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Masmoudi Mohamed

Mr Masmoudi Mohamed
Professor

Electrical department
ENI Sfax
Sfax University
 
Address: ENI Sfax 3038 Sfax Tunisia
Phone: 00-216-28518829
Fax: 00-216-74677657
email:
CV:

 

 

b) Personal information

 Born on             : August 21st 1961, Sfax, Tunisia.

Marital Status  : Married, 3 children.

Citizenship        : Tunisian citizen.

Position             : Professor at National Engineering School (ENIS), Sfax, Tunisia

Foreign lang.    : English, French.

Phone                 : +216 74 274 088   Fax: +216 74 677 657

e-mail                : mohamed.masmoudi@enis.rnu.tn 

                       mohamed.masmoudi@enis.tn 

                       mohamed.masmoudi.tn@ieee.org

 

c) Diplomas

 1999   : ‘Habilitation Universitaire’, University of Sfax, National Engineering School, Sfax, Tunisia.

1989    : Ph.D. in Electrical Engineering, University of Montpellier, Microelectronics Team, LIRMM, Montpellier, France.

1986    : M.S. in Electrical Engineering, University of Montpellier, LIRMM, Montpellier, France.

1985    : ‘Engineer Diploma’ in Electrical Engineering, National Engineering School, ENIS, Sfax, Tunisia

                       

d) Research profile

 - IC Design                  Analog and mixed circuits, RF circuits, Analog testing

 - Digital Design           FPGA Platform, Mobile Robotics, Reconfigurability

 - Micro Systems          MEMS for Medical and RF applications

 

 e) Professional Experience

  • Head of the Microelectronics Team of the Laboratory “Electronics and Information Technology” until 2001,
  • Head of the Laboratory "research Group on Microtechnology and System on chip" (GMS) until 2002.
  • Head of the Laboratory "Computer, Electronics & Smart Engineering sytems design" (CES) until 2003.
  • Head of the Laboratory "Micro Electro Thermal Systems" (METS) since 2004.
  • Responsible of Electronics Section in the Electrical Engineering Department of NationalEngineeringSchool of Sfax.
  • Responsible of the teaching option "Electronics and Advanced Technologies" in the Electrical Engineering Department of National Engineering School of Sfax.
  • Responsible of Commun Services Unit "Test of Integrated Circuits and Printed Circuit Board" in the National Engineering School of Sfax since 2007.
  • Responsible of the PhD Commission of "Electrical Engineering" in the NationalEngineeringSchool of Sfax (2012-2014)
  • Board Member of the National Commission for recruitment of University Professors, for 2010 and 2011.
  • Board Member of the National Commission for recruitment of University Associate Professors, for 2012 and 2013.
  • Chair of the National Commission for recruitment of University Professors, for 2014 and 2015.
  • Member of the National Commission for recruitment of University Associate Professors, for 2012 and 2013.
  • Chair of the National Commission for recruitment of University Professors, for 2014 and 2015.

 



Masmoudi Mohamed

Publication


J. Nebhen, S. Meillère, M. Masmoudi, J. L. Seguin, K. Aguir

Design of new low-noise and low-power CMOS differential pair , Electronics Letters 3rd September 2015 Vol. 51 No. 18 pp. 1433–1435 , 2015-07-23
[Abstract]
Abstract
This paper presents a novel structure of a CMOS differential pair, suitable for low supply voltages and low power consumption as well as a much higher gain than that of a conventional differential pair. This structure is based on the new technique of composite transistors. This paper shows the need for the design of integrated circuits at low voltage, low power consumption and how this constraint is reflected in the design of digital integrated circuits and design of analog integrated circuits.

Mezghani B., Haboura K., Tounsi F., Smaoui S., El-Borgi S., Choura S. and Masmoudi M.

