Farkh Rihem

• Doctor of Philosophy
• Enseignant-chercheur at ISEN Yncréa Méditerranée- Toulon campus

This paper introduces a pioneering hybrid framework that integrates Q-learning/deep Q-network (DQN) with a locally deployed large language model (LLM) to enhance obstacle avoidance in embedded robotic systems. The STM32WB55RG microcontroller handles real-time decision-making using sensor data, while a Raspberry Pi 5 computer runs a quantized TinyLl...

The process of generating descriptive captions for images has witnessed significant advancements in last years, owing to the progress in deep learning techniques. Despite significant advancements, the task of thoroughly grasping image content and producing coherent, contextually relevant captions continues to pose a substantial challenge. In this p...

In a controlled indoor environment, line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots. A line tracking robot is a self-mobile machine that can recognize and track a painted line on the floor. In general, the path is set and can be visible, such as a black line on a white surface with high cont...

In this work, the concepts of particle swarm optimization-based method, named non-Gaussian improved particle swarm optimization for minimizing the cost of energy (COE) of wind turbines (WTs) on high-altitude sites are introduced. Since the COE depends on site specification constants and initialized parameters of wind turbine, the focus was on the d...

Several applications of machine learning and artificial intelligence, have acquired importance and come to the fore as a result of recent advances and improvements in these approaches. Autonomous cars are one such application. This is expected to have a significant and revolutionary influence on society. Integration with smart cities, new infrastru...

Heart disease is the leading cause of death worldwide. Predicting heart disease is challenging because it requires substantial experience and knowledge. Several research studies have found that the diagnostic accuracy of heart disease is low. The coronary heart disorder determines the state that influences the heart valves, causing heart disease. T...

The COVID-19 pandemic has shown that there is a lack of healthcare facilities to cope with a pandemic. This has also underscored the immediate need to rapidly develop hospitals capable of dealing with infectious patients and to rapidly change in supply lines to manufacture the prescription goods (including medicines) that is needed to prevent infec...

With the development of artificial intelligence technology, various sectors of industry have developed. Among them, the autonomous vehicle industry has developed considerably, and research on self-driving control systems using artificial intelligence has been extensively conducted. Studies on the use of image-based deep learning to monitor autonomo...

A line follower robot is an autonomous intelligent system that can detect and follow a line drawn on floor. Line follower robots need to adapt accurately, quickly, efficiently, and inexpensively to changing operating conditions. This study proposes a deep learning controller for line follower mobile robots using complex decision-making strategies....

In industrial practice, certain processes are unstable, such as different types of reactors, distillation columns, and combustion systems. To ensure greater maneuverability and improve the speed of response command, certain systems in the military and aviation fields are purposely configured to be unstable. These systems are often more difficult to...

This paper presents a new design procedure to tune the fractional order PIλDμ controller that stabilizes a first order plant with time delay. The procedure is based on a suitable version of the Hermite–Biehler Theorem and the Pontryagin Theorem. A Theorem and a Lemma are developed to compute the global stability region of the PIλDμ controller in th...

This paper considers the problem of stabilizing a first-order plants with known time delay using a fractional-order proportional–integral controller PIλ. Using a generalization of the Hermite–Biehler theorem applicable to quasi-polynomials, a complete analytical characterization of all stabilizing gain values (kp, ki) is provided. The widespread in...

This paper presents a new tuning method for frational PIλ controllers. The main contribution is based on Hermite-Biehler theorem for time delay systems. A solution to the problem of stabilizing a given first order time delay plant is offered. The set of admissible (kp, ki) gain values is determined for the various values of λ and plotted in (kp, ki...

This paper presents an approach of stabilization and control of time invariant linear system of an arbitrary order that include several time delays. In this work, the stability is ensured by PI, PD and PID controller. The method is analytical and needs the knowledge of transfer function parameters of the plant. It permits to find stability region b...

In this paper, the problem of stabilizing an unstable second order delay system using classical proportional-integralderivative (PID) controller is considered. An extension of the Hermite-Biehler theorem, which is applicable to quasi-polynomials, is used to seek the set of complete stabilizing PI/ PID parameters. The range of admissible proportiona...

This paper presents a design method of robust and optimal PID controller for plants with parametric uncertainty and bounded time delay. Using a constructive procedure based on Hermite-Biehler theorem, we obtain all PID gains that stabilize an uncertain first order delay system.

In this paper, we consider the control of time delay system by first order controller. By Using the Hermite-Biehler theorem, which is applicable to quasipolynomials, we seek a stability region of the controller for first order delay systems

In this paper, a new method is proposed to define the parameters of fractional order PIλ controller that stabilise an uncertain first order system with time delay. In fact, based on an extension version of Hermite-Biehler theorem and Pontryagin theorem the complete set stabilising PIλ parameters (Kp, Ki, λ) is determined. The closed-loop characteri...

In this paper, the Generalized Kharitonov Theorem for quasi-polynomials is exploited for the purpose of synthesizing a robust controller. The aim here is to develop a controller to simultaneously stabilize a given interval plant family with unknowing and bounded time delay. Using a constructive procedure based on Hermite–Biehler theorem, we obtain...

This thesis is dedicated to PID controllers stabilization for a stable first and second-order delay system. The Generalized Kharitonov Theorem for quasi-polynomials is exploited for the purpose of synthesizing a robust controller that stabilize a given interval plant family with knowing time delay. Finally the genetic algorithm is proposed to deter...

The problem of stabilizing a second-order delay system using classical proportional-integral-derivative (PID) controller is considered. An extension of the Hermite-Biehler theorem, which is applicable to quasipolynomials, is used to seek the set of complete stabilizing PID parameters. The range of admissible proportional gains is determined in clos...

In this paper, we consider the control of time delay system by Proportional-Integral (PI) controller. By Using the Hermite- Biehler theorem, which is applicable to quasi-polynomials, we seek a stability region of the controller for first order delay systems. The essence of this work resides in the extension of this approach to second order delay sy...

In this paper, the problem of controller design for time-lag system subject to parametric uncertainty is studied. By using the idea of synthesizing a robust controller for interval plant, a new approach is proposed to develop a robustly stabilizing PI/PID controller for a given interval plant with known constant time delay. Based on a combination o...