Belkacem Ould Bouamama

• Professor
• Head of Department at University of Lille

This paper provides a comprehensive review of hybrid energy systems (HESs), focusing on their challenges, optimization techniques, and control strategies to enhance performance, reliability, and sustainability across various applications, such as microgrids (MGs), commercial buildings, healthcare facilities, and cruise ships. The integration of ren...

This paper presents a comparative study of Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) for optimal sizing of two hybrid renewable energy systems: Solar with Battery and Grid, and Solar with H2 System and Grid. Real-time energy consumption data from a university is used to model these systems, aiming to minimize costs while meeting...

The increasing need for sustainable energy sources around the globe requires innovative approaches for power distribution and generation. This paper presents an hybrid micro-grid that integrates photovoltaic (PV), battery storage system and hydrogen systems which contains a fuel cell, the electrolyser, and H2 storage tank with grid effectively. Its...

A model based diagnosis for Proton Exchange Membrane (PEM) water electrolyser has been presented in this paper using Linear Fractional Transformation (LFT) bond graph technique. LFT helps in calculating the adaptive thresholds in order to make the diagnosis robust against parameters and measurement uncertainties, hence avoiding false alarms. A modu...

The major part of ongoing research in the field of robotics is to mimic the behaviour of species present in nature. This paper presents the workspace of the multi-section bionic manipulator Robotino-XT under the failure of one of its bellow. These types of failure may be due to repeated use, pressure leakage, hysteresis or improper design. The CBHA...

Fault detection is one of the key steps in Fault Detection and Isolation (FDI) and, therefore, critical for subsequent prognosis or implementation of Fault Tolerant Control (FTC). It is, therefore, advisable to utilize detection algorithms which are quick and can detect the smallest faults. Model-based detection methods satisfy both these criteria...

Traditional MPPT algorithms have demonstrated effective performance relative to their flexibility and simplicity of implementation. However, its main disadvantages are the ineffectiveness and the large oscillations around the maximum power point under rapidly changing operating conditions. In order to achieve better performance in power production...

Pachouri, VipinPathak, P. M.Mishra, Mrunal K.Samantharay, A. K.Merzouki, R.Bouamama, B. O.The major part of ongoing research in the field of robotics is to mimic the behaviour of species present in nature. This paper presents the workspace of the multi-section bionic manipulator Robotino-XT under the failure of one of its bellow. These types of fai...

This work presents a complete bond graph modeling of a hybrid photovoltaic-fuel cell-electrolyzer-battery system. These are multi-physics models that will take into account the influence of temperature on the electrochemical parameters. A bond graph modeling of the electrical dynamics of each source will be introduced. The bond graph models were de...

In this paper, a new robust fault diagnosis procedure for an uncertain hybrid system based on the hybrid bond graph model is proposed. The main objective is to enhance the robustness in the presence of uncertainties in order to minimize the non-detection and false alarm. The scientific interest of the present work remains in integrating the benefit...

In this paper, a new fault-tolerant control scheme for uncertain systems is proposed based on uncertain bicausal Bond Graph and Adaptive Fuzzy PID Controller. The main objective is to make the control system act faster and more effectively in the presence of the faults and uncertainties. The scientific interest of the present work remains in integr...

Accurate detection of faults in a dynamic system is very beneficial as this information can be used in a wide variety of ways by the machine operators or designers. This advantage becomes many folds when regarding the future condition i.e. time to failure, named remaining useful life, is available in addition to that of the present condition. Thus,...

Accurate detection of faults in a dynamic system is very beneficial as this information can be used in a wide variety of ways by the machine operators or designers. This advantage becomes many folds when regarding the future condition i.e. time to failure, named remaining useful life, is available in addition to that of the present condition. Thus,...

Proton Exchange Membrane Fuel Cells are promising energy converters that allow powering vehicles or buildings in a clean manner. Nevertheless, their performance are affected by faults and irreversible degradation mechanisms that are far from being fully understood. Consequently, during the last decade, researches have been conducted on the diagnost...

