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1. Chapitre 12. Le temps de repenser les travaux de laboratoire !

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

2. Chapitre 2. Le conseiller pédagogique au collégial : s'adapter en contexte de mouvance

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

3. Chapitre 5. Des cours d'éducation physique efficaces devant l'écran ? Absolument !

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

4. Chapitre 13. Les évaluations en ligne face à une conception universelle de l'apprentissage : du diagnostic au sommatif

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

5. Chapitre 8. S'évader grâce aux plateformes numériques

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

6. Quatrième de couverture

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

7. Chapitre 16. L'approche métacognitive : une solution universelle ayant pour but d'assurer la crédibilité des évaluations en ligne au Cégep à distance

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

8. Partie B. Soutenir l'apprentissage et l'engagement en formation à distance

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

9. Chapitre 10. Un scénario pédagogique ludique sous la forme d'une aventure « dont vous êtes le héros » afin de soutenir l'apprentissage en ligne en Technologie d'analyses biomédical

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

10. Partie C. Adapter son approche pédagogique en formation à distance en réponse aux besoins particuliers

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

11. Notices biographiques

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

12. Chapitre 15. Le jumelage interculturel et intergénérationnel dans l'apprentissage du français langue seconde

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

13. Dans la même collection

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

14. Couverture de livre

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

15. Conclusion générale

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

16. Chapitre 14. L'innovation et la continuité dans la relation pédagogique, en contexte de pandémie - L'exemple de Réussite 911

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

17. Chapitre 4. Innover avec l'ECRAN - Espace collaboratif de ressources pour l'apprentissage numérique

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

18. Table des matières

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

19. Partie A. Innover pour mieux accompagner dans le contexte numérique

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

20. Chapitre 7. La formation à distance en design d'intérieur

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

21. Chapitre 9. La mise en application de l'apprentissage actif en contexte de distanciation physique : des liens virtuels mais significatifs

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

22. Chapitre 6. Maintenir l'engagement et la persévérance des étudiants en formation à distance

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

23. Chapitre 11. Les réseaux sociaux, une stratégie pour rejoindre (ou motiver) les étudiants

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

24. Introduction

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

25. Liste des figures et tableaux

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

26. Liste des sigles et acronymes

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

27. Chapitre 3. La formation d'une brigade technopédagogique PAR et POUR les enseignants

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

28. Remerciements

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

29. Page de la série, demi-titre, titre, crédits

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

30. Chapitre 1. La relation tuteur-étudiant au cœur du dispositif pédagogique en formation à distance

Author

Élise Achille-Sautrelle, Catherine Audet, Sabrina Boisvert, Josée Boutin, Martin Carignan, Renée Charbonneau, Sharon Coyle, Caroline Crépeau, Lorraine Denis, Chloé Dufour, Laurence Dumont, Anne-Marie Dussault, Julie Gagné, Philippe Gagné, Marie-Andrée Godbout, Mylène Goulet, Marie-Claude Hallé-Bolduc, Nancy Jolicoeur, Nelly Kallini, France Lafleur, Charles Lambert, Marc Landry, Gabrielle Lapierre, Stéphanie Lapointe, Charles Laporte, Philippe Lavigueur, Kathleen Lebeuf, Marilène Lemay, Émilie Lemire-Lafontaine, Émilie Marchand, Jules Massé, Jessica Métivier, Radhi Mhiri, Anne-Marie Nault, Vahé Nerguizian, Mélanie Pagé, Stéphanie Pitre, Argantel Radier, Martin Roy, Maarouf Saad, Ghislain Samson, Céline Tengelsen, and Geneviève Thibault

Published
2022

31. Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

Author

Mahmoud El-Sayyah, Mohamad R. Saad, and Maarouf Saad

Subjects
Laguerre functions, linearization, model predictive control (MPC), omnidirectional mobile robot, stochastic filtering, trajectory-following, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

To cope with the computational complexity of the traditional model predictive control, and to reduce the error of the linearization and prediction processes, this paper presents an improved model predictive control algorithm, based on Laguerre functions, for the motion tracking of an omnidirectional mobile robot with non-iterative linearization. To design the controller, the kinematic modeling of the three-wheeled omnidirectional robot was first performed. Next, the model predictive algorithm was developed using Laguerre functions to parametrize the control signals. At each sampling instant of the online optimization, a linearization along the predicted trajectory, based on the duality principle between optimal control and stochastic filtering, was carried out to deal with the nonlinearities of the system. This non-iterative linearization provides better approximation of the nonlinear behavior which improves the prediction process and the tracking performance, with lower computational burden due to the use of the Laguerre functions. The new controller is applied to solve the trajectory-tracking problem of an omnidirectional robot. A comparative study between the proposed controller, the conventional model predictive control, and the nonlinear model predictive approach is made. Simulation results confirm that the new controller outperform the latter ones regarding tracking accuracy with considerably low computational effort. The feasibility of the controller is demonstrated by real-time experiment on the Robotino-Festo omnidirectional mobile robot.

