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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)
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)
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)
This paper deals with robust fault detection and isolation using bond graph approach and linear filters. The bond graph tool is used to model the dynamic system and the uncertainties on the sensors and actuators. The same model is used to generate systematically the analytical redundancy relations and the thresholds. A specific form of digital linear filter(More)