage d'un moteur electrique. La seconde application concerne le systeme bien connu du pendule inverse qui a permis de valider ces differentes approches.
Communications in agricultural and applied biological sciences, 2003
In this study, 97 lactic acid bacteria were subjected to a step-by-step screening and characteris... more In this study, 97 lactic acid bacteria were subjected to a step-by-step screening and characterisation to search for potential protective cultures to be used in the cooked cured meat industry. Strains were first tested on their homofermentative and psychrotrophic character and salt tolerance. Secondly, the antibacterial capacities towards Listeria monocytogenes, Leuconostoc mesenteroides, Leuconostoc carnosum and Brochotrix thermosphacta were determined in an agar spot test. Finally, 12 selected strains were evaluated on their competitive nature by comparing their growth rate, acidifying character and lactic acid production at 7 degrees C under anaerobic conditions.
Packaging Technology and Science, 2000
The feasibility of LDPE films containing 0.2 or 0.5% (w/w) hexamethylenetetramine (HMT) as antimi... more The feasibility of LDPE films containing 0.2 or 0.5% (w/w) hexamethylenetetramine (HMT) as antimicrobial packaging material to inhibit microbial growth on the surface of foods was investigated. As HMT is allowed in Europe to be used as a preservative under certain conditions, and as it is mentioned on the list of additives notified to the European Commission as substances which may be used in plastics intended in contact with food products, this compound offers good opportunities for the manufacturing of an antimicrobial packaging material. In a first experiment, fresh orange juice was vacuum packaged in LDPE films containing 0, 0.2 and 0.5% (w/w) HMT and stored at 6°C for 39 days. Every day and later every 3 days, packages of orange juice were analysed for yeasts and lactic acid bacteria. The shelf-life of orange juice, could not be prolonged significantly by packaging into a 0.2% or 0.5% (w/w) HMT-containing film. In a second experiment, however, packaging of cooked ham in a 0.5% (w/w) containing LDPE film, significantly affected shelf-life. After 20 days a significant reduction of total aerobic count and lactic acid bacteria was observed. In an additional migration test, it became clear that the level of HMT released into orange juice was close to the specific migration limit of 15 mg CH2O/kg imposed by the EC. Copyright © 2000 John Wiley & Sons, Ltd.
Cybernetics and Systems, 1997
ABSTRACT
HAL (Le Centre pour la Communication Scientifique Directe), Oct 29, 2018
The difference between having images of something and having a knowledge of the same thing has be... more The difference between having images of something and having a knowledge of the same thing has been a subject of reflection for centuries, and some of the most important Greek tragedies focused on that point. A great part of information now consists of images: image has become the language of many people. Authors have already written on the necessity of learning how to read images. In this article the interest of learning how to write images will be experimented in the context of Mathematics Teaching. Our experiments have taken place in the Electrical Engineering and Computer Science Department of the Institute of Technology of Valenciennes. Different kinds of students have been concerned aged from 15 until 25, in different circumstances: Festival of Science, Mathematics lectures or more specialized courses on Robotics and Vision. The experiments have been mainly used with low-cost material: free software like Python, OpenCV and cheap hardware like Raspberry Pi are sufficient to obtain pretty good results.
J3eA
Les jeux informatiques font de plus en plus partie des activités quotidiennes des étudiants, il a... more Les jeux informatiques font de plus en plus partie des activités quotidiennes des étudiants, il a également été démontré qu'ils soutiennent la motivation et l'apprentissage. C’est ainsi que la gamification a été pensé afin d’accomplir des tâches fastidieuses de manière agréable même si cela reste difficiles à mettre en oeuvre en classe. La gamification consiste à incorporer des éléments de jeux informatiques tels que des points, des classements et des badges dans des contextes non ludiques afin de tirer parti de la motivation fournie par un environnement de jeu. Dans ce travail, nous avons analysé l’utilisation de la gamification dans des TPs de domotique et de développement mobile. Notre étude démontre que l'intégration d'éléments de gamification telle que les points, les badges, les classements et les niveaux peut motiver les étudiants et soutenir leur réussite dans les environnements de sciences et technologies.
The academic syllabus of the Electrical Enginering and industrial data processing taught inside t... more The academic syllabus of the Electrical Enginering and industrial data processing taught inside the french Institutes of Technology offers a course cal led Industrial Ethernet and remote control with the internet. The aim of this module consists in making students more sensitive to the use of ethernet as an industrial communication solution. In firms, the st udents will have to maintain equipments such that packaging machines, collective boilers or water tre ament plant. As a pedagogical support, the Spykee robot platform is used for two main reasons. First, its possibili ties are matching the previous objectives. Then, as it i a regional product, that implies the maintenance and improvements can be effective with a short delay. T he robot can be used at different levels of applica tions with respect to the user’s basic knowledge. The paper deals with the main applications done wit h the multidisciplinary platform. One application i s based on the DARE method, acronym for Discoverin...
