Yassine Bouteraa

Yassine Bouteraa
University of Sfax | US · Department of Biomedical Engineering

Associate professor

About

79
Publications
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487
Citations

Publications

Publications (79)
Article
Full-text available
Motivating game-based training have the potential to improve therapy for people with neurological impairments. In recent years, the serious games have become extremely useful tools in rehabilitation field. They aim to stimulate the mobility of the body through an immersive experience that puts the user in interactive virtual environment. This paper...
Article
In this paper, we develop a smart navigation aid system for blind and visually impaired people (BVIP). The proposed design revolves around a decision support system based on fuzzy logic, a Raspberry Pi4 board for real-time processing, a set of high-performance sensors, and a haptic voice interface to guide the user. The control architecture is base...
Article
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In this paper, a new approach is presented for stabilizing and synchronizing financial chaotic systems. A new type-3 (T3) fuzzy-based system (FLS) with an online optimization scheme is designed to cope with chaotic behavior, high-level uncertainties, and unknown dynamics. An adaptive compensator also eliminates the effect of approximation errors (A...
Article
Full-text available
In this study, we present an IoT-based robot for wrist rehabilitation with a new protocol for determining the state of injured muscles as well as providing dynamic model parameters. In this model, the torque produced by the robot and the torque provided by the patient are determined and updated taking into consideration the constraints of fatigue....
Article
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The remarkable properties of sliding mode control (SMC)—such as robustness, accuracy, and ease of implementation—have contributed to its wide adoption by the control community. To accurately compensate for parametric uncertainties, the switching part of the SMC controller should have gains that are sufficiently large to deal with uncertainties, but...
Article
Since 3D mesh security has become intellectual property, 3D watermarking algorithms have continued to appear to secure 3D meshes shared by remote users and saved in distant multimedia databases. The novelty of our approach is that it uses a new Clifford-multiwavelet transform to insert copyright data in a multiresolution domain, allowing us to grea...
Article
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In this study, a novel control framework is proposed to improve the tracking performance of uncertain marine vessels which work in enhanced sea states. The proposed control strategy is based on incorporating a fixed-time nonlinear disturbance observer (FTNDO) in a fixed-time convergent backstepping control. More specifically, the FTNDO is developed...
Article
Networked devices benefit enterprises to gain far-reaching control over their industrial processes, which encourages them to conduct routine operations in a smart manner. Rapidly expanding interconnected sensor devices are eligible to aggregate, process and disseminate wide-ranging data. This paper proposed an extended anomaly discovery and respons...
Article
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The Internet of Things (IoT) is an interconnected network of computing nodes that can send and receive data without human participation. Software and communication technology have advanced tremendously in the last couple of decades, resulting in a considerable increase in IoT devices. IoT gadgets have practically infiltrated every aspect of human w...
Article
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The general fractional conformable derivative (GCD) and its attributes have been described by researchers in the recent times. Compared with other fractional derivative definitions, this derivative presents a generalization of the conformable derivative and follows the same derivation formulae. For electrical circuits, such as RLC, RC, and LC, we o...
Article
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Security and privacy issues with IoT edge devices hinder the application of IoT technology in many applications. Applying cryptographic protocols to edge devices is the perfect solution to security issues. Implementing these protocols on edge devices represents a significant challenge due to their limited resources. Finite-field multiplication is t...
Article
In this paper, the finite-time stabilization of the disturbed and uncertain rotary-inverted-pendulum system is studied based on the adaptive backstepping sliding mode control procedure. For this purpose, first of all, the dynamical equation of the rotary-inverted-pendulum system is obtained in the state-space form in the existence of external distu...
Article
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In this article, a new design of a wearable navigation support system for blind and visually impaired people (BVIP) is proposed. The proposed navigation system relies primarily on sensors, real-time processing boards, a fuzzy logic-based decision support system, and a user interface. It uses sensor data as inputs and provides the desired safety ori...
Article
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In this article, we present a low cost open source robotic solution for remote rehabilitation. In a pandemic context, where the trend is to manage our services remotely, the proposed system guarantees that the physiotherapist remotely controls and supervises the rehabilitation process. In the developed solution, it is not necessary to directly touc...
Article
Full-text available
The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Pa...