Theoretical and Numerical modeling of a CMOS micromachined acoustic sensor , In Proceedings of International Conference on Design and Test of Integrated Systems in Nanoscale Technology, September 5-7, Tunisia, 441-444 (IEEE – DTIS 2006). , 2006-09-07
[Abstract]
Abstract
In this paper, we present theoretical and numerical modeling done on a new structure of CMOS micromachined inductive microphone. Its mode of operation is based on the variation of the mutual inductance between an external fixed inductor and an internal suspended inductor. This internal inductor is designed on a 1.4x1.4mm2 suspended membrane. The displacement of the suspended membrane with two different attachment structures, the I-shaped and the L-shaped beams, is studied. Using a theoretical mechanical modeling, we get displacement values of 13.11µm and 68.82 µm, for the I-shaped and L-shaped beam design, respectively. With a numerical FEM analysis, using the Ansys software, displacement values of 12.7µm and 63.5 µm were found for the I-shaped and L-shaped beam design, respectively. Using the analogy between acoustic, mechanical and electrical domains, the dynamic behavior of the L-shaped beam design sensor is studied and a corner frequency around 200 kHz is found. This value is also found when applying analytical dynamics principles to determine the equations of motion for the suspended membrane. A FEM analysis, using the Ansys software, is conducted in order to validate this theoretical model.

B. Mezghani, F. Tounsi, S. Smaoui and M. Masmoudi

Mechanical Noise Modeling of a new Micromachined Acoustic Sensor , CD-ROM International Multi-Conference on Systems, Signals & Devices, March 19-22, Tunisia (IEEE – SSD 2007). , 2007-03-23
[Abstract]
Abstract
In this paper, we present mechanical-thermal noise calculation and modeling for a new CMOS micromachined acoustic sensor. This new inductive microphone has a suspended moving membrane attached to the substrate with 4 attachment arms. Two different attachment structures are studied. The membrane has a 1.4x1.4mm2 surface and a total mass of 22.4 µg. The natural frequency of the suspended membrane is found for the two different attachment structures, the I-shaped and the L-shaped beams. Using a theoretical mechanical modeling, we get natural frequency values of 263 kHz and 115 kHz, for the I-shaped and L-shaped beam design, respectively. With a numerical FEM analysis, we get natural frequency values of 238 kHz and 154 kHz. Average natural frequency values of 250 kHz and 134 kHz are used. Thermal noise contribution of the two different attachment types is investigated. In addition, damping factor and noise level are evaluated for different membrane mass values. It is found that the thermal noise contribution is about the same for the I-shaped and L-shaped beam designs. The same conclusion is drawn when the mass of the membrane is changed.

B. Mezghani, F. Tounsi and M. Masmoudi

Mechanical-Thermal Noise Characterization of a new Micromachined Acoustic Sensor , In Proceedings of SPIE Fluctuations and Noise, Noise and Fluctuations in Circuits, devices and Materials, Vol. 6600, 660015, Florence, Italy (SPIE – FN 2007). , 2007-04-06
[Abstract]
Abstract
A new integrated CMOS micromachined inductive microphone is studied and characterized for mechanical-thermal noise. This acoustic sensor has one suspended membrane attached to the substrate with 4 arms, the I-beam or L-beam shaped attachments. This membrane has 1.4x1.4mm2 active area, 22µg mass and its natural frequency is found to be around 250 kHz, for the I-beam and 134 kHz, for the L-beam attachment. We give a brief explanation of the superiority of this new design over conventional acoustic sensors. Then, some experimental points are discussed and solutions are given. This sensor is analyzed for mechanical-thermal noise by applying a new developed analysis based on mass and natural frequency. Our system damping factor is found to be 5x10-2 N.s.m-1, which gives a fluctuating force spectral density of 2.88x10-11 N.Hz-1/2. This corresponds to an A-weighted sound level of about 39 dB(A) SPL. A SNR value of 55 dB is found for an incident pressure of 1 Pa on the suspended membrane. The relationship between the SNR and the mechanical and geometrical characteristics of the suspended membrane is also investigated. Finally, our sensor mechanical noise displacement is evaluated, around 10-15 m.Hz-1/2, and plotted for the two attachment types.

