Jean-Pierre Kenné

Bio: Jean-Pierre Kenné is an academic researcher from École de technologie supérieure. The author has contributed to research in topics: Production planning & Preventive maintenance. The author has an hindex of 32, co-authored 144 publications receiving 3149 citations. Previous affiliations of Jean-Pierre Kenné include Tokyo Institute of Technology & École Normale Supérieure.

Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping

Abstract: This paper studies the identification and the real-time control of an electrohydraulic servo system. The control strategy is based on the nonlinear backstepping approach. Emphasis is essentially on the tuning parameters effect and on how it influences the dynamic behavior of the errors. While the backstepping control ensures the global asymptotic stability of the system, the tuning parameters of the controller, nonetheless, do greatly affect the saturation and chattering in the control signal, and consequently, the dynamic errors. In fact, electrohydraulic systems are known to be highly nonlinear and non-differentiable due to many factors, such as leakage, friction, and especially, the fluid flow expression through the servo valve. These nonlinear terms appear in the closed loop dynamic errors. Their values are so large that in the presence of a poor design, they can easily overwhelm the effect of the controller parameters. Backstepping is used here because it is a powerful and robust nonlinear strategy. The experimental results are compared to those obtained with a real-time proportional-integral-derivative (PID) controller, to prove that classic linear controllers fail to achieve a good tracking of the desired output, especially, when the hydraulic actuator operates at the maximum load. Before going through the controller design, the system parameters are identified. Despite the nonlinearity of the system, identification is based on the recursive least squares method. This is done by rewriting the mathematical model of the system in a linear in parameters (LP) form. Finally, the experimental results will show the effectiveness of the proposed approach in terms of guaranteed stability and zero tracking error

Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements

Abstract: To assist physically disabled people with impaired upper limb function, we have developed a new 7-DOF exoskeleton-type robot named Motion Assistive Robotic-Exoskeleton for Superior Extremity (ETS-MARSE) to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. The ETS-MARSE comprises a shoulder motion support part, an elbow and forearm motion support part, and a wrist motion support part. It is designed to be worn on the lateral side of the upper limb in order to provide naturalistic movements of the shoulder (vertical and horizontal flexion/extension and internal/external rotation), elbow (flexion/extension), forearm (pronation/supination), and wrist joint (radial/ulnar deviation and flexion/extension). This paper focuses on the modeling, design, development, and control of the ETS-MARSE. Experiments were carried out with healthy male human subjects in whom trajectory tracking in the form of passive rehabilitation exercises (i.e., pre-programmed trajectories recommended by a therapist/clinician) were carried out. Experimental results show that the ETS-MARSE can efficiently perform passive rehabilitation therapy.

Indirect Adaptive Control of an Electro-Hydraulic Servo System Based on Nonlinear Backstepping

Abstract: This paper studies the position control of an electro-hydraulic servo system using indirect adaptive Backstepping. In fact, electro-hydraulic systems are known to be highly nonlinear and non-differentiable due to many factors as leakage, friction and especially the fluid flow expression through the servo-valve. Backstepping is used here for being a powerful, robust nonlinear strategy and for its ability to ensure a global asymptotic stability of the controlled system without canceling useful nonlinearities. On the other hand, hydraulic parameters such as fluid viscosity and bulk modulus are subjected to variations due to temperature rise. This results in a variation of the viscous friction coefficient. Knowing that the structure of a Backstepping controller relies on the system parameters, it is crucial to use adaptive Backstepping in order to update the controller structure with parameters variation. Emphasis is also on the tuning parameters effect and their influence on the errors dynamic behavior, in addition to the chattering and saturation in the control signal. Results in this work are based on simulations and are compared to those obtained with non-adaptive Backstepping. We will see the effectiveness of the proposed approach in terms of guaranteed stability and zero tracking error in the presence of varying parameters.

The Design and Analysis of Experiments

Abstract: THE DESIGN AND ANALYSIS OF EXPERIMENTS. By Oscar Kempthorne. New York, John Wiley and Sons, Inc., 1952. 631 pp. $8.50. This book by a teacher of statistics (as well as a consultant for \"experimenters\") is a comprehensive study of the philosophical background for the statistical design of experiment. It is necessary to have some facility with algebraic notation and manipulation to be able to use the volume intelligently. The problems are presented from the theoretical point of view, without such practical examples as would be helpful for those not acquainted with mathematics. The mathematical justification for the techniques is given. As a somewhat advanced treatment of the design and analysis of experiments, this volume will be interesting and helpful for many who approach statistics theoretically as well as practically. With emphasis on the \"why,\" and with description given broadly, the author relates the subject matter to the general theory of statistics and to the general problem of experimental inference. MARGARET J. ROBERTSON

Supply chain risk management: a literature review

Abstract: Risk management plays a vital role in effectively operating supply chains in the presence of a variety of uncertainties. Over the years, many researchers have focused on supply chain risk management (SCRM) by contributing in the areas of defining, operationalising and mitigating risks. In this paper, we review and synthesise the extant literature in SCRM in the past decade in a comprehensive manner. The purpose of this paper is threefold. First, we present and categorise SCRM research appearing between 2003 and 2013. Second, we undertake a detailed review associated with research developments in supply chain risk definitions, risk types, risk factors and risk management/mitigation strategies. Third, we analyse the SCRM literature in exploring potential gaps.

System and method for dynamic multi-objective optimization of machine selection, integration and utilization

Abstract: The invention provides control systems and methodologies for controlling a process having computer-controlled equipment, which provide for optimized process performance according to one or more performance criteria, such as efficiency, component life expectancy, safety, emissions, noise, vibration, operational cost, or the like. More particularly, the subject invention provides for employing machine diagnostic and/or prognostic information in connection with optimizing an overall business operation over a time horizon.