Chapter
With the increase in heart disease and frequent heart attacks, the death rate has increased in a terrifying and appalling manner worldwide due to the lack of first aid practices such as cardiopulmonary resuscitation (CPR). Cardiopulmonary resuscitation is a dual process in which the paramedic resuscitates the lung and heart. As for resuscitation of...
Patent
Le robot de rééducation de coude est considéré comme une solution pour aider les personnes victimes d'AVC qui ont souvent besoin d'aide pour la récupération de mobilité de l'articulation du coude. Il est conçu pour offrir un maximum de mobilité à l'articulation avec une répétabilité infini des itérations. L'appareil se caractérise par la possibilit...
Article
This article presents a compact and efficient bit-parallel systolic array structure for multiplication over the extended binary field, GF(2 $^{m}$ ). The systolic array has a regular arrangement with local connections, making it more suitable for VLSI implementations. Also, it has the merits of having hardware complexity of order $\mathcal{O}(m)$...
Article
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This paper presents an optimal method for optimizing network reconfiguration problems in a power distribution system in order to enhance reliability and reduce power losses. Network reconfiguration can be viewed as an optimization problem involving a set of criteria that must be reduced when adhering to various constraints. The energy not supplied...
Article
In this paper, a robotic system dedicated to remote wrist rehabilitation is proposed as an Internet of Things (IoT) application. The system offers patients home rehabilitation. Since the physiotherapist and the patient are on different sites, the system guarantees that the physiotherapist controls and supervises the rehabilitation process and that...
Article
Full-text available
The last few years have seen significant advances in neuromotor rehabilitation technologies, such as robotics and virtual reality. Rehabilitation robotics primarily focuses on devices, control strategies, scenarios and protocols aimed at recovering sensory, motor and cognitive impairments often experienced by stroke victims. Remote rehabilitation c...
Patent
Le robot de rééducation est considéré comme une solution pour aider les personnes victimes d'AVC qui ont souvent besoin d'aide pour accomplir une foule de petits gestes quotidiens. Il est conçu pour offrir un maximum de mobilité à l'articulation. L'appareil se caractérise par la possibilité de fixer nombre d'itération, vitesse, l'angle, du côté dro...
Patent
Ce projet consiste à concevoir une main artificielle, utilisant l'impression 3D, pour l'amélioration des capacités manipulatoires des systèmes médicaux robotisés. Cette idée vise à développer et commander une main bionique poly-articulée multi-doigts en s'inspirant de la biologie de la main humaine en termes d'encombrement, de principe d'actionneme...
Article
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In the education sector, the Internet of Things (IoT) technology, integrated with fog-cloud computing, has offered productive services. Motivated by this, the smart recommender system offers the facility to the students to opt for the course and college based on the education quality. This research provides an IoT-fog-cloud paradigm for evaluating...
Article
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The proliferation of IoT devices has led to the development of smart appliances, gadgets, and instruments to realize a significant vision of a smart home. Conspicuously, this paper presents an intelligent framework of a foot-mat-based intruder-monitoring and detection system for a home-based security system. The presented approach incorporates fog...
Article
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Robots are highly incorporated in rehabilitation in the last decade to compensate lost functions in disabled individuals. By controlling the rehabilitation robots from far, many benefits are achieved. These benefits include but not restricted to minimum hospital stays, decreasing cost, and increasing the level of care. The main goal of this work is...
Article
Purpose The purpose of this paper is to design and develop a new robotic device for the rehabilitation of the upper limbs. The authors are focusing on a new symmetrical robot which can be used to rehabilitate the right upper limb and the left upper limb. The robotic arm can be automatically extended or reduced depending on the measurements of the p...
Article
Full-text available
The problem of inverse kinematics is essential to consider while dealing with the robot’s mechanical structure in almost all applications. Since the solution of the inverse kinematics problem is very complex, many research efforts have been working towards getting the approximate solution of this problem. However, for some applications, working wit...
Article
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Blockchain is a distributed operation and information supervision technology programmed initially for Bitcoin cryptocurrency. The awareness in Blockchain technology is rapidly growing since the notion was invented in the year 2008. The motivation for the concentration in Blockchain is its significant characteristics that deliver security, privacy,...