Published
2022
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32. Impedance learning adaptive super‐twisting control of a robotic exoskeleton for physical human‐robot interaction

Author

Brahim Brahmi, Mohammad Habibur Rahman, and Maarouf Saad

Subjects
adaptive control, impedance model, robust control, super twisting controller, upper limb rehabilitation robot, Cybernetics, Q300-390, Electronic computers. Computer science, QA75.5-76.95
Abstract

Abstract This study addresses two issues about the interaction of the upper limb rehabilitation robot with individuals who have disabilities. The first step is to estimate the human's target position (also known as TPH). The second step is to develop a robust adaptive impedance control mechanism. A novel Non‐singular Terminal Sliding Mode Control combined with an adaptive super‐twisting controller is being developed to achieve this goal. This combination's purpose is to provide high reliability, continuous performance tracking of the system's trajectories. The proposed adaptive control strategy reduces matched dynamic uncertainty while also lowering chattering, which is the sliding mode's most glaring issue. The proposed TPH is coupled with adaptive impedance control with the use of a Radial Basis Function Neural Network, which allows a robotic exoskeleton to simply track the desired impedance model. To validate the approach in real‐time, an exoskeleton robot was deployed in controlled experimental circumstances. A comparison study has been set up to show how the adaptive impedance approach proposed is better than other traditional controllers.

Published
2023
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33. Small-Bore Needle Arthroscopic Extensor Carpi Radialis Brevis Release Results in Improved Outcomes at One Year Postoperatively

Author

Wyatt Daniel Vander Voort, M.D., Maarouf Saad, M.D., David Falgout, M.D., Theodore A. Blaine, M.D., and Hafiz F. Kassam, M.D.

Subjects
Sports medicine, RC1200-1245
Abstract

Purpose: To evaluate outcomes of patients who underwent small-bore needle arthroscopic extensor carpi radialis brevis (ECRB) release for the management of recalcitrant lateral epicondylitis. Methods: Patients who underwent elbow evaluation and ECRB release using a small-bore needle arthroscopy system were included in this study Thirteen patients were included. Quick Disabilities of the Arm Shoulder and Hand and Single Assessment Numerical Evaluation scores, as well as overall satisfaction scores, were collected. A 2-tailed paired t-test was conducted to assess the statistical significance of the differences observed between preoperative and 1-year postoperative scores with significance set at P < .05. Results: There was a statistically significant improvement in both outcome measures (P < .001) and a 92.3% satisfaction rate with no significant complications at a minimum 1-year follow-up. Conclusions: Patients with recalcitrant lateral epicondylitis treated with ECRB release using needle arthroscopy demonstrated significantly improved Quick Disabilities of the Arm Shoulder and Hand and Single Assessment Numerical Evaluation scores postoperatively, without complications. Level of Evidence: IV, retrospective case series.

Published
2023
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34. Sensitivity Analysis for Voltage Stability Considering Voltage Dependent Characteristics of Loads and DGs

Author

Khaled Alzaareer, Maarouf Saad, Hasan Mehrjerdi, Qusay Salem, Salman Harasis, Al-Motasem I. Aldaoudeyeh, and Hussein M. K. Al-Masri

Subjects
Sensitivity analysis, voltage stability, loading margin, voltage dependent characteristics, distributed generation, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

The sensitivity analysis becomes particularly critical for voltage stability analysis due to the fluctuation in power outputs of renewable energy resources. Besides, impacts of different load modeling and the operation mode of Distributed Generations (DGs) are not addressed in the well-known sensitivity analysis methods. Therefore, this work presents a new sensitivity analysis approach to find the relation between the Voltage Stability Margin (VSM) and the control variables of power systems, considering the voltage dependent characteristics of loads and DGs. The sensitivity analysis is performed on VSM, defined from equivalent nodal analysis, via its differential equation. To include the voltage dependent characteristics, loads are modeled as polynomial function (ZIP model) and DGs are considered to be operated with constant current and constant power modes. Based on this analysis, the sensitivity of VSM can be directly obtained by taking the derivatives of nodal voltages with respect to control variables. The validity of the developed approach is demonstrated on the IEEE 118 bus system.