B. Mezghani, A. Brahim, F. Tounsi, A.A. Rekik, M. Masmoudi and P. Nouet

From 2D to 3D FEM simulations of a CMOS MEMS convective accelerometer , International Conference on Microelectronics, December 2011, Hammamet, Tunisia (IEEE – ICM 2011). , 2011-12-23
[Abstract]
Abstract
In this paper, we present 3D FEM simulations of a CMOS MEMS convective accelerometer. Differences between 3D and previously published 2D simulations are also discussed. We describe sensor architecture and we present a sensor model that is used for 3D FEM simulations. The prototype has a heater-cavity border distance of 350µm. We show the details of the sensitivity evaluation along the sensitive axis. It is found that the maximum sensitivity location is at a distance of 125µm from the heater center. So, the detector should be placed closer to the heater than the mid distance. It is shown that this is closely related to the smaller size of isotherms obtained in 3D simulations.

B. Mezghani, F. Tounsi, A.A. Rekik, F. Mailly, M. Masmoudi and P. Nouet

Efficiency modeling of a CMOS MEMS convective accelerometer , International Conference on Design and Technology of Integrated Systems in Nanoscale era, May 2012, Guammarth, Tunisia, (IEEE – DTIS 2012). , 2012-03-23
[Abstract]
Abstract
This paper reports efficiency modeling using 3D FEM simulation of a convective accelerometer obtained by FSBM of a die fabricated using standard CMOS technology. In such sensors, best sensitivity is obtained by placing temperature detectors where air temperature is the most sensitive to acceleration. This will obviously depends on 3D effects. In a previous work, a behavioral model of the sensor including only 2D effects was developed. This work investigates 3D effects which give the opportunity to better predict not only sensor sensitivity but also power dissipation. Experimental sensitivity values and 3D FEM ones are verified for two different sensors and two different heater temperatures. For a prototype having a heater-cavity border distance of 340µm and a heater length of 230µm, maximum sensitivity point is obtained for detectors localized at a distance of 125µm from heater center. Using this 3D geometry in FEM simulations, we show that electrical power decreases more rapidly than sensitivity when heater length is reduced. Moreover, when detectors are shortened, the sensitivity will be quite higher with an optimal value obtained for a detector implemented on one third of the side bridge.

B. Mezghani, F. Tounsi, H. Yaich and M. Masmoudi

Conductive Behavior Modeling of Dual-axis CMOS MEMS Convective Accelerometers Using 3D FEM and Spherical Model , International Multi-Conference on Systems, Signals & Devices, March 2013, Hammamet, Tunisia (IEEE – SSD 2013). , 2013-03-22
[Abstract]
Abstract
This paper presents heat conduction modeling of dual axis micromachined convective accelerometers. Results from FEM simulation are used to develop an analytical model of heat conduction main parameters. Two variables are used in FEM simulations: heater temperature and cavity depth. The latter parameter has a large impact on the overall conductive behavior of thermal accelerometers since it fixes the volume where the heat bubble can expand. Simulation results are used in a derived spherical model to develop an analytical expression of outer isotherm equivalent radius. The hot bubble radius and form are closely related to sensor geometry parameters and temperature. Two distinct equivalent radius modeling are studied and are used to express both heater heat transfer coefficient and common mode. These physically-based derived expressions govern the overall sensor conductive behavior. It is also shown that these derived expressions are still valid for different sensor design geometries.

B. Mezghani, F. Tounsi and M. Masmoudi

Sensitivity Modeling of dual-axis CMOS MEMS Convective Accelerometers using FEM and Spherical Model , Symposium on Design, Test, Integration and Packaging of MEMS/MOEMS, April 2013, Barcelona, Spain (DTIP 2013). , 2013-04-19
[Abstract]
Abstract
This paper presents sensitivity behavior study and optimization of dual axis CMOS MEMS convective accelerometers using both analytical and FEM techniques. In a first part, newly developed accelerometer 3D model is used in FEM simulations. Using different sizes for micromachined and square cover shapes, it is found that sensitivity readings and its maximum position in cavity are affected by both cover size and shape. In addition, micromachined bottom cavity, with half width of 300µm, is found to produce sensitivity saturation starting at a depth of 200µ for both cover shapes. The used cover size is that offering maximum sensitivity readings. From computed heating efficiency values, it is concluded that dual axis accelerometers are more power efficient than single axis ones. In the second part, we present Hardee’s spherical model and investigate its possible application on the dual axis accelerometer. It is concluded that inner and outer isotherms deformation should be modeled by including sensor geometry parameters in governing equations.

