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In this paper we design two controllers: a sliding mode controller and a new designed adaptive controller for an under actuated process with important dry friction. The two controllers are compared. Simulations and experiments are performed to evaluate the efficiency of the designed controllers.
This paper describes the application of proper orthogonal decomposition (POD) method in the context of structural health monitoring of a smart structure, bonded with a distributed piezoceramic patches array. Using measurements given by the distributed sensors, we propose a damage index (DI) based on change in angle between subspaces. Furthermore, from… (More)
Identification of the function part of the analytical model of the movement of a mass along vertical guide way is made. Indeed, knowledge of friction parameters is necessary to detect wear or mechanical failure. Because of the non linearity the identification is made using Genetic Algorithms (GA). After many simulations, the proposed approach is tested with… (More)
We here describe a simple apparatus for measuring temperature, accurate to 3/100 of a degree, which makes it possible to follow variations in the temperature of an accessible internal organ, and we also describe its application to the observation of possible changes in the temperature of a tumour of the uterine cervix, during treatment by curietherapy.
In this communication, we present a high resolution tactile plate that can localize one or two contact fingers. The localization principle is based on Lamb wave absorption. Fingers' contact will generate absorption signals while Lamb waves are propagating in a thin finite copper plate. These signals can be related to the contact positions and can be… (More)
Most of the humanoid robots are covered with curved thin shells. To have a sensitive shell on the robot, normally we need to add an extra layer of electrodes or sensors. In this paper, we realized a tactile shell based on a Lamb wave diffraction method. Surface-contact sensing is calibrated and tested with a finger; the spatial resolution is 17 × 13… (More)
Precise identification of structural properties is a vital step towards detection and localization of damage in structures. In this paper the problems of improving accuracy of modal parameter estimates and automatic elimination of spurious modes in covariance driven output-only subspace identification method are addressed. An iterative procedure is… (More)
Co-encadrement de la thèse : François MALBURET To my parents, to my brother, my sister-in-law, my nephews and niece. ii iii-Acknowledgments-I would like to thank the members of my examining committee, Prof. Aubourg for their time. I would like to express my sincere gratitude towards Dr. Rogelio Ferrer from Eurocopter France for his guidance, advice and… (More)