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| 1 | Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators显示文摘In order to apply the terminal sliding mode control to robot manipulators,prior knowledge of the exact upper bound of parameter uncertainties,and external disturbances is necessary.However,this bound will not be easily determined because of the complexity and unpredictability of the structure of uncertainties in the dynamics of the robot.To resolve this problem in robot control,we propose a new robust adaptive terminal sliding mode control for tracking problems in robotic manipulators.By applying this adaptive controller,prior knowledge is not required because the controller is able to estimate the upper bound of uncertainties and disturbances.Also,the proposed controller can eliminate the chattering effect without losing the robustness property.The stability of the control algorithm can be easily verified by using Lyapunov theory.The proposed controller is tested in simulation on a two-degree-of-freedom robot to prove its effectiveness. | Mezghani Ben Romdhane Neila Damak Tarak | 2011 | International Journal of Automation and computing2011，8，2： | 15 |
| 2 | Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications显示文摘We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy. | Marco CECCARELLI Lotfi ROMDHANE | 2010 | Journal of Zhejiang University-Science A(Applied Physics & Engineering)2010，11，4： | 4 |
| 3 | Design Study of a Cable-based Gait Training Machine显示文摘这份报纸处理基于量的步法分析训练机器的步法的一条设计途径。建议训练机器由一台身体重量支持设备和一个电缆线驱动的平行机器人组成。这份报纸集中于电缆线驱动的机器人,它通过放在病人腿上的 orthosis 控制更低的手足的姿势。电报机器人通过 orthosis 的运动复制一个正常步法运动。一个运动俘获系统被用来执行正常步法的定量分析,它将被用作输入到电缆线机器人的反的动态模型。借助于一个优化算法,最佳的设计参数,在电报最小化紧张,是坚定的。二限制被考虑,即,在电报的非否定的紧张一直,并且免费 cable/end-effector 碰撞。一旦最佳的答案被计算,力量分析被执行以便缩放机器人致动器。建议途径能容易为电报机器人的一种类似的类型的设计学习被扩大。 | Houssein Lamine Med Amine Laribi Sami Bennour Lotfi Romdhane Said Zeghloul | 2017 | Journal of Bionic Engineering2017，14，2： | 4 |
| 4 | Second Order Sliding Mode Control for Discrete Decouplable Multivariable Systems via Input-output Models显示文摘The problem of the chattering phenomenon is still the main drawback of the classical sliding mode control. To resolve this problem, a discrete second order sliding mode control via input-output model is proposed in this paper. The proposed control law is synthesized for decouplable multivariable systems. A robustness analysis of the proposed discrete second order sliding mode control is carried out. Simulation results are presented to illustrate the effectiveness of the proposed strategy. | Houda Romdhane Khadija Dehri Ahmed Said Nouri | 2015 | International Journal of Automation and computing2015，12，6： | 2 |
| 5 | Analysis and optimal synthesis of single loop spatial mechanisms显示文摘In this work, a systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-Hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm (GA) has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RSCR and RSPC (R: revolute; S: spherical; C: cylindrical; P: prismatic), have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic (GA-FL) method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither dificulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods. | Med Amine LARIBI Lotfi ROMDHANE Sad ZEGHLOUL | 2011 | Journal of Zhejiang University-Science A(Applied Physics & Engineering)2011，12，9： | 2 |
| 6 | Local investigation of some ultrasonic devices by means of a ther- mal sensor显示文摘 | ROMDHANE M GOURDON C CASAMATrA G | 1995 | Ultrasonics1995，55，5： | 1 |
| 7 | Methods to evaluate egg freshness in research and industry显示文摘 | Romdhane K Bart K Flip B | 2006 | European Food Research and Tec Mology2006，222，56： | 1 |
| 8 | Ultra- sonic intensity measurement 显示文摘 | ROMDHANE M GOURDON C CASAMATI'A G | 1995 | Ultrasonics1995，33，2： | 1 |
| 9 | Dynamic analysis of a flexible slider-crank mechanism with clearance显示文摘 | Imed Khemili Lotfi Romdhane | 2008 | Science Direct2008，27，： | 1 |
| 10 | Investigation in Solid-Liquid Extraction: Influence of Ultrasound 显示文摘 | Romdhane M Gourdon C | 2002 | Chemical engineering journal2002，87，1： | 1 |
| 11 | Promoter of the AlSAP gene from the halophyte grass Aeluropus littoralis directs developmental-regulated,st ress-inducible,and organ-specific gene expression in transgenic tobacco显示文摘 | SAAD R B ROMDHAN W B ZOUARI N | | 0，，05： | 1 |
| 12 | Fault diagnosis using partial syndromes: a modified Hopfield neural network approach显示文摘 | Mourad Elhadef Lotfi Ben Romdhane | 2014 | International Journal of Parallel Emergent and Distributed Systems2014，，2： | 1 |
| 13 | Association of MICA-129 polymorphism with nasopharyngeal cancer risk in a Tunisian population显示文摘 | Douik H Chaaben AB Romdhane NA | 2009 | Hum Immunol2009，70，1： | 1 |
| 14 | Use of evidence to support healthy public policy: a policy effectiveness-feasibility loop显示文摘 | Bowman Sarah Unwin Nigel Critchley Julia Capewell Simon Husseini Abdullatif Maziak Wasim Zaman Shahaduz Romdhane Habiba Ben Fouad Fouad Phillimore Peter Unal Belgin Khatib Rana Shoaibi Azza Ahmad Balsam | 2012 | Bulletin of the World Health Organization2012，，11： | 1 |
| 15 | A preliminary investigation of allozyme genetic variation and population structure in common pandora (Pagellus erythrinus,Sparidae) from Tunisian and Libyan coasts 显示文摘 | FASSATOUI C MDELGI E ROMDHANE M S | 2009 | Ichthyol Res2009，56，： | 1 |
| 16 | Polychlorinated biphenyl residue in the golden grey mullet(Lizaaura ta) from TunisBay, Mediterranean Sea (Tunisia) 显示文摘 | MASMOUDI W ROMDHANE M S KHERIJI S | 2007 | Food Chem2007，105，： | 1 |
| 17 | Investigation in solid- liquid extraction: influence of ultrasound 显示文摘 | ROMDHANE M GOURDON C | 2002 | Chemical Engineering Journal2002，87，1： | 1 |
| 18 | Investigation in solid-liquid extration:influence of ultrasound显示文摘 | Romdhane M Gourdon C | 2002 | Chemical Engineering Journal2002，87，1： | 1 |
| 19 | I)esign and Singularity Analysis of a 3-Translational-DOF ha-parallel Manipulator 显示文摘 | ROMDHANE L AFFI Z FAYET M | | Journal of Mechanical Design0，124，3： | 1 |
| 20 | Design and singularity anlysis of a 3-translational-dof in-parallel manipulator 显示文摘 | Romdhane L Affi Z Fayet M | 2002 | Translations of the ASME Journal of Mechanical Design2002，124，7： | 1 |
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