Salim HIMA

• Ph.D in Robotics
• Professor (Associate) at ESME Engineering School

The autonomous vehicle lane change maneuvers are an intricate task that requires multiple subsystems to work together to ensure the maneuver’s safety and efficiency. This research paper investigates lane change maneuvers of autonomous vehicle, utilizing a trajectory generated using a sinusoidal function considering the ISO 3888 standards. The drivi...

In this paper we present a study of the dynamics and control of a heavy-lift airship carrying a payload through an overhead crane. To the best of our knowledge, we are pioneer in this field. The airship carrying a payload is assimilated to a flying crane. Intrinsically more stable than other platforms, airships can fly at very low speeds or even ho...

This paper highlights the mechanical and mechatronic properties of a two-wheeled driving simulator. It gives also the important motivation which facilitates the specification movement and inertial effect choice.

This overview article describes the goals, concepts and very preliminary results of the subproject Joint System within the EU-project HAVEit. The goal of HAVEit is to develop and investigate vehicle automation beyond ADAS systems, especially highly automated driving, where the automation is doing a high percentage of the driving, while the driver i...

This paper presents controllers design procedure for dynamic trajectory tracking of a highly automated vehicle. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the steeri...

In this paper, the design of the longitudinal and lateral controller for dynamic trajectory tracking is presented. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the ste...

Driving simulators are increasingly being used for driver evaluation and/or education. In this paper, we describe the design and the modeling aspects of a 2-degree-of-freedom (2-DOF) low-cost motion platform allowing the rendering of the longitudinal and yaw movements. This prototype will be used to study various configurations of motion rendering...

This paper describes a new motorcycle riding simulator whose purpose is twofold: 1) it can be used as a training tool for new riders in different scenarios, such as a normal traffic environments or in dangerous riding situations (avoidance, emergency braking, nearly failing or slipping situations, and bad weather conditions) and 2) it can be used t...

Deliverable. D41.3 “Joint System validation in vehicle” reports the tests and validation of the HAVEit Joint System demonstrator, a trailblazer prototype integrated in the DLR test vehicle FASCar, about one year before the end of the HAVEit project.

Lighter-than-air vehicles suit a wide range of applications, ranging from advertising, aerial photography, and survey work tasks. They are safe, cost-effective, durable, environmentally benign and simple to operate. Since their renaissance in early 1990’s, airships have been increasingly considered for varied tasks such as transportation, surveilla...

This paper deals with modeling, control and identification issues of 2 degrees of freedom (DOF) low cost driving simulator validated by experimental results with a human in the loop. A first study, dealing with choices of the platform's motion, has conducted us to an original architecture allowing the restitution of longitudinal and yaw movements b...

In order to be an effective tool for driver evaluation and education, driving simulators need to be better designed to reduce simulator sickness. In this paper, we expose platform design, description and the modeling aspects of a 2 DOF low cost motion platform allowing the restitution of the longitudinal and yaw movements. To enhance the drive imme...

In order to be an effective tool for driver evaluation and education, driving simulators need to be better designed to reduce simulator sickness. In this paper, we expose platform design, description and the modeling aspects of a 2 DOF low cost motion platform allowing the restitution of the longitudinal and yaw movements. To enhance the drive imme...

This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for three purposes...

This paper describes a modelling technique for deriving the motorcycles equation of motion. Based on the recursive Newton-Euler approach adapted to tree structure with floating base multibody systems, the derived model presents a low number of arithmetic operations, and hence, is suitable for implementation into a two wheeled vehicles simulator and...

This paper is dedicated to the observation of non measurable variables for automotive systems. A non linear observer, based on a sliding mode approach, is presented for the estimation of the dynamic states of the vehicle. The considered technique is applied to the estimation problem for an automated vehicle following. Both the simulation and the ex...

In this paper, we present a modeling technique for deriving the motorcycles equation of motion. The proposed technique is based on the recursive Newton‐Euler approach and adapted to tree structure with floating base multibody systems. The derived model presents a low number of arithmetic operations, and hence, suitable for implementation into a tw...

This paper presents the development of motorcycle dynamics model. The considered vehicle contains six bodies linked with simple joints and parametrised by 11 degrees of freedom (DOF). The motorcycle model is to be used as a component in driving simulator application. It serves to investigate the influence of using a complete motorcycle dynamics mod...

This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for two purposes:...

This paper highlights the mechanical and mechatronic properties of a two-wheeled driving simulator. It gives also the important motivation which facilitates the specification movement and inertial effect choice. Considering the principles purpose of this simulator: 1) as a training tool for new riders with different scenarios: normal traffic enviro...

Rapport interne, Projet VIGISIM: Simulateur de détection des Altérations du comportement de conduite liées l'attention et la Vigilance: Sélection de mouvement, conception et modlisation du simulateur VIGISIM

This paper describes a new motorcycle riding simu-lator whose purpose is twofold: 1) it can be used as a training tool for new riders in different scenarios, such as a normal traffic environments or in dangerous riding situations (avoidance, emergency braking, nearly failing or slipping situations, and bad weather conditions) and 2) it can be used...

In this paper we propose an algorithm allowing the calculation of the trim trajectories for the airship. These trajectories are suitable for control, by linearizing the dynamic equations around the trim conditions, and hence simplifying significantly the controller synthesis. Another advantage related to trim trajectories consists in the simplifica...

Rapport interne, Projet SIMACOM (SIMulateur pour l'Apprentissage de la COnduite de 2 roues Motorisés) : Modélisation dynamique de véhicules de roues

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The objective of this paper is to generate a desired flight path to be followed by an Unmanned Aerial Vehicle (UAV), with specified boundary conditions. The space is supposed without obstacles. After the user has defined the goal tasks, the path generator then determines a path for the vehicle that is a trajectory in space. The problem of path plan...

This paper deals with a characterization of the shortest paths for lateral navigation of an autonomous underactuated airship taking into account its dynamics and actuator limitations. The initial and terminal positions are given. We would like to specify the control forces that steer the unmanned aerial vehicle to the given terminal position requir...

A blimp is a small airship that has no metal framework and collapses when deflated. In the first part of this paper, kinematics and dynamics modelling of small autonomous non rigid airships is presented. Euler angles and parameters are used in the formulation of this model. In the second part of the paper, path planning is introduced using helices...

After being neglected during many decades, airships are experiencing a new interest, specially the stratospheric lighter than air vehicle. This paper presents a nonlinear motion control method of a dirigible in a high constant altitude flight, for path tracking. We use the property that the system is input/output linearizable. In path generation, w...

We are currently studying a small airship that has no metal framework and collapses when deflated. In the first part of this paper, dynamic modeling of small autonomous non rigid airships is presented, using the Newton-Euler approach. This study discusses the motion in 6 degrees of freedom since 6 independent coordinates are necessary to determine...