Published
2021
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35. Industrial Loads Used as Virtual Resources for a Cost-Effective Optimized Power Distribution

Author

Charles Ibrahim, Imad Mougharbel, Hadi Y. Kanaan, Semaan W. Georges, Nivine Abou Daher, and Maarouf Saad

Subjects
Multiple demand response programs, MOPSO, group method of data handling (GMDH), Kmeans, clustering, smart grid, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

Industrial Customers are dispersed at various levels of the electrical network and fed together with other customers' categories in a distributed environment. Optimizing industrial processes in the presence of other customers' categories supplied by the same infrastructure is a challenging issue. Existing studies have analyzed the effect of different Industrial Demand Response Programs on the distribution network, which also supplies other customers' categories. They show the need for improving the distribution performance although multiple demand response programs have been suggested for this purpose. In this paper, a new approach is presented considering an optimal synchronized process among all consumers' categories. It shows that the balance between generation and demand is maintained, the customer satisfaction is guaranteed, the profit is maximized and the cost is minimized for all customers. Various time constraints set by different industry productions are considered in the optimization process. Fairness problems, multiple pricing schemes and formulation for the same are elaborated. The method is validated through a simulation on Matlab using K-Means Clustering and multi-objective particle swarm optimization (MOPSO) along with data prediction.

Published
2020
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36. Recent Advances in Model Predictive and Sliding Mode Current Control Techniques of Multiphase Induction Machines

Author

Jorge Rodas, Ignacio Gonzalez-Prieto, Yassine Kali, Maarouf Saad, and Jesus Doval-Gandoy

Subjects
multiphase induction machine, current control and AC drives, nonlinear control algorithm, model predictive control, sliding mode control, General Works
Abstract

Multiphase machines have attracted the attention of the research and industrial communities due to their advantages, namely better power distribution and fault-tolerant capabilities without extra hardware. However, the multiphase machine requires high-performance control strategies to take advantage of these features. From this perspective, the field-oriented control with the inner current control loop that uses using an explicit modulation stage has been considered the benchmark solution thanks to the reduced harmonic distortion obtained with this regulation strategy. Nevertheless, nonlinear controllers, thanks to their inherent nature, allow exploiting the extra multiphase capabilities in a simplified manner. Consequently, this paper aims to concentrate and discuss the latest developments on nonlinear current control of two of the most popular multiphase electric drive configurations, five-phase and six-phase. Then, this paper covers mainly finite-control-set model predictive control and their variations. Moreover, sliding-mode control is also explained. Finally, this paper includes experimental assessments of the most recent nonlinear current control techniques considering steady-state and transient conditions, stability and performance analysis.

Published
2021
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37. UAV-Based Smart Educational Mechatronics System Using a MoCap Laboratory and Hardware-in-the-Loop

Author

Luis F. Luque-Vega, Emmanuel Lopez-Neri, Carlos A. Arellano-Muro, Luis E. González-Jiménez, Jawhar Ghommam, Maarouf Saad, Rocío Carrasco-Navarro, Riemann Ruíz-Cruz, and Héctor A. Guerrero-Osuna

Subjects
UAV, educational mechatronics, Industry 4.0, Chemical technology, TP1-1185
Abstract

Within Industry 4.0, drones appear as intelligent devices that have brought a new range of innovative applications to the industrial sector. The required knowledge and skills to manage and appropriate these technological devices are not being developed in most universities. This paper presents an unmanned aerial vehicle (UAV)-based smart educational mechatronics system that makes use of a motion capture (MoCap) laboratory and hardware-in-the-loop (HIL) to teach UAV knowledge and skills, within the Educational Mechatronics Conceptual Framework (EMCF). The macro-process learning construction of the EMCF includes concrete, graphic, and abstract levels. The system comprises a DJI Phantom 4, a MoCap laboratory giving the drone location, a Simulink drone model, and an embedded system for performing the HIL simulation. The smart educational mechatronics system strengthens the assimilation of the UAV waypoint navigation concept and the capacity for drone flight since it permits the validation of the physical drone model and testing of the trajectory tracking control. Moreover, it opens up a new range of possibilities in terms of knowledge construction through best practices, activities, and tasks, enriching the university courses.