EDULEARN18 Proceedings, 2018
Since a decade, the academic syllabus for bachelors in Electrical Engineering domain is reserving... more Since a decade, the academic syllabus for bachelors in Electrical Engineering domain is reserving a wide area for projects. The projects represent about ten percent of the final marks for the diploma validation after two years courses in theoretical, technical domains and its applications. The objectives are to make students more sensitive to the mixed knowledge, to manage a group rather rather giving academic lessons. In any case, one success element of the project is laying on two facts always checked. First, the choice of the project by the students themselves and second the total availability of the teacher manager. Such an alike behaviour can be found in the purchase decision discussed by J. Dewey one hundred years ago meaning that good ideas are out of age. But a new direction for projects has been taken since five years. Based on a small, cheap and easy to program computer, it offers a tool for doing experiments at home in electronics, computer science and also mathematics and vision. Coming an attractive subject for students, the computer vision followed by the image processing is now rising in all minds. First in projects for a student coming from abroad to validate their practical course in engineering, the computer vision interest is growing up for local students. And second on a computer vision course designed to mix mathematics, computer science and image processing. The method is laying on the DARE method mentioned above.
EDULEARN17 Proceedings, Mar 1, 2017
The paper presents an experience driven over twenty years in an Institute of Technology. The two ... more The paper presents an experience driven over twenty years in an Institute of Technology. The two first authors are mathematicians, the third one is teaching automatic control and the last is a specialist in digital electronics. The authors have worked, discussed and shared their common teaching experience on how to restore the vanishing student motivation mainly due to the running and efficient technology. As the powerful software in any domain are getting higher, their use in education seem unavoidable. The paper deals with the use of a computer algebra system in a closed connection and applications to the above scientific domains. A computer algebra system is a software that eases the calculation in a way closed to the same as hand calculation. They are used in mathematics and sciences. Their main features are given in the following. A user friendly interface eases the symbolic manipulations. All numerical operations can be done in an arbitrary-precision. The sketch of curves and surfaces is possible in any representation mode. Some systems offers more features first in additional library then included later in the software after users comments and feedback. For a pedagogical purpose, the well-built on line help is one of the first criterion to choose a computer algebra system rather another one. Nowadays, in higher education, the curriculum of some course includes their natural use in mathematics classrooms. To make mathematics more attractive, to apply them to different technologies and to do an effective scientific work with pleasure, the authors have adjusted a method that has proved its efficiency for many years. The method is based on the use of a computer algebra system. The paper details this new method. The method is illustrated by three examples in different domains. The method is now denoted as the DARe method. It holds three major steps. The first one called Discovering is devoted to a direct use of the computer algebraic software to measure its effect in the mathematical background. The second point is called Applying. It focuses on the way to translate the mathematical information in the specific language of the software. The last point called Resolving is mixing the practical acquired knowledge in order to model and solve a scientific problem by the use of the computer algebraic software. The public concerned with the method is composed of groups of twelve students in the bachelor of technology domain with electrical engineering as speciality. The syllabus is proposing about fifty hours of practical mathematical works. About one thousand students have applied this method. Thanks to their direct comments, discussions and answers to a final questionnaire, the method has been improved since many years. The last release is presented here through some examples taken from automatic control and electronics. Even if the last step, of the method, "to model a problem ", is rising up the difficulties, the students mention that they are doing rather listening mathematics. The computer algebraic system free them of calculus and prevent them from errors. The three steps method has been applied with success in a computer science course. It is also extended for experiments to other subjects such as robotics, electronics and mechanics.
IEEE Access, 2020
In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence... more In this paper, the flight control of an unmanned aerial vehicle (UAV), quadrotor, in the presence of high-order disturbances is presented. Since during flight, UAV faces enormous, and various kinds of disturbance, the effect of such disturbances becomes vital for consideration during the development of disturbance observer (DO) based tracking control scheme. To obtain the desired tracking performance, standard sliding mode control (SMC) method is utilized while for disturbance estimation, DO based on Simpson's approximation is developed and incorporated with SMC. Furthermore, in this paper, both matched and mismatched disturbances are considered. Hence, a matrix associated with disturbances is invoked in the system model. To show the effective and desired control performance of developed disturbance observer-based control (DOBC) scheme, extensive simulations are conducted, followed by presenting the results in the paper.
J3eA, 2009
L'article rapporte un travail de conception, de réalisation et d'utilisation d'un dispositif expé... more L'article rapporte un travail de conception, de réalisation et d'utilisation d'un dispositif expérimental d'analyse de performances de cellules photovoltaïques. Initié à son origine par des questionnements d'étudiants d'un Institut Universitaire de Technologie relatifs aux énergies nouvelles et plus particulièrement à l'énergie solaire il s'est intégré au fil du temps dans un projet pluridisciplinaire de pilotage en position d'un système autonome d'orientation de panneaux photovoltaïques. La réalisation d'un tel dispositif a nécessité des connaissances élémentaires d'astronomie, de mécanique et d'électronique. Pour la partie astronomie le choix s'est arrêté sur le modèle géocentrique de Ptolémée. Il a permis de définir des outils de mesure, de calcul et d'animation de la course du soleil dans le ciel. La partie mécanique a été confiée à d'autres étudiants spécialistes en Conception Mécanique Assistée par Ordinateur. La partie électronique, du schéma du circuit à son branchement jusqu'aux mesures, est du domaine de compétence des étudiants en Génie Electrique et Informatique Industrielle. Le travail réalisé a non seulement enrichi les connaissances des étudiants mais aussi soulevé de nombreuses idées et applications nouvelles sur cette thématique.
