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Several researches have been undertaken to assist and help handicapped and elderly people to gain mobility and lead to independent life and particularly those related to smart wheelchairs. In this direction, a localization function can be considered as the main process improving performances in terms of autonomy and mobility. Thus, making a wheelchair(More)
Several works for handicapped people's help and assistance have been investigated in the last decade and particularly those concerning hardware and software architectures design related to automated wheelchairs. Thus, make a wheelchair intelligent and autonomous, leads to develop new strategies taking into account in one hand, environment dynamics, and in(More)
We propose a critical improvement of the LEACH (Low-Energy Adaptive Clustering Hierarchy) routing protocol for the optimization of the energy consumption as well as memory occupation of Wireless Sensor Network (WSN). Our protocol LEACH-M uses a cascade of clustering algorithms, every step of which chooses the next one. We expect at best an improvement of 5%(More)
This paper presents an approach for complex task control involving robot/environment interaction. An effective hybrid force/position based-approach for multi-inputs/multi-outputs (MIMO) robot control is proposed. The approach is based on fuzzy logic controller (FLC) design and optimization methodology operating in two stages: at the first stage, the FLC(More)
In recent years, Mobile sensor networks (MSNs) are significantly developed in various areas of applications. The most important feature of MSN is that the sensor nodes are small size, limited processing, low power and can able to change their location. In mobility, life time of the sensor nodes is the most critical parameter. Designing the energy efficient(More)
This paper proposes an effective approach of fuzzy logic controller (FLC) design and optimization methodology for Cartesian robot control. The FLC is based on a Takagi Sugeno (TS) model. It consists on MISO-controllers subsets decomposition. The FLC optimization methodology is implemented offline and proceeds in three phases: A first set of rules is(More)
In thought-based steering of robots, error potentials (ErrP) can appear when the action resulting from the brain-machine interface (BMI) classifier/controller does not correspond to the user's thought. Using the Steady State Visual Evoked Potentials (SSVEP) techniques, ErrP, which appear when a classification error occurs, are not easily recognizable by(More)