Mezghani B., Tounsi F., Smaoui S., Haboura K., El-Borgi S., Choura S. and Masmoudi M.

Modelling and Simulation of a new Micromachined Acoustic Sensor , TRENDS IN APPLIED SCIENCES RESEARCH, Academic Journals Inc., USA 1 (5), 456-466. , 2006-10-16
[Abstract]
Abstract
In this paper, we present modelling and simulation results of a new micromachined acoustic sensor. Equation derivation of the variable mutual inductance is summarized. Two attachment structures of the suspended membrane, the I-shaped and L-shaped beams, are modelled and simulated. Using a theoretical mechanical modelling, we get displacement values of 13.11µm and 68.82 µm, for the I-shaped and L-shaped beam design, respectively. With a numerical FEM design, displacement values of 12.7µm and 63.5 µm were found for the I-shaped and L-shaped beam design, respectively. Using the analogy between acoustic, mechanical and electrical domains, the dynamic behaviour of the microphone is modelled, then simulated and a corner frequency around 200 kHz is found. This same value is found when applying analytical dynamics principles to determine the equations of motion for the suspended membrane. A FEM analysis is conducted in order to validate this theoretical model. This sensor is analyzed for mechanical-thermal noise by modelling the suspended membrane with its mass-spring oscillator diagram. The damping factor is found to be 4x10-2 N s m-1, which gives a fluctuating force spectral density of 2.57x10-11 N Hz-1/2 and an A-weighted sound level of about 38 dB(A) SPL.

B. Mezghani, F. Tounsi and M. Masmoudi

Static behavior analytical and numerical analysis of micromachined thermal accelerometers , TRANSACTIONS ON SYSTEMS, SIGNALS & DEVICES (TSSD), ISSUES ON SENSORS, CIRCUITS & INSTRUMENTATION SYSTEMS, SHAKER-VERLAG GMBH, 9 (4), 1-21. , 2013-09-16
[Abstract]
Abstract
This paper presents static behavior analytical study of micromachined convective accelerometers. This includes both heat conduction and convection behavior study and modeling. A mixed modeling technique has been used to derive general expressions governing heat conduction and convection of MEMS thermal accelerometers. This technique is based on the use of results from FEM simulations to develop an analytical model where all derived expressions are as a function of biasing temperatures and key design geometry parameters. For conduction behavior analysis, two variables are being used in FEM simulations: heater temperature and micromachined cavity depth. The latter parameter has a large impact on the overall conductive behavior of thermal accelerometers since it fixes the volume where the heat bubble can expand. In addition, heater temperature is considered to be the only parameter that fixes heat distribution in the cavity. This modeling has led to the derivation of expressions for both heater heat transfer coefficient and common mode temperature. These physically-based derived expressions govern the overall sensor conductive behavior. Concerning heat convection behavior, cavity width parameter has been added as a third variable. Using simulation data points, fitting technique has been used to develop an analytical expression of differential temperature, proportional to sensitivity, as a function of the above design and temperature parameters. This study helps to predict sensor performance at an early design stage and more importantly for different sensor design geometries and temperatures.

Amel Neifar, Ghazi Bouzid, Hatem Trabelsi and Mohamed Masmoudi

Design of Ultra Wideband Oscillator in 0.18 ?m Standard CMOS Technology , 1st International Conference on Advanced Technologies for Signal and Image Processing - ATSIP'2014 March 17-19, 2014, Sousse, Tunisia , 0000-00-00
[Abstract]
Abstract
This paper describes the design of a 3-5 GHz oscillator for Impulse-Radio Ultra-Wideband (IR-UWB) transceiver in the 0.18?m CMOS technology. The most important specifications for the voltage control oscillator (VCO) are provided and architecture for an existing frequency plan is introduced along with a discussion on its performance and implementation. The simulated VCO can achieve very wide tuning range along with low phase noise performance that varies from -92.02dBc/?Hz to -73dBc/Hz at 1 MHz frequency offset from the carrier and the overall power consumption is 18.1 mW from a 1.8V voltage supply.