Published
2022
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38. Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

Author

Jawhar Ghommam, Luis F. Luque-Vega, and Maarouf Saad

Subjects
Motor vehicles. Aeronautics. Astronautics, TL1-4050
Abstract

In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.

Published
2020
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39. Novel Approach for Optimizing the Transformer’s Critical Power Limit

Author

Claude Ziad El-Bayeh, Imad Mougharbel, Dalal Asber, Maarouf Saad, Ambrish Chandra, and Serge Lefebvre

Subjects
Electric vehicles, energy management, load management, parking lot, smart grids, transformers, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

Massive penetration of plug-in electric vehicles (EVs) may create challenges in the near future for the distribution network. Moreover, this may lead to an increase of the transformers' aging rate and a reduction of the financial profits. In this paper, a novel approach is proposed, in which the operational margin of the transformer is optimized based on the transformer's internal characteristics, its loss of life, and the variation of the ambient temperature. This operational power limit should not be exceeded to guarantee that the loss of life of the transformer is equal to or less than the one provided by the manufacturer. For validation purposes, a comparative study between the conventional method and the suggested one is presented. This paper is applied to a parking lot for charging EVs, which is supplied by a distribution transformer. In contrary to the conventional method, the one suggested in this paper can guarantee a predefined transformer loss of life. Simulation results show that the proposed method increases the transformer lifetime, reduces the loss of life, and reduces its depreciation cost by 63% in certain conditions. In addition, it increases the financial profit for the parking lot's owner up to 10% during cold weather.

Published
2018
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40. Robust Observer-Based Dynamic Sliding Mode Controller for a Quadrotor UAV

Author

Nuradeen Fethalla, Maarouf Saad, Hannah Michalska, and Jawhar Ghommam

Subjects
Quadrotor UAV, backstepping control, sliding mode control, nonlinear disturbance observer (NDO), Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

In this paper, a novel robust backstepping-based approach combined with sliding mode control is proposed for trajectory tracking of a quadrotor UAV subject to external disturbances and parameter uncertainties associated with the presence of aerodynamic forces and possible wind force. To enhance robustness, a nonlinear disturbance observer (NDO) is employed alongside the controller. A sliding surface is introduced, which shares intermediate control goals with a conventional backstepping scheme. The closed-loop system comprising the sliding mode and backstepping controllers is finally combined with the NDO to track the desired position and attitude trajectories. Good tracking is achieved in the closed loop if the controller and observer gains are selected correctly. The system performance exhibits much better robustness than the existing backstepping control methods, which are not equipped with nonlinear disturbance estimators. The simulation results are confirmed in terms of real laboratory experiments. Prior to the implementation of the control method, the real system has been identified and calibrated.

Published
2018
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41. Two stages K-means and PSO-based method for optimal allocation of multiple parallel DRPs application & deployment

Author

Charles Ibrahim, Imad Mougharbel, Hadi Y. Kanaan, Nivine Abou Daher, Semaan Georges, and Maarouf Saad

Subjects
particle swarm optimisation, profitability, demand side management, tariffs, pso-based method, optimal allocation, demand response programmes, network levels, incentive-based drps, customer selection, multiple parallel drps application & deployment, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

Different types of Demand Response Programmes (DRPs) exist and can be simultaneously offered by the electrical utilities through established contracts with customers. Operating simultaneously multiple types of DRPs might lead to undesired results. DRPs might have different responses to objectives, time-based ones tend to maximise consumption during lowest tariffs periods while incentive-based ones tend to reduce the usage based on peak events, accordingly contradiction might occur. Thus, synchronising these DRPs and their parameters through an optimised process including customer selection for the appropriate one is a mandatory step. A fair allocation of the various types of DRPs including their execution's priority at a specific time is the main objective of this study. An original approach based on clustering technique for predicting customers' behaviour coupled with a particle swarm optimisation (PSO) to reach an optimal solution for relocation is presented. In this study, an optimal solution is developed; it provides the various DRPs with the most convenient parameters for the best demand/generation balance, utility profit maximisation and operational cost minimisation. The method is validated through a simulation applying a time-based with two incentive-based DRPs in the presence of conventional and renewable generation while using Kmeans clustering and PSO on Matlab.

