Abdelmjid Saka

Sidi Mohamed Ben Abdellah University | fst · Ecole Nationale des Sciences Appliquées

The aim of this study is to investigate how motorcycle riders actively respond to the movements of their motorcycles. We used a multibody modeling approach to explore the biomechanical aspects and dynamics that lead to the wobble mode experienced by riders. Additionally, we sought to identify the critical factors that impact the occurrence and inte...

The main objective of this research is to establish a new formulation and mathematical model based on graph theory to create dynamic equations and provide clarity on the fundamental formulation. We have employed graph theory as a new approach to develop a new representation and formulate the vertical dynamics of a motorcycle with four degrees of fr...

The vehicle's windshield plays an important role in the safety and comfort of drivers and passengers, so the windshield is solicited to many loads, such as the deformation of the vehicle body, the wind force, the crash between vehicles and vehicles, and a pedestrian. The primary goal of this study is to examine the mechanical and structural design...

The aim of this work is to investigate how the driver’s movements influence the behavior of the motorcycle using a realistic model of rider. In the past, many interesting researches about this topic were made to examine the coupled effects in the lateral dynamics of the global driver – motorcycle system, but only in a numerical approach, most of al...

There have been numerous investigations into the self-stabilization of a single rolling wheel employing a gyroscopic actuation because of its significance in robotic applications. This paper's main objective is to give a summary of the most recent work on single-wheel gyroscopically stabilized robots. As a result, the research covers the many appli...

In this article, we are interested in the modeling and the development of nonlinear control strategies of the underactuated mechanical systems. In this respect, we used the Inverted Spherical Pendulum system as a case study to conduct our analysis based on the simulation results performed under Matlab/Simulink.

The ornamental art found in Moroccan architecture is revealing ingenuity and a very valuable know-how that has been passed from generation to generation in the secrecy of the workshops and in the absence of documentation. The technique widely used for geometric drawing of patterns is called “Hasba” and its description remains ambiguous hence the in...

Advanced driver assistance systems are mainly aimed at the automotive industry. These systems are dedicated to optimizing the safety of drivers about dangerous situations by informing the vehicle driver or by acting on vehicle dynamics. For this purpose, estimation and observation are major tools to progress the development of ADAS. In this study,...

The tire is one of the most important and critical components in the two-wheeled vehicle as in automotive vehicle. It has direct impact on the performance of the vehicle and the rider, his safety and comfort which are massively influenced by the physical and geometric characteristic of tires. This paper deals with a quantitative and qualitative app...

This book reports on innovative concepts and practical solutions at the intersection between engineering design, engineering production and industrial management. It covers cutting-edge design, modeling and control of dynamic and multiphysics systems, knowledge management systems in industry 4.0, cyber-physical production systems, additive and sust...

Most advanced driver assistance systems (ADAS) are intended to improve ride comfort for vehicle suspension systems. A new road estimation method is proposed as a means of observing the road profile level. To achieve this, two complexity levels (quarter car and half car models) are presented and developed in Matlab to analyze the vertical vibration...

The rider plays an important role in the stability and control of two-wheeled vehicles. The rider model must be designed carefully according to the physical and geometric features of the target two-wheeled vehicle. This paper aims to disclose how the rider affects the control and stability of two-wheeled vehicles. First, the two-wheeled vehicle-rid...

The tire is one of the most important and critical components in the two-wheeled vehicle as in automotive vehicle. It has direct impact on the performance of the vehicle and the rider, his safety and comfort which are massively influenced by the physical and geometric characteristic of tires. This paper deals with a quantitative and qualitative app...

Moroccan handicraft is rich in its know-how and authenticity, but today the informal way of transmitting knowledge loses its effectiveness. The risk of losing this cultural heritage because of competition and globalization challenges is real and its preservation is more necessary than ever. For that purpose, this paper aims to set up a capitalizati...