Amel Neifar, Hatem Trabelsi, Ghazi Bouzid and Mohamed Masmoudi

Design of a zero crossing BFSK demodulator for a wireless sensor , 2012 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
In this paper, a transistor-level simulation result of a Zero crossing BFSK demodulator is presented. The detector will be integrated into a frequency-hopped spread spectrum receiver operating in the 863-870 MHz ISM band, using the zigbee protocol (IEEE 802.15.4). This end to demodulate a received bit sequence with a bit rate equal to 20 kbps using 0.35 m CMOS technology and a 3V power supply. The proposed demodulator dedicated to an application of low power and low cost can maintain good performance under process variation. The BER results show that the proposed demodulator needs only 10.9dB input signal_to_noise ratio to achieve a BER of 10-3 as specified in zigbee standard.

Amel Neifar, Hatem Trabelsi, and Mohamed Masmoudi

An FSK Demodulator Design for RF Wireless Sensor Applications Using Zigbee Protocol , International Journal of Electronics and Electrical Engineering Vol. 3, No. 4, August 2015 , 0000-00-00
[Abstract]
Abstract
In this paper, transistor-level simulations of a detector called “cross-differentiate-multiplier demodulator (CDM)” are presented. This detector, which uses three blocks (a differentiator, a multiplier and a subtractor), is able to demodulate a received bit sequence, that was transmitted using a frequency-shift keying modulation scheme, with a bit rate equal to 20kbps. The application of this detector will be in a wireless sensor receiver operating in the 863-870MHz ISM band. In this sensor, a frequency hopping spread spectrum is used as modulation technology and Zigbee (IEEE 802.15.4) as the communication protocol. Design is performed using 0.35?m CMOS technology and a 3V supply. A comparison between the performances of different architectures studied, mainly in terms of BER, is presented at the end of this document.

Chokri ABDELMOULA Fakher Chaari Mohamed MASMOUDI

A New Generation of a Mobile Robot For Universal and Didactic Applications , 2009 6th International Multi-Conference on Systems, Signals and Devices , 0000-00-00
[Abstract]
Abstract
Abstract – In this paper, a novel prototype of a wellstructured robot for navigation in an industrial environment, and for didactic applications is presented. The robot has two axels. The driving wheels are mounted in the rear axle of the robot, and the front axle which is equipped by two wheels is responsible of the rotation and maneuvering the robot. In addition to the mechanical components, the prototype is equipped with a DC power supply, three infra-red sensors, one ultrasound sensor, and control modules composed of an FPGA card, a microcontroller card and two cards for commanding the two DC motors installed in the rear axle, and the stepper motor which is installed in the front axle. These two cards are used to control those actuators. The parameters of the mechanical and electronic components are optimized to perform multiple tasks for training and instruction applications. A mathematical model that describes the dynamics of the robot prototype is also developed. Simulation, experimental and theoretical investigations were carried out consisting in avoiding navigation with specific maneuvers and for didactic applications such us self parking in complex environments. Experimental and theoretical results agree well in both applications. Keywords: Autonomous vehicles, embedded design, mobile robot

Chokri ABDELMOULA, Mohamed MASMOUDI, Fakher CHAARI

Obstacle Avoidance of a Mobile Robot Using a Hierarchical Control , 2008 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
Abstract— A new approach of obstacle avoidance of a mobile robot (autonomous vehicles) using a hierarchical control for navigation is proposed. It is based on the identification of the kinematics model of the mobile robot to determine the procedure of navigation in an unknown environment. Then, the information about the global goal and the long-range sensory data, with regards to the navigation environment, are used to guide the mobile robot to reach its sub-goal while avoiding collisions. The implementation results of this concept are presented confirming the effectiveness of the proposed control approach. Keywords: Autonomous navigation, Mobile robot, Hierarchical control, Unknown Environment