Article
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In this paper, we develop an efficient parallel semi-systolic array structure to concurrently compute multiplication and squaring operations in the binary extension field, GF(2m), for efficient modular exponentiations. The proposed array is well suited to VLSI implementation that it has a regular structure as well as local communications between it...
Patent
Dans le cadre d'assistance de personnes non voyantes, nous proposons une conception d'un système d'aide à la navigation. Le système développé consiste à une lunette munie d'un support équipé par une série de trois télémètres qui prendrait en entrée les informations venant des capteurs à ultrasons et générait en sortie des vibrations et des messages...
Patent
Balsam1 est un robot de rééducation du poignet conçu pour offrir un maximum de mobilité à l'articulation. Le robot est considéré comme une solution technologique durable, compacte et confortable pour la rééducation du poignet. L'appareil se caractérise par une conception flexible afin d'assurer les deux types d'exercice de rééducation du poignet: F...
Chapter
This paper presents the kinematic structure and the design of a robust control strategy for a 5 Degree Of Freedom (DOF) serial robot for tele-echography. According to the manipulator kinematics, the dynamic model is formulated in the task space by using the Lagrangian formalism. Based on the system dynamics, a classical sliding mode control scheme...
Chapter
Full-text available
This paper presents a new design of a robot elbow rehabilitation: Wireless Remote Control Arm exoskeleton (WRCAE). The robot is designed for the upper limb therapy. The developed system is an exoskeleton with two degrees of freedom that can be used for the treatment, evaluation and reinforcement. The exoskeleton actuates the both movements: flexion...
Article
Full-text available
Purpose The idea is to exploit the natural stability and performance of the human arm during movement, execution and manipulation . Our purpose is to remotely control a handling robot with a low cost but effective solution. Design/methodology/approach The developed approach is based on three different techniques in order to be able to ensure mov...
Article
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The development of dynamic rehabilitation devices can be evaluated as a research fastgrowing field. Indeed, robot-assisted therapy is an advanced new technology mainly in stroke rehabilitation. Although patients benefit from this enormous development of technology, including the presence of rehabilitation robots, the therapeutic field still sufferi...
Article
This paper addresses the remote control of robot skeleton based on gesture recognition of a human operator’s body. The control motion procedure is facilitated by the use of the Kinect motion capture sensor, which transmits appropriate signals to the robot’s joints to adequately replicate the operator’s movement. Since the movement of the human oper...
Article
The collision avoidance concept is widely applied for developing and designing in autonomous robotic applications. In an unknown environment, the challenge in mobile robot navigation or path planning is to find the path from the starting point to the target avoiding obstacles. This paper investigates the mobile robot navigation based on an integrat...
Article
This paper outlines a mechatronic design and a remote measurement system of a trirotor unmanned aerial vehicle (UAV). Furthermore, with particular emphasis on the experimental aspect, this study presents also a real dynamic model with reduced inputs made by experimental aerodynamic forces/torques identification. The trirotor presents a real control...
Article
This paper outlines a mechatronic design and a remote measurement system of a trirotor unmanned aerial vehicle (UAV). Furthermore, with particular emphasis on the experimental aspect, this study presents also a real dynamic model with reduced inputs made by experimental aerodynamic forces/torques identification. The trirotor presents a real control...
Conference Paper
Full-text available
Today, the technological development of rehabilitation robots increases very quickly and provides a positive impact to healthcare. The development of the tele-rehabilitation techniques offers more efficiency and high performances for physiotherapy and rehabilitation. In this paper, design and development of a 2DOF wrist rehabilitation robot are pro...
Article
Full-text available
This paper investigates a synchronization approach to trajectory tracking of networked robotic systems while maintaining time-varying formations. The objective is to control networked robots to track a desired trajectory while synchronizing their behaviors. Combining trajectory tracking and synchronization algorithms, the developed approach uses a...
Article
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This paper investigates the problem of reducing chattering in the control input for a mobile robot. It is well known that the fuzzy logic controller is an effective solution to reduce chattering for the mobile robot navigation. Compared to the original method which uses the sign function in the control input, the developed method reduces chattering...
