Search results for: Tarek Hamel

Items from 1 to 20 out of 58 results

article

Chemical Composition and in Vitro Antioxidant, Anti‐Alzheimer, Anti‐Diabetic, Anti‐Tyrosinase, and Antimicrobial Properties of Essential Oils and Extracts Derived from Various Parts of the Algerian Calendula Suffruticosa Vahlsubsp. boissieri Lanza

Zakaria Samai, Nadia Toudert, Salah Eddine Djilani, Noureddine Dadda, more

Chemistry & Biodiversity > 20 > 1 > n/a - n/a

Calendula suffruticosa Vahl subsp. boissieri Lanza is well‐known for its medicinal properties in northeastern Algeria. As far as literature has been able to prove, no study has attempted to make a phytochemical or biological activity evaluation (antioxidants, enzyme inhibitors and antimicrobial potential). This work intends to evaluate, for the first time, the chemical constituents and study the previously...

article

Feature‐based recursive observer design for homography estimation and its application to image stabilization

Minh‐Duc Hua, Jochen Trumpf, Tarek Hamel, Robert Mahony, more

Asian Journal of Control > 21 > 4 > 1443 - 1458

This paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. The approach taken exploits the underlying Special Linear group structure of the set of homographies along with gyroscope measurements and direct point‐feature correspondences between images to develop temporal filter for...

article

Output regulation for systems on matrix Lie-groups

Simone de Marco, Lorenzo Marconi, Robert Mahony, Tarek Hamel

Automatica > 2018 > 87 > C > 8-16

This paper deals with the problem of output regulation for left invariant systems defined on general matrix Lie-Groups. Reference trajectories to be tracked are generated by a right invariant exosystem defined on the same Lie-Group and driven by a linear oscillator defined on the Lie-algebra. Only partial relative geometrical information of the exosystem with respect to actual system is available...

chapter

Inertial-aided homography-based visual servo control of autonomous underwater vehicles without linear velocity measurements

Lam-Hung Nguyen, Minh-Duc Hua, Guillaume Allibert, Tarek Hamel

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) > 9 - 16

2017 21st International Conference on System Theory, Control and Computing (ICSTCC)

An inertial-aided visual servo control approach for fully-actuated Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography obtained from corresponding images of a locally planar scene is directly exploited as feedback information. A cascade inner-outer loop control architecture is adopted that facilitates both control implementation and gain...

article

An Inertial-Aided Homography-Based Visual Servo Control Approach for (Almost) Fully Actuated Autonomous Underwater Vehicles

Szymon Krupinski, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel

IEEE Transactions on Robotics > 2017 > 33 > 5 > 1041 - 1060

A nonlinear inertial-aided image-based visual servo control approach for the stabilization of (almost) fully actuated autonomous underwater vehicles (AUVs) is proposed. It makes use of the homography matrix between two images of a planar scene as feedback information while the system dynamics are exploited in a cascade manner in a control design: An outer-loop control defines a reference setpoint...

article

Position estimation from direction or range measurements

Tarek Hamel, Claude Samson

Automatica > 2017 > 82 > C > 137-144

This paper revisits the problems of estimating the position of an object moving in n (≥2)-dimensional Euclidean space using velocity measurements and either direction or range measurements of one or multiple source points. The proposed solutions exploit the Continuous Riccati Equation (CRE) to calculate observer gains yielding global uniform exponential stability of zero estimation errors, also when...

chapter

Riccati observers for position and velocity bias estimation from direction measurements

Tarek Hamel, Claude Samson

2016 IEEE 55th Conference on Decision and Control (CDC) > 2047 - 2053

2016 IEEE 55th Conference on Decision and Control (CDC)

This paper addresses the problem of estimating the position of a body moving in n (≥ 2)-dimensional Euclidean space using body velocity measurements and the measurements of direction(s) between the body and one (or several) source point(s) whose location(s) is (are) known. The proposed solutions exploit the Continuous Riccati Equation (CRE) to calculate observer gains yielding global uniform exponential...

article

Landing of a Quadrotor on a Moving Target Using Dynamic Image-Based Visual Servo Control