Chokri ABDELMOULA Fakher Chaari Mohamed MASMOUDI

Implementation of Applications on a Newly Designed Robot Prototype: “Autonomous Navigation and Parallel Parking” , 2009 International Conference on Signals, Circuits and Systems , 0000-00-00
[Abstract]
Abstract
Abstract— Autonomous navigation and parallel parking of robots is usually a challenging maneuver for conductors in industrial environments and in heavy traffic congestion respectively. Soft computing techniques are suited for robots like car control system when modeled by highly non linear differential equations and navigation in unknown and unstructured environments. To demonstrate their applicability in real-world applications, two easy control units are designed for performing tasks. In this paper, a novel vision of autonavigation system and parallel parking is proposed and confirmed on the newly designed robot prototype for each model. The experimental results show the accuracy of measurement and recognition, and the robustness of dynamic auto-navigation in indoor environments. All these applications are implemented on the new prototype of the robot designed in the (EMC) research unit at the National Engineering School of Sfax. Keywords— Auto-navigation, 3D measurement, mobile robot, intelligent parking system.

Hanene Rouabah,Chokri Abdelmoula,Mohamed Masmoudi

The Realization of a Neural Network Controller for Vehicle-Type Mobile Robot Navigation , 2012 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
Abstract— This work is part of improving the autonomous navigation of mobile robots. In an environment where many obstacles in form of wall are present, the robot must detect obstacles around it, steer to the nearest and track its deviations keeping a desired distance fixed. A joint use of information issued from the three sensors installed on the platform: in front, on the left and on the right are used to determine the proper motion for the robot at each position allowing it to navigate autonomously. The effectiveness of Neural Networks in mobile robot control is important in their learning abilities and their capacity to treat noisy data. Keywords-Mobile Robot; Wall Following; Neural Networks

Hanene Rouabah, Chokri Abdelmoula, Mohamed Masmoudi

Behavior Control of a Mobile Robot Based on Fuzzy Logic and Neuro Fuzzy Approaches for Monitoring Wall , 2012 International Conference on Design & Technology of Integrated Systems in Nanoscale Era , 0000-00-00
[Abstract]
Abstract
Abstract— This work describes the design and development of controllers based on artificial intelligence tried on a newly design of a mobile robot type-vehicle to control behavior for monitoring wall. Two approaches have been optimized and developed to control the robot: The first one is based on Fuzzy logic. This control algorithm combines the different sensory information and provides a suitable control command allowing the mobile robot to follow the wall deviations. The second approach consists of applying a hybrid-type Neuro-Fuzzy ANFIS controller for the same task. This controller combines the advantages of Fuzzy logic and Neural Networks. Simulations results are presented and implemented with VHDL using ANFIS architecture. Keywords- Mobile Robot; Wall Following; Fuzzy Logic; Neural Networks; Neuro-Fuzzy; ANFIS

Hanene Rouabeh, Chokri Abdelmoula, Mohamed Masmoudi

VHDL based Hardware Architecture of a High Performance Image Edge Detection Algorithm , International Journal of Computer Applications (0975 – 8887) Volume 91 – No.12, April 2014 , 0000-00-00
[Abstract]
Abstract
ABSTRACT This article presents the software and hardware implementation of a low cost and high performance image edge detection algorithm. This algorithm will be used as part of a complete vision based driver assistance system. The main challenge consists in realizing a real-time implementation of edge detection algorithm that contributes in increasing the performance of the whole system. The software implementation of the developed algorithm using MATLAB tool is discussed in this paper, as well as the hardware architecture developed using VHDL language. Test results for both implementations were presented and compared to other edge detection operators. Computational time and other features comparison have shown the effectiveness of the proposed approach. General Terms Computer science, Image processing, VHDL