J3eA, 2010
Ce document relate une partie achevée d'un projet pluridisciplinaire de conception, réalisation, ... more Ce document relate une partie achevée d'un projet pluridisciplinaire de conception, réalisation, expérimentation et automatisation d'un prototype de maquette de traqueur solaire à deux axes. Initié à son origine par des questionnements d'étudiants sur les énergies renouvelables et plus particulièrement sur l'énergie solaire, le projet a rassemblé des enseignants et des étudiants autour de leurs compétences académiques et personnelles. L'électronique embarquée, l'automatique et les mathématiques, la gestion de projets en sont quelques-unes. L'accueil d'étudiants finlandais spécialistes du domaine du génie électrique et d'élèves ingénieurs en alternance a alimenté l'édifice. Parallèlement à ces travaux, d'autres étudiants du domaine de la conception mécanique assistée par ordinateur ont effectué une étude de faisabilité d'un traqueur solaire autonome à deux axes supportant un panneau solaire d'un mètre carré maximum. Le schéma du support est proposé en fin d'article. Sa réalisation par des étudiants spécialistes en chaudronnerie est en cours. Une telle aventure humaine scientifique et technique a été rendue possible à la fois par les acteurs mais aussi grâce à la plateforme technologique de l'Institut Universitaire de Technologie qui abrite le matériel et les logiciels adéquats. Les étudiants et les enseignants ont pu ainsi motiver à leur tour leurs camarades et leurs collègues au fil des ans.
Seventh IFAC Symposium on Advances in Control Education, 2006, 2006
This paper reports a teaching experience. At the end of the academic year, motivated students in ... more This paper reports a teaching experience. At the end of the academic year, motivated students in electrical engineering and industrial data processing course take part in a national friendly robotic contest. The contestants mainly have to design and program their own autonomous mobile robot for lane tracking. Here, a group of French and Finnish students performed tools for a forthcoming participation. One goal of this project was to make students more sensitive to embedded systems and their real-time applications to classical and fuzzy controllers techniques. Their supervisors applied a known management method both for teamwork and student's assessment.
journals.indexcopernicus.com
This paper describes the virtual assembly automation systems, as decision support systems, for th... more This paper describes the virtual assembly automation systems, as decision support systems, for the better knowledge of assembly operation. The study of this procedure is described as well as the necessity for assembly systems design. The work draws on research into product ...
J3eA
Cet article présente les éléments d’un dispositif pédagogique et les activités mises en place dan... more Cet article présente les éléments d’un dispositif pédagogique et les activités mises en place dans le cadre de séances de SAÉ (Situation d’Apprentissage et d’Évaluation) au 3e semestre du parcours Automatisme et Informatique Industrielle du Bachelor Universitaire de Technologie (BUT) spécialité Génie Electrique et Informatique Industrielle à l’IUT de Valenciennes. Ce dispositif a pour objectif d’introduire de manière simplifiée aux étudiants les différents éléments qu’ils pourraient être amenés à mettre en œuvre dans une situation professionnelle où ils auraient à concevoir la partie contrôle / supervision complète d’une installation industrielle. Le dispositif présente l’avantage d’individualiser le travail de chaque étudiant tout en restant à coût raisonnable en utilisant une base de cartes Raspberry Pi et Arduino et des logiciels gratuits et ouverts à la place de matériel ou logiciels industriels onéreux. Les activités proposées permettent de la part des étudiants une mobilisatio...
ICERI proceedings, Nov 1, 2022
Steps are frequent obstacles in the human environment. To cross a small step, the system should s... more Steps are frequent obstacles in the human environment. To cross a small step, the system should shift immediately its center of mass to its new equilibrium. This task is not easy to perform and does not depend only on the performance of the stabilizing controller, but it is also highly linked to the mechanical structure of the system. This paper presents a novel approach for designing a two wheeled mobile robot (TWMR) able to be stabilized during the crossing step. The TWMR is modeled as a double inverted pendulum and then set in the quasi-LPV formulation, through the so-called TS fuzzy model. The aim is to analyse the crossing step feasibility by identifying the physical limitations causing the control failure.
Journal of Bionic Engineering, Jul 1, 2018
Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stro... more Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and /or ambulation skills. In order to propose new supporting solutions lying between the wheelchair and the walker, this paper presents a technological strategy for designing an assistive device for a biomechanical study of the Sit-To-Stand movement (STS). The control algorithms are implemented in TwinCAT runtime environment. The communication between the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented and discussed in order to evaluate the strategy.
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Papers by Laurent Vermeiren