The aim of this study is to examine the co-simulation strategies of dynamic modeling of powered two wheelers vehicle that will incorporate a wide engineering area. The model was developed by including multibody and dynamic modeling, control theory, and simulation considering several points in regards of design and physical characteristic. The artic...

This paper aims to give an extended state of the art of the dynamics and the stability of Two-Wheeled Vehicles from 2000 to 2018. The study is divided into three different categories. The review extends to cover in details three aspects which are the Dynamic Modelling that concern different approach to generate the equation of motion, Stability Ana...

The Moroccan handicraft is threatened by the loss of its knowledge and several authorities are calling to safeguard this cultural heritage through a detailed transcription and development of an interactive multimedia system. In response to this call, this article represents a first step in addressing this need. It provided a basic methodology for b...

The Modelling and control design of Two Wheel Vehicle represents an open and a challenging problem in terms of the complexity in these kind of vehicles. This article aims to represent a comparative analysis of two strategies of control which are modern controller LQR and Conventional Controller PID for the two wheeled vehicle. The main goal is to c...

Individual torques at each vehicle wheel are important intermediate variables for the design of Advanced Driver Assistance Systems, and their knowledge stays an interesting research problem. In this study, a nonlinear high-gain unknown inputs state observer is designed to compute simultaneously longitudinal and transversal tire forces, resultant to...

This paper presents a Backstepping controller for five degrees of freedom Spherical Inverted Pendulum. Since the system is nonlinear, unstable, underactuated and MIMO and has a nonsquare form, the classic control design cannot be applied to control it. In order to remedy this problem, we propose in this paper a new method based on hierarchical step...

The suspension is one of the most significant components of the vehicle, thus, the performance of vehicles and comfort of the ride are typically affected by the characteristics of the suspension. In addition, this later serves to decrease the vibrations and forces caused by the Irregularities of the road. Therefore, the modelling and development of...

This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the control strategies (linear, nonlinear, and intelligent) that have been made so far (i.e., from the ye...

This paper introduces a method to estimate the lateral dynamics parameters,which are valuable to the development of more complex and powerful driver assistance system. In the assumption of measured lateral forces, three state observer methods are designed to simultaneously estimate the steering angleas unknown input and vehicle lateral state variab...

The suspension is one of the most significant components of the vehicle. So, The performance of vehicles and comfort of the ride are typically affected by the characteristics of the suspension. In addition, this later serves to decrease the vibrations and forces caused by the Irregularities of the road. Therefore, the modeling and development of th...

This paper aims to study the active response of the rider’s body to bicycle. So, this work investigate how the Rider movements influence the behavior of the Bicycle. The biomechanical model of the rider is coupled with the benchmark model of the bicycle and stability analysis is carried out. So Results show that the stiffness and damping parameters...

This work is an investigation of the effects of link flexibility and clearances on the dynamic behavior's mechatronic system. A flexible four bar mechanism with joint clearance between crank and coupler connected to a controlled DC motor is studied. The dynamic equations of motion are derived by application of Lagrangian formulation and then they a...

Vision-based Robot applications have taken a lot of attention, with the development of electronic and computer technology. In this paper, a visual servoing method is used to control the stability of the Spherical Inverted Pendulum at its equilibrium upright position. The main objective of this study will be attended in four steps. The first step co...

This paper aims to contribute to the developpement of the advanced driver-assistance systems (ADAS). The automated system which is provided by ADAS to the vehicle is proven to reduce road fatalities, by minimising the human error. The main objective in this work is to strengthen ADAS by information like estimated road profile. An unknown inputs obs...

Graph-theoretic concepts are mostly used to study different applications in various areas such as electrical and mechanical engineering, generally multi-physics systems. The interest of researchers on this theory has importantly increased in the last decade. The main goal of this paper is to provide an overview of the use and applications of graph-...

This paper deals with the problem of 2-D state observers for a class of 2-D linear discrete-time system described by the Roesser model. Sufficient conditions for the design of state observers for 2-D linear systems described by the Roesser model. It is shown that the proposed conditions turnout to be solvable in terms of linear matrix inequalities (...

