Abstract. The Botnia 2005 prototype showed many design and imple-mentation errors and weaknesses.... more Abstract. The Botnia 2005 prototype showed many design and imple-mentation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the bat-teries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investi... more The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the batteries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investi... more The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the batteries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
In most of the current electrical network, the electric power is delivered in one way (Top down d... more In most of the current electrical network, the electric power is delivered in one way (Top down direction). The deployed technology, the grid model as well as the data network that are used today were designed mainly to control the supply and demand process in one direction only. The rapid increase in renewables sources of energy is imposing new challenges such as the wide distribution of energy generation sources, the grid integrity, real time power balance, grid connections, net power flow management, energy storage and backup methods, micro grid management etc. Hence, new approach and solutions are under development in order to maintain the stability of a more complex and changing electrical network. In this paper, an overall description of the current status of distribution network, energy storage and back up methods along with the existing solutions and challenges are illustrated. It also explains the future research and development on distribution network and proposes innovative method as required to reinforce the future power system network.
Proceedings of 35th IEEE Conference on Decision and Control, 1996
A new method for automatic tuning of multivariable PI controllers using adaptive hysteresis relay... more A new method for automatic tuning of multivariable PI controllers using adaptive hysteresis relay feedback is proposed for multivariable processes with significant interactions. It is shown that for a stable m x m process it is possible to estimate an m x m transfer function matrix at two points in the frequency domain. Therefore, a minimum of m2 adaptive relay
A typical procedure for designing multivariable controllers is the following: build a model for t... more A typical procedure for designing multivariable controllers is the following: build a model for the multivariable process, choose the control structure, calculate the control parameters, test the controller (possibly with simulation) and then retune controller parameters as necessary. This procedure is complex and time consuming even for scalar control loops. For multivariable controllers, the procedure is even more daunting. Automation
A new algorithm for automatic tuning of multivariable PI controllers for multi-input multi-output... more A new algorithm for automatic tuning of multivariable PI controllers for multi-input multi-output processes is presented. The tuning procedure consists of four stages. In the first, the critical point of each possible loop is identified using the conventional relay feedback test. In this phase, a set of critical frequencies is formed. In the second stage, among the process critical frequency set, a design frequency is chosen. The choice of this design frequency is done with respect to the interaction problem in the multivariable system. In the third stage, the process steady state and frequency response matrices at the design frequency are estimated with good accuracy. In the fourth stage, the information about the process is used to tune the multivariable PI controller. For the multivariable PI controller, a new design technique is derived taking into account the decoupling condition at the low-and high-frequency range of the process. The proposed method is applied to various typical processes and experimented on using a laboratory-scaled model of a paper machine head-box. The experimental test has shown good results where significant performance improvement over the existing tuning methods is demonstrated.
The Botnia 2005 prototype showed many design and imple- mentation errors and weaknesses. An inves... more The Botnia 2005 prototype showed many design and imple- mentation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the bat- teries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
Abstract. The Botnia 2005 prototype showed many design and imple-mentation errors and weaknesses.... more Abstract. The Botnia 2005 prototype showed many design and imple-mentation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the bat-teries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investi... more The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the batteries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investi... more The Botnia 2005 prototype showed many design and implementation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the batteries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
In most of the current electrical network, the electric power is delivered in one way (Top down d... more In most of the current electrical network, the electric power is delivered in one way (Top down direction). The deployed technology, the grid model as well as the data network that are used today were designed mainly to control the supply and demand process in one direction only. The rapid increase in renewables sources of energy is imposing new challenges such as the wide distribution of energy generation sources, the grid integrity, real time power balance, grid connections, net power flow management, energy storage and backup methods, micro grid management etc. Hence, new approach and solutions are under development in order to maintain the stability of a more complex and changing electrical network. In this paper, an overall description of the current status of distribution network, energy storage and back up methods along with the existing solutions and challenges are illustrated. It also explains the future research and development on distribution network and proposes innovative method as required to reinforce the future power system network.
Proceedings of 35th IEEE Conference on Decision and Control, 1996
A new method for automatic tuning of multivariable PI controllers using adaptive hysteresis relay... more A new method for automatic tuning of multivariable PI controllers using adaptive hysteresis relay feedback is proposed for multivariable processes with significant interactions. It is shown that for a stable m x m process it is possible to estimate an m x m transfer function matrix at two points in the frequency domain. Therefore, a minimum of m2 adaptive relay
A typical procedure for designing multivariable controllers is the following: build a model for t... more A typical procedure for designing multivariable controllers is the following: build a model for the multivariable process, choose the control structure, calculate the control parameters, test the controller (possibly with simulation) and then retune controller parameters as necessary. This procedure is complex and time consuming even for scalar control loops. For multivariable controllers, the procedure is even more daunting. Automation
A new algorithm for automatic tuning of multivariable PI controllers for multi-input multi-output... more A new algorithm for automatic tuning of multivariable PI controllers for multi-input multi-output processes is presented. The tuning procedure consists of four stages. In the first, the critical point of each possible loop is identified using the conventional relay feedback test. In this phase, a set of critical frequencies is formed. In the second stage, among the process critical frequency set, a design frequency is chosen. The choice of this design frequency is done with respect to the interaction problem in the multivariable system. In the third stage, the process steady state and frequency response matrices at the design frequency are estimated with good accuracy. In the fourth stage, the information about the process is used to tune the multivariable PI controller. For the multivariable PI controller, a new design technique is derived taking into account the decoupling condition at the low-and high-frequency range of the process. The proposed method is applied to various typical processes and experimented on using a laboratory-scaled model of a paper machine head-box. The experimental test has shown good results where significant performance improvement over the existing tuning methods is demonstrated.
The Botnia 2005 prototype showed many design and imple- mentation errors and weaknesses. An inves... more The Botnia 2005 prototype showed many design and imple- mentation errors and weaknesses. An investigation of the Botnia 2005 old design is carried out to study the possibilities of improvement. In the previous design, the global vision was not reliable and the motion control of the robot was poor. Other important technical problems were also taken into consideration such as loss of power, dribbling and kicking systems as well as safety issues. In this design a robust high precision global vision system is implemented and the PID Motion Control System is improved. A new PCB is designed and better electronic designs are used to reduce the power consumption and extend the life of the bat- teries. In the new model, a secondary RF communication is added and the communication protocol is improved to increase the throughput and reduce recovery delays. The new design proved to be efficient and good results were obtained as first participation during the 2006 RoboCup word championship.
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Papers by Smail Menani