Recent Advances in Robot Control: From Challenges to Real-Time Experiments
Prof Ahmed CHEMORI
CNRS Researcher, LIRMM – CNRS/ University of Montpellier, France
Robotics was initially and for a long time guided by needs in industry. Indeed, the early years of robotics was largely focused on robot manipulators, used mainly for simple and repetitive automation tasks. The first industrial robot manipulator appeared in 1961 in the assembly lines of General Motors.The early control systems for robot manipulators were designed to control independently each axis of the robot as a Single-Input-Single-Output (SISO) linear system. Linear automatic control theory was then extensively used in this basic solution, where the coupling dynamics between the different axes of the robot were often neglected and the robot model significantly simplified. Beyond these issues, the main barriers to progress were the high cost of computation, the lack of good sensors, and the lack of fundamental understanding of robot dynamics. However, the progress of robotics and automation as well as their associated innovative applications has required the consideration of more and more complex tasks needing high performances. These challenging tasks required a deeply understanding of complex nonlinear dynamics of robots. Besides, it has also motivated the development of new theoretical advances in different control fields (robust, adaptive, etc.), which has consequently enabled more sophisticated applications. Nowadays, robotic control systems are highly advanced, including manipulation robotics,underactuated robotics, underwater robotics, aerial robotics, mobile robotics, medical robotics, parallel robotics, wearable robotics, humanoid robotics and more others.
In this lecture the main challenges related to control of robotic systems will be emphasized, and illustrated through different fields in robotics. For each of these fields, the motivations and the need of developing sophisticated control schemes will be first highlighted. Then some proposed control solutions will be illustrated through real-time experiments on different platforms. The experimental results are used to show the efficiency and robustness of the proposed control schemes.
Videos of experiments: Available on ‘Robot Control’ YouTube channel
Ahmed CHEMORI. wa born in Constantine. He received his B.Sc. and M.Sc. degrees in electronics from the university of Mentouri – Constantine, in 1998 and 2000. He received his M.Sc. and Ph.D. degrees, both in automatic control from Politechnical Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a tenured research scientist in Automatic control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (adaptive and predictive) control with special emphasis on their real-time application in robotics (underactuated mechanical systems, parallel Kinematic Manipulators, underwater vehicles, exoskeletons and humanoids). He is the author of more than 85 scientific publications, including international journals, patents, book chapters and international conferences. He co-supervised 13 PhD theses (including 6 defended) and more than 35 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events (e.g. PKM 2016 summer school and WIR 2017 workshop). In April 2017 he has been visiting Huazhong University of Science & Technology in China, as an invited researcher/lecturer. He has been as invited plenary/keynote lecturer for various international conferences.
Blind Signal separation: Concepts, Applications and Some New Challenges
Professor Adel Belouchrani,
Ecole Nationale Polytechnique, Algiers, ALGERIA
Sensor Networks and Cellular Systems for Sustainable Development
Prof El-Hadi AGGOUNE
Recent advances in technology and manufacturing have made it possible to create small, versatile, energy-efficient, cost-effective sensor nodes for specialized applications. These nodes can be made “smart” enough to be capable of self-awareness, adaptation, and self-organization. Thus, when networked, they lend themselves to be the back bone for the next generation, 5th generation, wireless communication networks (G5) as well as the emerging internet of things (IoT).
Sensor and cellular networks for sustainable development cover relevant technologies that increase the quality of human life and encourage societal progress with minimal effect on the earth’s natural resources and environment. The plenary session will be organized as a collection of subjects that capture the current state of the art and explore applications where sensor and cellular networks are used for sustainable development in agriculture, environment, energy, healthcare, transportation, disaster management, and safety and security. These applications are often made possible using supporting technologies such as unmanned aerial vehicles, massive multi-input multi-output systems (massive MIMOs), as well as other technologies such as visible light communication (VLC).
The session will be beneficial to designers and planners of emerging sensor and cellular telecommunication networks, researchers in related industries, and students and academics seeking to learn about the impact of sensor and cellular networks on sustainable development. Specifically, the session will provide technical information about smart sensor and cellular networks and their use in everything from remote patient monitoring through body-wide networks to crop monitoring and smart farming.
El-Hadi M. Aggoune received his Ingeniorat D’Etat in Electrotechnique from Ecole Nationale Polytechnique d’Alger (ENPA), Algiers, Algeria, and his MS and Ph.D. Degrees in Electrical Engineering from the University of Washington (UW), Seattle, Washington, USA. He is a Professional Engineer registered in the State of Washington and IEEE Senior Member. He has served at a number of universities in the US and abroad. The highest academic ranks he has achieved include Endowed Chair Professor and Vice President and Provost. He was a winner of the IEEE Professor of the Year Award, UW Branch. He managed the Engineering Simulation and Animation Laboratory (ESAL) that won the Boeing Supplier Excellence Award for its work on swarms of unmanned aerial vehicles (UAVs). He is listed as Inventor in a major patent assigned to the Boeing Company and that deals with visualization of UAVs. His research work is referred to in many patents including patents assigned to ABB, Switzerland and EPRI, USA. Currently he is a Professor of Electrical Engineering and Director of the Sensor Networks and Cellular Systems (SNCS) Research Center, University of Tabuk, Tabuk, Saudi Arabia. He has authored papers in IEEE and other journals and conferences as well as served as one of the editors for a book published by CRC Press, USA. He is currently serving on many technical committees. His research interests include simulation and visualization, sensor networks and wireless communication, power system operation and control, and neurocomputing and applications.