Article
Full-text available
Abstract- Generally, the rehabilitation process needs a physical interactions between patients and therapists. Based on the principles governing such human-human interactions (HHI), the design of rehabilitation robots received several attempts in order to abstract the HHI in human-robot interaction (HRI). To achieve this goal, the rehabilitation ro...
Article
Purpose This work focuses on modelling, robust controller design and real time control of 3-DOF Helicopter. Design/methodology/approach This study presents an improved H∞ controller for this aerial vehicle Findings Simulation and experiment results are addressed to demonstrate the capability of this proposed control strategy to counteract the eff...
Chapter
This work develops a modern controller design, combining reformulated second order sliding mode conception with the cross-coupling synchronizing approach. The goal behind the developed control architecture is to synchronize a group of robot manipulators while guaranteeing a performant trajectory tracking motion control. The developed robust approac...
Conference Paper
In this paper, the design of a new upper limb rehabilitation system is presented. The developed system is an exoskeleton with two degrees of freedom that can be used for diagnosis, physical therapy, and outcome evaluation. The system is dedicated to the patients with paraplegia of their upper extremities due to stroke or any disorders of the centra...
Conference Paper
In this paper, a second order sliding mode control (SMC) design has been developed in order to realize an efficient motion control task. The objective is to realize a robust trajectory tracking behavior while achieving a significant minimization of the control energy amount, inasmuch as the energy saving has been constantly considered as a key cond...
Article
Full-text available
Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms w...
Conference Paper
Abstract: This paper focuses on a Kinect-based real-time-interactive control system implementation. Based on LabVIEW integrated development environment (IDE), a developed human machine-interface (HMI) allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK) provides a tool to keep track of human body s...
Article
Full-text available
– The sliding mode control (SMC) has yet proven its efficiency through several theoretical researches. Indeed, the robotic field is recognized as one of the main SMC portals on practical implementations. The interest of this work consists in testing the SMC robustness and its reliability versus the parameters variation and model uncertainties. In t...
Conference Paper
Full-text available
An autonomous mobile robot, which is able to achieve not only collision-free but also reaching the goal, is a system which possesses a sufficient intelligence to ensure global and local navigation in new environment with static or dynamic obstacles. In an unknown environment, the difficult issue in mobile robot navigation or path planning is to fin...
Article
Full-text available
The purpose of this paper is to design a nonlinear PID controller for trajectory tracking of a manipulator robot. The objective is to develop a PID controller having high performances for the controllability and the stability of the manipulator. Moreover, the controller should be easy to implement. In a first step a PID plus a feedforward controlle...
Conference Paper
This paper focuses on the based Beam Curvature Method for two wheeled mobile robot navigation in partially known environments. Local obstacle avoidance problem by indoor mobile robots has been a well-researched subject by several robotics researchers. There are various reactive strategies which operate in the velocity space such as the Dynamic Wind...
Conference Paper
Helicopter dynamics are generally non linear, unstable with interaxis coupling as well. Moreover, disturbance and parametric uncertainties make traditional control structure, as PID controller, usually not effective to stabilize this system. This paper focuses on modelling and real time robust control of 3-DOF Helicopter. This study presents an imp...
Conference Paper
This study is interested in the pressure error correction of a vehicle wheels using fuzzy logic controller. The proposed approach focus on strategies allowing the system control and the sliding avoidance of vehicle mainly in the wheels failure case. Simulation results show the effectiveness of the developed approach.
Conference Paper
In this note, we study a distributed synchronized tracking problem for multiple networked robot manipulators. A distributed control approach for a nonlinear system is given which guarantees that all the networked systems synchronize their movements while tracking a common desired trajectory. The main idea is to control each manipulator joint to tra...
Article
decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. Based on graph theory and Laplacian, the coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange wit...
Article
In this article, an internal and an external synchronisation have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronise the movement of robot group tracking the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In...
Article
We develop new control approach to position synchronization of lagrangian systems based on emergent consenus algorithms. The proposed control approach works to accomplish multi-robot systems synchronization. The control strategy is to synchronize the angular position and the velocity of each robot in the group. The cooperative strategy only require...
Article
Full-text available
In this article, we investigate the cooperative control and global asymptotic synchronization of Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multi-robot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in positio...
Article
A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. The coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information ex- change with its connected neighbors and doe...