Pedro Serra, Rita Cunha, Tarek Hamel, David Cabecinhas, more

IEEE Transactions on Robotics > 2016 > 32 > 6 > 1524 - 1535

This paper addresses the landing problem of a vertical take-off and landing vehicle, exemplified by a quadrotor, on a moving platform using image-based visual servo control. Observable features on a flat and textured target plane are exploited to derive a suitable control law. The target plane may be moving with bounded linear acceleration in any direction. For control purposes, the image of the centroid...

chapter

Output regulation on the Special Euclidean Group SE(3)

Simone de Marco, Lorenzo Marconi, Tarek Hamel, Robert Mahony

2016 IEEE 55th Conference on Decision and Control (CDC) > 4734 - 4739

2016 IEEE 55th Conference on Decision and Control (CDC)

This paper addresses the output regulation problem of rigid bodies whose kinematic configuration space lies on the Special Euclidean Group SE(3). Reference trajectories to be tracked are generated by an autonomous system, referred to as exosystem, defined on the Special Euclidean Group as well. Only partial relative pose measurements associated to the “natural” linear left group action on SE(3) along...

article

State estimation for invariant systems on Lie groups with delayed output measurements

Alireza Khosravian, Jochen Trumpf, Robert Mahony, Tarek Hamel

Automatica > 2016 > 68 > C > 254-265

This paper proposes a state estimation methodology for invariant systems on Lie groups where outputs of the system are measured with delay. The proposed method is based on cascading an observer and a predictor. The observer uses delayed measurements and provides estimates of delayed states. The predictor uses those estimates together with the current inputs of the system to compensate for the delay...

chapter

Estimation of Homography Dynamics on the Special Linear Group

Ezio Malis, Tarek Hamel, Robert Mahony, Pascal Morin

Lecture Notes in Control and Information Sciences > Visual Servoing via Advanced Numerical Methods > Estimation and Path-Planning > 133-150

During the last decade, a number of highly successful visual servo control and real-time image processing algorithms have been proposed that use the homography between images of a planar scene as the primary measurement. The performance of the algorithms depends directly on the quality of the homography estimates obtained, and these estimates must be computed in real-time. In this chapter, we exploit...

article

Transverse function control of a motorboat

Tarek Hamel, Claude Samson

Automatica > 2016 > 65 > C > 132-139

The Transverse Function (TF) control approach is applied to the control of a generic motorboat endowed with a surge force along the stern–bow direction and a torque actuation to modify the boat’s orientation. With respect to more conventional methods this approach allows for uniform practical stabilization of any smooth reference pose (i.e. position+orientation) trajectory. This includes fixed-poses...

article

Stability analysis of velocity-aided attitude observers for accelerated vehicles

Minh-Duc Hua, Philippe Martin, Tarek Hamel

Automatica > 2016 > 63 > C > 11-15

An advanced nonlinear observer for rigid bodies evolving in 3D-space relying on measurement data provided by an IMU and linear velocity measured in the body-fixed frame has been recently proposed, but without specifying its domain of convergence and stability. With respect to conventional attitude observers, which do not involve linear velocity measurements, this observer is better adapted for vehicles...

chapter

Observer design for position and velocity bias estimation from a single direction output

Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson

2015 54th IEEE Conference on Decision and Control (CDC) > 7648 - 7653

2015 54th IEEE Conference on Decision and Control (CDC)

This paper addresses the problem of estimating the position of an object moving in ℝn from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to encompass the case where the measured velocity is corrupted by a constant bias. Global exponential convergence of the estimation error is proved under a condition...

chapter

Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space

Minh-Duc Hua, Tarek Hamel, Robert Mahony, Jochen Trumpf

2015 54th IEEE Conference on Decision and Control (CDC) > 2139 - 2145

2015 54th IEEE Conference on Decision and Control (CDC)

A nonlinear observer on the Special Euclidean group SE(3) for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced theory on nonlinear observer design. A key advantage with respect to existing pose observers on SE(3) is that we can now incorporate in a unique observer different types...