Published
2019
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42. Discrete Terminal Super-Twisting Current Control of a Six-Phase Induction Motor

Author

Yassine Kali, Maarouf Saad, Jesus Doval-Gandoy, and Jorge Rodas

Subjects
discrete-time current control, Lyapunov, multiphase induction motor, super-twisting control, terminal sliding mode, field oriented control, Technology
Abstract

In this manuscript, the high-accuracy stator currents tracking issue is considered for a six-phase induction motor subject to external perturbations and uncertainties due to unmeasurable rotor currents and electrical parameter variations. To achieve the control goals, the common two-cascade controllers structure is required for this type of motor. The first controller in the outer loop consists of a proportional integral to regulate the speed. Then, the second is the proposed inner nonlinear stator currents controller based on a robust discrete-time terminal super-twisting algorithm supported by the time-delay estimation method. For the design procedure, the discrete-time stator currents dynamics are derived; for example, the vector of the matched perturbations and unmeasurable rotor currents are specified to simplify the estimation. A detailed stability analysis of the closed-loop error dynamics using Lyapunov theory is given. Finally, a real asymmetrical six-phase induction motor is used to implement in real-time the developed method and to illustrate its effectiveness and robustness. The results obtained reveal a satisfactory stator currents tracking in steady state and transient conditions and under variation in the magnetizing inductance. Moreover, a comparative study with an existing method in steady state for two different rotor speeds is presented to show the superiority of the proposed discrete-time technique.

Published
2021
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43. Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm

Author

Victor Gomez, Nicolas Gomez, Jorge Rodas, Enrique Paiva, Maarouf Saad, and Raul Gregor

Subjects
multi-objective particle swarm optimization, Pareto front, proportional-integral-derivative, Px4, quadrotor, unmanned aerial vehicles, Motor vehicles. Aeronautics. Astronautics, TL1-4050
Abstract

Unmanned aerial vehicles (UAVs) are affordable these days. For that reason, there are currently examples of the use of UAVs in recreational, professional and research applications. Most of the commercial UAVs use Px4 for their operating system. Even though Px4 allows one to change the flight controller structure, the proportional-integral-derivative (PID) format is still by far the most popular choice. A selection of the PID controller parameters is required before the UAV can be used. Although there are guidelines for the design of PID parameters, they do not guarantee the stability of the UAV, which in many cases, leads to collisions involving the UAV during the calibration process. In this paper, an offline tuning procedure based on the multi-objective particle swarm optimization (MOPSO) algorithm for the attitude and altitude control of a Px4-based UAV is proposed. A Pareto dominance concept is used for the MOPSO to find values for the PID comparing parameters of step responses (overshoot, rise time and root-mean-square). Experimental results are provided to validate the proposed tuning procedure by using a quadrotor as a case study.

Published
2020
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44. Compliant control for wearable exoskeleton robot based on human inverse kinematics

Author

Brahim Brahmi, Maarouf Saad, Abdelkrim Brahmi, Cristobal Ochoa Luna, and Mohammad Habibur Rahman

Subjects
Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95
Abstract

Rehabilitation robots are a new technology dedicated to the physiotherapy and assistance motion and has aroused great interest in the scientific community. These kinds of robots have shown a high potential in limiting the patient’s disability, increasing its functional movements and helping him/her in daily living activities. This technology is still an emerging area and suffers from many challenges like compliance control and human–robot collaboration. The main challenge addressed in this research is to ensure that the exoskeleton robot provides an appropriate compliance control that allows it to interact perfectly with humans. This article investigates a new compliant control based on a second-order sliding mode with adaptive-gain incorporating time delay estimation. The control uses human inverse kinematics to complete active rehabilitation protocols for an exoskeleton robot with unknown dynamics and unforeseen disturbances. The stability analysis is formulated and demonstrated based on Lyapunov function. An experimental physiotherapy session with three healthy subjects was set up to test the effectiveness of the proposed control, using virtual reality environment.