Graph theoretical concepts are mostly used to study and model is used in different applications in various areas such as electrical system, mechanic and machine system, computer engineering, vehicle dynamics and Multiphysics problems. The main goal of this paper is to present an overview of the graph theoretic concept of modeling and analysis of th...

The pendulum is the most known mechanism of everyone. This is due to its importance historical and also to the number of the invention based on its operating principle. The inverted pendulum is an unstable system perfectly described by a nonlinear model obtained by applying the laws of physics. The design goal of the control law is to stabilize the...

Being sustainable and producing little waste products, the renewable energy knows a rapid deployment. Unfortunately, the intermittent characteristic of these energies makes them difficult to control. The influence of this aleatory character can be reduced with the coupling of two or more sources of renewable energy and secondly with a sound managem...

Model-Based Design is an efficient and cost-effective way to develop controls, signal processing, image processing, communications, mechatronics, and other embedded systems. Rather than re-lying on physical prototypes and textual specifications, Model-Based Design uses a system model as an executable specification throughout development. It support...

Currently in a robust design of mechatronic systems one must be aware of shortcomings due to uncertainties. Taking into account uncertainties in model parameters values is a crucial point for studying robustness in modeling and in control. These may be caused by external hazardous perturbations, insufficient erroneous parameter identification, tole...

The choice of geometric tolerance values is still an important issue that is formally unresolved and remains a field of expert knowledge. This paper proposes an automatic approach to decision making for the identification and evaluation of geometric tolerance values allowing us to start from nominal CAD model to simulate workpieces with errors. The...

The success of the incorporation of iron inserts in aluminum alloys automotive parts depends on the quality of the interface especially in high pressure die casting process. In this case the severe conditions of elaboration impede the formation of a sound interface. Besides, we show that in conditions of gravity sand molding a metallurgical bonding...

This paper investigates the effects of joint clearances on the dynamic behavior of a mechatronic system. An example of four bar mechanism with joint clearance between crank and coupler driven by controlled DC motor is studied. The simulations show the clearance influences on subsystems (mechanical and electrical) of a mechatronic system.

This paper describes a new method of modeling the human hand based on the object oriented approach. To obtain the same movements as the real hand we based on the anatomical studies, a set of observations and bibliographic results. We propose a kinematical chain with 22 DOF, which is made by rigid bodies representing the bones, and mechanical joints...

This paper focuses on a new approach for tolerance analysis. It is based on homogeneous transformation matrix using vectorial tolerancing for minimal chains in 3D-tolerancing. This method is easy to use and is not expensive in computerised execution time.

In recent years, the Vectorial Dimensioning and Tolerancing (VD&T) is appeared as a new alternative to represent workpiece tolerances. Contrarily to conventional Geometrical Dimensioning and Tolerancing (GD&T) which originated from traditional measurement means, the VD&T follows the working principle of Coordinate Measuring Machines (CMM) and CAD/C...

In the reverse-engineering, digitalization without contact makes it possible today to describe a "digital image" of a real part "physical object" in the shape of a "points cloud". However, the collected data are far from being ideal and suffer from various problems such as the lack from information on certain areas, the noises of various sources, t...

In the design phase of the manufacturing process, products are specified with nominal dimensions and tolerances using the Computer Aided Design (CAD) tools. Currently, the specifications heavily rely on engineering requirements, experience, and manual calculation. The influence of the manufacturing process on tolerances has not yet been well unders...

In various industrial processes, the need to recover in 3D the geometry of an existing physical product is increasingly frequent. The techniques of 3D digitalization make it possible today to obtain a digital representation of a physical object in the form of a points cloud. In reverse engineering, the phase of segmentation allows breaking down the...

The dynamical behavior of aircrafts on the ground is largely influenced by the braking system. The study of the braking system requires the simultaneous mastery of different disciplines: mechanics, hydraulics, electrics and aerodynamics. The multidisciplinary nature of brake system requires the identification of operating characteristics of each co...