Chokri Abdelmoula, Fakher Chaari, Mohamed Masmoudi

A NEW DESIGN OF A ROBOT PROTOTYPE FOR INTELLIGENT NAVIGATION AND PARALLEL PARKING , Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 3, N° 2, pp:47-58, 2009 , 0000-00-00
[Abstract]
Abstract
Abstract Nowadays, the design of industrial vehicles and movable cars is based on the automation of their different tasks, which are currently handled by humans. These tasks, such as manoeuvring robots in complex environments, require high level of precision that cannot be guaranteed by humans. Manual operations are likely to produce errors of computation and optimization of navigation and manoeuvre (left, right, veering…). In this paper, a novel prototype of a well-structured robot for intelligent navigation and parallel parking applications is presented. The robot have two axels, the front one is composed of two wheels that are manoeuvred by a stepper motor, and a pinion rack system for controlling the rotation of the wheels, and also the orientation of the robot. The driving wheels are mounted in the rear axle of the robot and are commanded by two DC motors. The design allows modification of the robot structural components whenever required. In addition to the mechanical components, the prototype is equipped with a DC power supply, three infra-red sensors, one ultrasound sensor, and control modules composed of an FPGA card, microcontroller card and two cards which are responsible for commanding actuators. The parameters of the mechanical and electronics components are optimised to perform multiple tasks for training and instruction applications. A mathematical model that describes the dynamics of the robot prototype is also developed. Simulation, experimental and theoretical investigations were carried out consisting in navigation and parallel parking manoeuvres. It was confirmed that the experimental and theoretical results agree well in both applications. Keywords: autonomous vehicles, embedded design, and mobile robot.

Chokri Abdelmoula, Fakher Chaari and Mohamed Masmoudi

Real time algorithm implemented in Altera’s FPGA for a newly designed mobile robot Autonomous navigation and parallel parking , Multidiscipline Modeling in Materials and Structures Vol. 10 No. 1,pp. 75-93, 2014 , 0000-00-00
[Abstract]
Abstract
Abstract Purpose – The purpose of this paper is to propose a generic platform for a robotic mobile system, seeking to obtain a support tool for under-graduation and graduation activities. Another objective was to gather knowledge in the mobile robotic area in order to provide practical solutions for industrial problems. Design/methodology/approach – The proposed new integrated platform would serve as didactic material for many disciplines, shown to be an ideal platform to teach DC motor drives, stepper motor and motion-control systems. To reach this objective, the ability of the robot to plan its motion autonomously is of vital importance. The control of a mobile robot in dynamic and unstructured environments typically requires efficient processing of data/information to ensure precise navigation and many other applications. Path planning is also one common method of auto-navigation. After the computation of the shortest path, mobile robot can navigate safely and without occlusion. Findings – The developed platform is an integrated system for intelligent software middleware to coordinate many activities in the field of electric drives, robotics, autonomous systems and artificial intelligence. Originality/value – As a result of the study, this paper contributed to research in the industrial development, principally in the fields of industrial robotics and also in different application purposes such as entertainment, personal use, welfare, education, rehabilitation, etc. Keywords Artificial intelligence, Industrial robotics, Mobile robot, 3D measurement, Auto-navigation, Intelligent parking system Paper type Research paper

Chokri Abdelmoula, Hanen Rouabeh, Mohamed Masmoudi

Behavior Control of a New Designed Mobile Robot Based on Fuzzy Logic and Neuro Fuzzy Approaches for MonitoringWall , International Journal of Intelligent Engineering and Systems, Vol.6, No.3, pp: 17-26, 2013 , 0000-00-00
[Abstract]
Abstract
Abstract: This work describes the design and development of controllers based on artificial intelligence applied to a newly designed mobile robot type-vehicle to control behavior for monitoring wall. Two approaches have been developed and optimized to achieve this task. The first one is based on Fuzzy logic. This control algorithm combines different sensory information and provides a suitable control command allowing the mobile robot to follow the wall deviations. The second approach consists of the application of a hybrid-type Neuro-Fuzzy ANFIS controller for the same task. An important feature of this approach is that the controller combines the advantages of both Fuzzy logic and Neural Networks.The simulation results are presented and implemented with VHDL using ANFIS architecture.

Chokri Abdelmoula, Karim Jaber and Mohamed Masmoudi

Path tracking control of a driven mobile robot in a dynamic environment , International Journal of Engineering Intelligent Systems (Vol 29, Issue 2, 2014) , 0000-00-00
[Abstract]
Abstract
This paper deals with the problem of path tracking of a driven mobile robot in a dynamic environment, where the workspace is cluttered with unpredictably moving persons and objects. The multidisciplinary system was described in VHDL-AMS. A concept of virtual prototype makes possible the characterization and the optimization of the mobile robot. A robust adaptive controller is proposed using an adaptive control feed forward Neural Network technique. The proposed control scheme employs the adaptive control approach to make the tracking error as small as possible. This algorithm was developed as a model of the feed forward Neural Network for generalization and fast convergence. Moreover, this algorithm is designed for testing a new physical structure of mobile robot in different configuration of environment for autonomous navigation. This can be achieved when the robot must reach a distance on the right or on the left or go straight and also when persons and objects are in activity in the same environment. The performance of the proposed approach is demonstrated through a simulation and experimental results.