This paper deals with the bond graph methodology as a decision-making tool and multiphysic approach for supervision supervision system design. The developed algorithms have been applied to a mechatronic represented by Hybrid Renewable Energy System (HRES) which consists of Solar Photovoltaic Panels (PV) and wind turbines coupled to an electrolyser...

This paper proposes a generic tool named Hybrid Bond Graph (HBG) driven by an automaton. Along with the conventional Bond Graph (BG) properties, the proposed approach offers some very valuable advantages in modelling the Hybrid Dynamical Systems (HDS). It allows having one global model of all the distinct dynamics called dynamical operating modes g...

This paper proposes a generic tool named Event-Driven Hybrid Bond Graph (EDHBG). The main objective of the proposed approach is the use only one global model to represent all the distinct dynamics resulting from the switching behaviour of the system. Compared with classical approaches such as the hybrid automata, the Operating Mode Management (OMM)...

This paper concerns the online quantitative Fault Detection and Isolation (FDI) in uncertain systems using the Analytical Redundancy Relations (ARR). It proposes a pure graphical robust diagnosis using Bond Graph (BG) model. The proposed diagnoser directly generates online residuals with dynamical thresholds. The innovative interest is the use of o...

A system of systems (SoS) is a large-scale integrated system. In an SoS, many complex independent systems work collectively for a common mission. Modeling of SoS is challenging due to their large-scale and complexity of the constituent systems. In this paper, generic modeling of a class of SoS, namely mechatronic systems, is proposed based on bond...

This chapter presents a holistic method to address the issue of health monitoring of system parameters in Bond Graph (BG). The advantages of BGs are integrated with Bayesian estimation techniques for efficient diagnostics and prognostics of faults. In particular, BG in linear fractional transformations (LFT) are used for modelling the global uncert...

Being a very efficient and clean energy converter, a proton exchange membrane fuel cell may be utilized to power an electrical vehicle efficiently. Nevertheless, degradation mechanisms affect the lifespan of this electrochemical converter. Consequently, the estimation of the State of Health and Remaining Useful Life have been the subject of numerou...

This paper presents a holistic solution towards prognostics of industrial Proton Exchange Membrane Fuel Cell. It involves an efficient multi-energetic model suited for diagnostics and prognostics, developed using some specific properties of Bond Graph (BG) theory. The benefits of Particle Filters (PF) are integrated with the BG model derived fault...

The electric power generated by a photovoltaic module can be greatly reduced compared with optimal production due to weather conditions and factors such as partial shade. The main defect of a conventional maximum power point tracking control algorithm is its misinterpretation of the location of the maximum power point during a sudden change in clim...

This paper proposes a generic tool named Hybrid Bond Graph (HBG) driven by an automaton for modeling and fault detection and isolation (FDI). The innovative interest is the use of only one tool (the Bond Graph) for the behavioral and functional modeling and also for the FDI task as well, while taking into account all different modes of the hybrid s...

Prognostics applications on PEMFC are developing these last years. Indeed, taking decision to extend the lifetime of a PEMFC stack based on behavior and remaining useful life predictions is seen as a promising solution to tackle the too short life’s issue of PEMFCs. However, the development of prognostics shows some lacks in the literature. Indeed,...

Although, the proton exchange membrane fuel cell is a promising clean and efficient energy converter that can be used to power an entire building in electricity and heat in a combined manner, it suffers from a limited lifespan due to degradation mechanisms. As a consequence, in the past years, researches have been conducted to estimate the state of...

Direct braking system is a key part of train security. This system is complex and nonlinear because of coupling multi-physic energies (pneumatic, electric, mechanical translation and rotation) and working in hybrid structure involving continuous and discrete modes because of presence of relays and diodes. The objective of the present paper is to us...

The Proton Exchange Membrane Fuel Cell is a promising energy converter for various fields of application: stationary, portable and mobile. However durability avoids its widespread deployment. Deterioration mechanisms are not all fully understood and that is the reason why the prognostic of such device is gaining attention. This helps determine the...