Published
2018
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45. Current Control of a Six-Phase Induction Machine Drive Based on Discrete-Time Sliding Mode with Time Delay Estimation

Author

Yassine Kali, Magno Ayala, Jorge Rodas, Maarouf Saad, Jesus Doval-Gandoy, Raul Gregor, and Khalid Benjelloun

Subjects
multiphase induction machine, time delay estimation, sliding mode control, field-oriented control, current control, Technology
Abstract

This paper proposes a robust nonlinear current controller that deals with the problem of the stator current control of a six-phase induction motor drive. The current control is performed by using a state-space representation of the system, explicitly considering the unmeasurable states, uncertainties and external disturbances. To estimate these latter effectively, a time delay estimation technique is used. The proposed control architecture consists of inner and outer loops. The inner current control loop is based on a robust discrete-time sliding mode controller combined with a time delay estimation method. As said before, the objective of the time delay estimation is to reconstruct the unmeasurable states and uncertainties, while the sliding mode aims is to suppress the estimation error, to ensure robustness and finite-time convergence of the stator currents to their desired references. The outer loop is based on a proportional-integral controller to control the speed. The stability of the current closed-loop system is proven by establishing sufficient conditions on the switching gains. Experimental work has been conducted to verify the performance and the effectiveness of the proposed robust control scheme for a six-phase induction motor drive. The results obtained have shown that the proposed method allows good performances in terms of current tracking, in their corresponding planes.

Published
2019
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46. Development and Control of a Robotic Exoskeleton for Shoulder, Elbow and Forearm Movement Assistance

Author

Mohammad Habibur Rahman, Thierry Kittel-Ouimet, Maarouf Saad, Jean-Pierre Kenné, and Philippe S. Archambault

Subjects
Biotechnology, TP248.13-248.65, Biology (General), QH301-705.5
Abstract

World health organization reports, annually more than 15 million people worldwide suffer a stroke and cardiovascular disease, among which 85% of stroke patients incur acute arm impairment, and 40% of victims are chronically impaired or permanently disabled. This results a burden on the families, communities and to the country as well. Rehabilitation programs are the main way to promote functional recovery in these individuals. Since the number of such cases is constantly growing and that the duration of treatment is long, an intelligent robot could significantly contribute to the success of these programs. We therefore developed a new 5DoFs robotic exoskeleton named MARSE-5 (motion assistive robotic-exoskeleton for superior extremity) that supposed to be worn on the lateral side of upper arm to rehabilitate and ease the shoulder, elbow and forearm movements. This paper focused on the design, modeling, development and control of the proposed MARSE-5. To control the exoskeleton, a nonlinear sliding mode control (SMC) technique was employed. In experiments, trajectory tracking that corresponds to typical passive rehabilitation exercises was carried out. Experimental results reveal that the controller is able to maneuver the MARSE-5 efficiently to track the desired trajectories.

Published
2012
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47. Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements

Author

Cristóbal Ochoa Luna, Mohammad Habibur Rahman, Maarouf Saad, Philippe S. Archambault, and Steven Bruce Ferrer

Subjects
Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95
Abstract

This paper presents two rehabilitation schemes for patients with upper limb impairments. The first is an active-assistive scheme based on the trajectory tracking of predefined paths in Cartesian space. In it, the system allows for an adjustable degree of variation with respect to ideal tracking. The amount of variation is determined through an admittance function that depends on the opposition forces exerted on the system by the user, due to possible impairments. The coefficients of the function allow the adjustment of the degree of assistance the robot will provide in order to complete the target trajectory. The second scheme corresponds to active movements in a constrained space. Here, the same admittance function is applied; however, in this case, it is unattached to a predefined trajectory and instead connected to one generated in real time, according to the user's intended movements. This allows the user to move freely with the robot in order to track a given path. The free movement is bounded through the use of virtual walls that do not allow users to exceed certain limits. A human-machine interface was developed to guide the robot's user.

Published
2015
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50. Coordinated Voltage Control in Distribution Network with the Presence of DGs and Variable Loads Using Pareto and Fuzzy Logic

Author

José Raúl Castro, Maarouf Saad, Serge Lefebvre, Dalal Asber, and Laurent Lenoir

Subjects
coordinated voltage control, distributed generation, on load tap changer, multi-objective voltage control, fuzzy logic, Technology
Abstract

This paper presents an efficient algorithm to solve the multi-objective (MO) voltage control problem in distribution networks. The proposed algorithm minimizes the following three objectives: voltage variation on pilot buses, reactive power production ratio deviation, and generator voltage deviation. This work leverages two optimization techniques: fuzzy logic to find the optimum value of the reactive power of the distributed generation (DG) and Pareto optimization to find the optimal value of the pilot bus voltage so that this produces lower losses under the constraints that the voltage remains within established limits. Variable loads and DGs are taken into account in this paper. The algorithm is tested on an IEEE 13-node test feeder and the results show the effectiveness of the proposed model.

Published
2016
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