B. Mezghani, F. Tounsi, and M. Masmoudi

Dual-axis CMOS MEMS Convective Accelero-meters sensitivity modeling using FEM and spherical model , 15th Conference in Design, Test, Integration & Packaging of MEMS/MOEMS, DTIP'13, 16-18 April, 2013, Barcelona, Spain. , 2013-04-16
[Abstract]
Abstract

B. Mezghani, F. Tounsi and M. Masmoudi

Development of an accurate heat conduction model for micromachined convective accelerometers , MICROSYSTEM TECHNOLOGIES, SPRINGER, http://dx.doi.org/10.1007/s00542-014-2079-x, 21 (2), 345-353. , 2015-01-05
[Abstract]
Abstract
This paper presents detailed development of a heat conduction model adapted for micromachined convective accelerometers. Fitting expressions obtained from FEM data are used in derived spherical model expressions to come up with an accurate analytical model of heat conduction main parameters: common mode temperature and heat transfer coefficient. Two variables have been used in FEM analysis: applied heater temperature and micromachined cavity depth. The latter parameter has a large impact on the overall conductive behavior of thermal accelerometers since it fixes the volume where produced heat bubble can expand. In addition, this depth is one of the two main reasons behind the produced isotherms deformation. Isotherm bending is also due to the high aspect ratio in heater width and height imposed by the technology. Since the produced hot bubble form is closely related to sensor design and heater temperature, then spheres deformation modeling has been used to derive conduction model equations. Two distinct equivalent radius modeling are studied and are used to express conduction behavior in analytical expressions. For comparison, Hardee’s conduction solution is given and it has found that our solution gives a more accurate reading of common mode temperature. Therefore, Hardee’s solution has to be revised if it is to be used for convective accelerometers. It is also shown that derived expressions are still valid for various sensor designs and that conductive behavior of thermal accelerometers can be predicted in an early stage and for all possible design geometries and biasing temperatures.

B. Mezghani, F. Tounsi, A.A. Rekik, F. Mailly, M. Masmoudi and P. Nouet

Sensitivity and power modeling of CMOS MEMS single axis convective accelerometers , Elsevier Microelectronics Journal, Vol. 44, Issue 12, Dec 2013, pp 1092–1098. , 2013-12-12
[Abstract]
Abstract
In this paper,we present 3D finite element modeling and simulation of a CMOS/MEMS single axis convective accelerometer. We describe the sensor architecture and present a sensor geometry model to be used in 3D FEM simulations. Differences between 3D and previously published 2D simulation sare discussed. This work investigates 3D effects which give the opportunity to better predict not only sensor sensitivity but also power dissipation.Experimental sensitivity values and 3D FEM ones are compared for two different sensor geometries and two different heater temperatures.For a prototype having a heater- cavity border distance of 340 mm and a heater length of 230 mm, maximum sensitivity point is obtained for detectors localize data distance of 125 mm from heater center.This distance should be moved to 90 mm if a 50 mm heater length issued. So, detectors should be placed closer to the heater than the usually used mid-distance. Moreover, optimal detectors location shifts closer to the heater as heater length shrinks. We also show that if heater length is reduced by 80% (from 230 to 50 mm), then both electrical power and sensitivity decrease by 63% and 55%,respectively. So, best efficiency is obtained for shorter heaters. In addition, detector's length decrease is found to have a significant effect on sensitivity, with an increase of 58% and 87% using heater lengths of 230 mm and 50 mm, respectively. Here, detector's length decreased from the total side bridge length to a fraction of this length equals to 2.5%.Optimal length is obtained when detectors are implemented on the same side bridge fraction as that used to implement the heater on the central bridge.