After being considered as an appropriate tool for system of systems (SoS) organisation into several levels, hyper-graph is becoming more indicated for any modelling aspect. In this paper, we propose to use a unique hyper-graph methodology to represent basically organisational, functional as well as behavioural SoS modelling. In the first part, we d...

After being considered as an appropriate tool for system of systems (SoS) organisation into several levels, hyper-graph is becoming more indicated for any modelling aspect. In this paper, we propose to use a unique hyper-graph methodology to represent basically organisational, functional as well as behavioural SoS modelling. In the first part, we d...

This paper studies observers for multivariable systems with nonlinear components and unknown disturbance inputs. In order to apply procedures dedicated to linear systems, the nonlinearity is first modeled as an unknown input variable and an unknown input observer for multivariable linear systems is studied. An integrated approach is proposed from m...

Safety operating of controlled systems requires the validation of the data produced by the sensors. The objective of this validation is to detect erroneous data and then not to transmit these data to the control or other algorithms. One possibility to detect and isolate faulty data rests on the online evaluation of Analytical Redundancy Relations (...

Fuel cell systems represent a promising alternative energy converter. In the past years, researches have been conducted for their modeling, control, and diagnosis. The model should accurately reproduce the behavior without being too complex. Due to the highly multiphysical interactions and coupling within the fuel cell, using a graphical representa...

Modeling a system of systems, for supervision purpose, is a complex issue influenced by security constraints more important than those of its component systems. This work proposes a hierarchical model of system of systems based on Hypergraphs and Constraint Satisfaction Problems. First of all, the developed model allows the operator to show, by a b...

In this paper, a modeling method for a class of system of systems (SoS) is proposed based on the Bond graph modeling approach. A SoS is a large-scale integrated system which is composed of many complex systems called component systems (CSs). Most of the existing SoS models are based on the organizational modeling approach, and the behavioral models...

This paper deals with Actuator Fault Diagnosis using multi energy Bond Graph approach. Namely, it is shown how the structural properties (monitorability) and the fault signatures can be deduced directly from multi energy bond graph models (well adapted for process engineering modeling) with no need for any calculation. This approach is applied to a...

The main purpose of this paper is to present a method for estimating nonlinear parameters of dynamical systems using the concept of unknown input observer dedicated to linear systems. The bond graph approach is used due to its structural and causal properties and since each component can be precisely isolated using Fault detection and Isolation ste...

This paper presents an overview of graphical methods used for robust Fault Detection and Isolation (FDI) that can be employed for monitorability and diagnosability analysis and/or online diagnosis of dynamic systems. We review the modeling approaches used by the different methods, and then study properties, such as detectability, isolability, and r...

The main purpose of this paper is to design a flat control of a real torsion bar system subject to unknown input variables using the concept of unknown input observer. The bond graph approach is used due to its structural and causal properties. Three main points are developed: modeling of the dynamical system with model simplification using an inte...

In the literature Unknown Input Observers for sensor and actuator failure estimation are widely developed. None of them concerns component fault estimation. These analytical approaches are based on state equation description and complex numerical calculation. The present paper deals with physical component failure estimation based on bond graph app...

Different approaches have been developed to perform diagnosis and supervision on continuous systems. On the one hand, Consistency-Based Diagnosis (CBD) as a qualitative approach has proved its convenience to diagnose multiple faults. However, it faces some problems regarding robustness in decision step and difficulties to obtain an accurate qualita...

In the present work, a generic method for multilevel modeling and reconfiguration of the System of Systems Engineering (SoSE) is proposed based on the bond graph modeling approach. The proposed formulation is applied to the road traffic dynamic for a platoon of Intelligent Autonomous Vehicles (IAVs). A bond graph model-based reconfiguration strateg...

