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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Robotics and Automation (IJRA)
Kazed, Boualem
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Automotive Engineering Computer Science & IT Electrical & Electronics Engineering

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Generalized recursive algorithm for fetal electrocardiogram isolation from non-invasive maternal electrocardiogram Kaoula, Ikram; Guessoum, Abderrezak; Kazed, Boualem
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 6: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i6.pp6312-6323

Abstract

Non-invasive maternal electrocardiogram recording is the least unpleasant method to record a weak fetal electrocardiogram signal. The importance of this recording lies in the fact that it reveals crucial information about the fetal health state, especially during the last four weeks of pregnancy. This paper will be concerned with a new adaptive algorithm, namely the generalized recursive algorithm, to isolate and get the fetal electrocardiogram from the abdominal maternal electrocardiogram. This is achieved using a non-invasive method for bi-channel maternal electrocardiogram recordings i.e., with the thoracic maternal electrocardiogram as a reference signal, and the abdominal maternal electrocardiogram as a primary signal. Prior to this procedure, the discrete wavelet transform (DWT) method is applied to the abdominal electrocardiogram signal to clean it from any additive noise and the baseline wandering that is generally present on the raw recordings. The proposed new adaptive filter is shown to deliver improved characteristics through simulations. These simulations were performed on both synthetic and actual signals. This work was compared with the normalized least mean square algorithm.
A Lyapunov based posture controller for a differential drive mobile robot Kazed, Boualem; Guessoum, Abderrezak
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 1: March 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i1.pp1-10

Abstract

Driving a vehicle to a desired position and orientation is one of the most important problems that should be solved in most navigation systems. This paper describes a new complete design and hardware implementation of a two-level controller that will enable a differential drive mobile robot to reach any desired posture starting from any initial position. The first or low-level controller consists of a set of two proportional–integral–derivative (PID) controllers, running on an embedded system on board of the robot. These controllers provide the required voltages to the motors to make the left and right wheels of the robot rotate with the angular speeds computed by the second or high-level controller, running on a stationary PC system. This second controller is based on the Lyapunov stability theorem to derive two control laws for the kinematic model, used to transform the linear and angular speeds of the unicycle model in terms of left and right rotational speeds, required by the motors. As will be shown later, this architecture provides a very flexible way not only to tune the main controller parameters but also to get access and record all the system states.
Co-Authors Guessoum, Abderrezak Kaoula, Ikram