chapter

Homing on a moving dock for a quadrotor vehicle

Zhiqi Tang, Linqian Li, Pedro Serra, David Cabecinhas, more

TENCON 2015 - 2015 IEEE Region 10 Conference > 1 - 6

TENCON 2015 - 2015 IEEE Region 10 Conference

A homing control law for a quadrotor is presented to drive the vehicle towards a moving target at constant longitudinal velocity. The vehicle is driven to the homing point through force control with an inner-outer loop control strategy. For the outerloop, the position and velocity features are exploited to derive a control law that directs the vehicle to the homing target while ensuring it never collides...

chapter

Adding an integrator for output regulation of systems with matrix Lie-group states

Robert Mahony, Tarek Hamel, Lorenzo Marconi

2015 American Control Conference (ACC) > 4010 - 4015

2015 American Control Conference (ACC)

This paper considers the problem of tracking reference trajectories for systems defined on matrix Lie Groups. Both the reference system (exosystem) and controlled system have states on the same matrix Lie group, with the exosystem having constant velocity. The measurements are associated with a group action on a homogeneous space of the state space and can be thought of as measured partial relative...

chapter

Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements

Alireza Khosravian, Jochen Trumpf, Robert Mahony, Tarek Hamel

2015 American Control Conference (ACC) > 3199 - 3205

2015 American Control Conference (ACC)

This paper proposes an attitude estimation methodology for the case where attitude sensors provide discrete-time samples of vector measurements at different sample rates and with time delays. The proposed methodology is based on a cascade combination of an output predictor and an attitude observer or filter. The predictor compensates for the effect of sampling and delays in vector measurements and...

chapter

Visual servoing with orientation limits of a X4-flyer

Najib Metni, Tarek Hamel, Isabelle Fantoni

2003 European Control Conference (ECC) > 1804 - 1809

2003 European Control Conference (ECC)

In this paper, we study the dynamics and the control using visual features of a four rotor vertical take-off and landing (VTOL) vehicle known as the X4-flyer while stabilizing with quasi-stationary flight above a planar target. A new control strategy is presented using the homography matrix, it is based on saturation functions for bounding the orientation of the UAV (unmanned air vehicle) in order...

chapter

Nonlinear Image-Based Visual Servo controller for automatic landing guidance of a fixed-wing aircraft

Florent Le Bras, Tarek Hamel, Christian Barat, Robert Mahony

2009 European Control Conference (ECC) > 1836 - 1841

2009 European Control Conference (ECC)

This paper describes a nonlinear Image-Based Visual Servo controller for automatic landing of a fixed wing aircraft in presence of a wind gust. Only 2D image features are exploited from the image of the runway to perform a typical path for landing maneuver (alignment, glide and flare maneuvers). The visual measurements for the alignment are the two lines delimitating the runway using the so-called...

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INFONA - science communication portal

Search results for: Tarek Hamel

Chemical Composition and in Vitro Antioxidant, Anti‐Alzheimer, Anti‐Diabetic, Anti‐Tyrosinase, and Antimicrobial Properties of Essential Oils and Extracts Derived from Various Parts of the Algerian Calendula Suffruticosa Vahlsubsp. boissieri Lanza

Feature‐based recursive observer design for homography estimation and its application to image stabilization

Output regulation for systems on matrix Lie-groups

Inertial-aided homography-based visual servo control of autonomous underwater vehicles without linear velocity measurements

An Inertial-Aided Homography-Based Visual Servo Control Approach for (Almost) Fully Actuated Autonomous Underwater Vehicles

Position estimation from direction or range measurements

Riccati observers for position and velocity bias estimation from direction measurements

Landing of a Quadrotor on a Moving Target Using Dynamic Image-Based Visual Servo Control

Output regulation on the Special Euclidean Group SE(3)

State estimation for invariant systems on Lie groups with delayed output measurements

Estimation of Homography Dynamics on the Special Linear Group

Transverse function control of a motorboat

Stability analysis of velocity-aided attitude observers for accelerated vehicles

Observer design for position and velocity bias estimation from a single direction output

Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space

Homing on a moving dock for a quadrotor vehicle

Adding an integrator for output regulation of systems with matrix Lie-group states

Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements

Visual servoing with orientation limits of a X4-flyer

Nonlinear Image-Based Visual Servo controller for automatic landing guidance of a fixed-wing aircraft

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