Activity of the elements at a junction of a bond graph model is used to build the new concepts of Junction Power (JP) and Junction Activity (JA). It is shown that the Junction Activity forms a means of obtaining the total amount of conserved energy restituted at the junction. The novel notion is developed by taking example of a DC motor model. Junc...

To guarantee the safe operation of the Fuel Cell (FC) systems, it is necessary to use systematic techniques to detect and isolate faults for diagnosis purposes. The problematic for Fault Detection and Isolation (FDI) model-based of fuel cell consists in that such system is bad instrumented, its model is complex (because of coupling of multi-physica...

It is seen that methodology for diagnosis of uncertain systems using the Bond Graph (BG) model in Linear Fractional Transformation (LFT) form is an effective way to detect the fault by systematic generation of robust adaptive thresholds over the nominal residuals. There are limitations associated, many of which are imposed due to the manner uncerta...

The use of wind energy has increased during the last years; however, wind power varies greatly throughout the day creating important intermittence problems. This paper deals with the modeling, fault detection and isolation of wind turbine generation systems by bond graph approach. The modeling of the wind phenomenon, the turbine mechanical system a...

The present paper deals with bond graph model-based for structural component fault detection and isolation. The structural conditions of fault detectability and isolability are obtained directly from the bond graph using the properties of the bicausality and the causal path. It is shown that the monitorability analysis using bond graph is automatic...

Supervision of chemical and biochemical processes is difficult due to various factors, for example the evolution of nonlinear state variables, uncertainties in parameters and disturbances, and system operating conditions. The complexities arise out of the energetic couplings in the model. In this work, the bond graph representation, as a unified an...

Controlled systems can be subjected to faults that may affect the performance of the system, and unable its objectives to be achieved. Fault detection and isolation algorithms are then used to study these faults. The bond graph tool can be used for modeling purposes and then its structural, and causal properties can be exploited for automatic gener...

This paper deals with the integration of robust bondgraph-model-based fault diagnosis (FD) with structural recoverability analysis and fault-tolerant control (FTC) of an intelligent heavy-size and autonomous vehicle, used for loading and routing 20- and 40-ft containers inside port terminals. The overactuated vehicle is an omnidirectional mobile pl...

Acting as a support resource for practitioners and professionals looking to advance their understanding of complex mechatronic systems, Intelligent Mechatronic Systems explains their design and recent developments from first principles to practical applications. Detailed descriptions of the mathematical models of complex mechatronic systems, develo...

This chapter deals with a class of intelligent transportation systems (ITS), namely intelligent autonomous vehicle (IAV). This chapter focuses on dynamic and kinematic models of an over-actuated electric vehicle. The studied model is nonlinear and can be used for control design in the case of trajectory tracking in normal situation, or for fault di...

This chapter concerns a space robotics application where both trajectory and force/moment control strategies are studied. The space robot is a nonholonomic system with a floating base and its model and control law formulations are fundamentally different from those of a ground-based robot. This chapter gives a detailed account of space vehicle and...

Classical control system analysis methods are revisited in this chapter. Initially, a methodical approach for conversion of bond graph models into state-space, signal flow graph, and block diagram models is illustrated. The next step deals with derivation of transfer functions and control theoretic analysis of closed-loop linear time invariant syst...

Robust manipulator end effector trajectory control in presence of modelling uncertainties and unknown external disturbances is discussed in this chapter. The concept of overwhelming control is discussed first and it is shown how robust trajectory control is possible in unstructured and uncertain environment. The control laws are developed in the ph...

This chapter gives an introduction to robotic manipulator modeling. Initially, the background material related to coordinate transformation, homogeneous transformation matrices, and Denavit-Hartenberg (D-H) parameters are discussed. Forward and inverse kinematics of robotic manipulators are discussed next followed by a section on rigid-body dynamic...

In this chapter, we develop models for various mechatronic components used in modern road vehicles. To start with, we develop a complete vehicle model by integrating its various basic component models like vehicle body, tires, wheels, engine, clutch, gear box, differential, transmission system, suspension, steering, etc. Mechatronic implementations...

This chapter deals with model-based techniques for Fault detection and isolation (FDI) applied to networked control systems (NCS). The considered NCS application is related to telerobotics system, where it is represented by a hybrid model, including the continuous, discrete, and stochastic aspects of all the system components. The considered NCS is...

This paper presents a new method to design a sensor fault modeling and estimation using a bond graph approach with the unknown input observer (UIO) approach. Intrinsic solvability conditions are given with clear physical meanings due to the bond graph representation and a bond graph observer is proposed with an augmented model. With the augmented m...

Modeling of traffic dynamic is important for the good traffic management which leads to sustainable transport. Traffic models are classified based on level of details they provide as microscopic models and macroscopic models. A microscopic model of traffic flow describes the behavior of individual vehicle in response to motion of the vehicle preced...

This paper presents a method for robust Fault Detection and Isolation (FDI) of Hybrid systems. The scientific interest of proposed method is use only one tool (Bond Graph) for modelling and diagnosis taking into account parameter uncertainties and hybrid aspect of the monitored system. For this task is proposed Hybrid Bond Graph (HBG) approach in L...

Bond graphs are a promising possibility for modeling complex physical systems. This paper explores its potential by undertaking the analysis, modeling and design of a water pumping photovoltaic system. The effectiveness of photovoltaic water pumping systems depends on the sufficiency between the generated energy and the volume of pumped water. Anot...

The Fuel Cell (FC) is an ideal electrical power source. However, FC stacks and even more FC systems are vulnerable to faults (such as water flooding and membrane drying) that can cause the disruption or the permanent damage. To guarantee the safe operation of the FC systems, it is necessary to use systematic techniques to detect and isolate faults...

The graphical approaches often have different backgrounds and view a system or an algebraic model from different perspectives in order to facilitate the communication and the understanding. These graphical approaches satisfy the modeling needs and give a clear and easily understandable overview of the behavioral and functional models and make easie...

This paper deals with an embedded fault detection and isolation (FDI)-fault-tolerant control approach applied to an overactuated electric vehicle. This method is described in the following three major steps: 1) trajectory planning based on the inverse kinematic modeling of the vehicle; 2) model-based fault diagnosis of the traction system; and 3) v...

The concepts of quantitative fault diagnosis and fault tolerant control are introduced in this chapter. After a thorough introduction, the notion of analytical redundancy relations (ARRs), residuals, and structural analysis for fault diagnosis and isolation (FDI) are presented. Causal structure of bond graph model is exploited to derive the ARRs wh...

Planar multibody systems, and revolute and prismatic joints with clearance and friction are initially modeled in this chapter with Rapson slide and Andrew’s mechanism as two examples. For modeling spatial multibody systems, the concepts of noninertial reference frame, Euler angles, and coordinate transformations, etc., are introduced. Hydraulically...

Various key components of mechatronic systems are modeled in this chapter. Dynamic models of actuators of various kinds are modeled with detailed physical relationships. Several examples from mechanical (mechanisms, cam, gear, and belt drives, etc.), electrical (DC, AC, and stepper motors, etc.), magnetic, and hydro-pneumatic actuators are detailed...

This chapter concerns the design of a human-in-the-loop road vehicle driving simulator. The key components of the driving simulator are the vehicle dynamic model, Stewart platform (parallel manipulator), real-time controller, visual animation system, and human–machine interface. In this chapter, the vehicle model developed in Chap. 6 has been used....

This chapter gives an introduction to mechatronics as a multidisciplinary engineering field. Various architectures of a mechatronic system and its components are discussed with two common place example applications. Finally, the usefulness of modeling and simulation as a means for mechatronic system design and virtual prototyping is justified with...

This chapter gives a formal introduction to the bond graph modeling tool for integrated modeling of a mechatronic system whose components belong to several energy domains. The chapter starts with the basic concept of using power exchanged between parts of the system as a unified coordinate system and then it introduces various one-port bond graph e...