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جامعة عمّار ثليجي – الأغواط

Université Amar Telidji de Laghouat

Archive ouverte de la recherche, des thèses et des cours pédagogiques
الأرشيف المفتوح للبحوث والمذكرات والدروس

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Faculty of Civil Engineering And Architecture
كلية الهندسة المدنية والمعمارية
Faculty of Economic And Commercial Sciences And Management Sciences
كلية العلوم الاقتصادية والتجارية وعلوم التسيير
Faculty of Human Sciences And Islamic Sciences And Civilizations
كلية العلوم الإنسانية و العلوم الإسلامية والحضارة
Faculty of Law And Political Science
كلية الحقوق والعلوم السياسية
Faculty of Letters And Languages
كلية الآداب و اللغات

Recent Submissions

Control of Robotic Manipulator Using ROS
(University of Amar Telidji - Laghouat Faculty of Technology Department of Electrical Engineering, 2026) BENSARKHA Hicham; AIDAOUI Saad; RAHMANI Belkacem
This thesis addresses the modeling and control of the Universal Robots UR5e 6-DOF collaborative manipulator. Complete forward and inverse kinematic models are derived using the modified Denavit–Hartenberg convention, alongside a full dynamic model obtained via the Euler–Lagrange formulation. Three joint-space control strategies—pure PD, PD with gravity compensation (PD+G), and Computed Torque Control (CTC)—are designed and comparatively evaluated. The CTC approach leverages the complete dynamic model to cancel nonlinearities and decouple the joints, transforming the system into independent linear double integrators. All controllers are implemented and validated in a ROS/Gazebo simulation environment. Results demonstrate that CTC achieves superior trajectory tracking accuracy and reduced steady-state error compared to both PD and PD+G, confirming the effectiveness of model-based control for the UR5e manipulator.
Évaluation de l’efficacité des simulations de gestion de crise et d’urgence dans l’industrie de SONATRACH : Étude des pratiques et amélioration continue
(Université Amar Thelidji- Laghouat FACULTE : TECHNOLOGIE DEPARTEMENT : GÉNIE DES PROCÉDÉS, 2026) BOUCHERIT Abdelmalek; BENRAYA Aissa; ZERROUKI Hamza
Au terme de cette étude pratique consacrée à l’analyse des simulations de gestion de crise au sein du site étudié, il apparaît que ces exercices constituent un outil essentiel pour évaluer la capacité opérationnelle face aux situations d’urgence, notamment dans un environnement industriel sensible comme celui du traitement du gaz. L’analyse du site a permis de mettre en évidence une organisation sécuritaire structurée ainsi que l’existence de procédures de gestion de crise bien définies. La méthodologie adoptée, basée sur la collecte et l’exploitation des rapports de simulation, a offert une vision claire des pratiques actuelles et des mécanismes de réponse mis en place. L’évaluation des scénarios simulés a révélé une diversité de situations traitées, avec une mobilisation des équipes généralement efficace. Toutefois, certains indicateurs clés tels que le temps de réaction, la coordination interservices et la communication ont montré des niveaux de performance variables selon les exercices. À travers l’identification des points forts, il ressort que l’organisation dispose d’une base solide en termes d’efficacité opérationnelle, de moyens techniques et d’implication du personnel. Néanmoins, l’étude a également mis en évidence certaines limites, notamment des lacunes organisationnelles, des problèmes de coordination, ainsi que des insuffisances en matière de formation et de préparation pratique. L’utilisation de l’analyse SWOT a permis de structurer ces constats en distinguant clairement les forces, les faiblesses, ainsi que les opportunités d’amélioration et les menaces potentielles pouvant impacter la gestion des crises. En réponse à ces observations, plusieurs axes d’amélioration ont été proposés, portant principalement sur l’optimisation des scénarios de simulation, la mise en place de nouveaux indicateurs de performance, le renforcement de la formation du personnel, ainsi que l’amélioration continue des futures simulations afin d’assurer une meilleure réactivité et une coordination plus efficace.
طقوس المناسبات في بلاد الرافدين
(جامعة عمار ثليجي الاغواط, 2026-06) فتيحة حمر العين; د/عبدالوهاب كيدار
This study, entitled “Rituals of Occasions in Mesopotamia,” examines the religious and social rituals associated with various occasions in Mesopotamian civilization, highlighting the role of the temple institution and the priestly system in organizing and supervising these practices. It aims to identify the significance of these rituals and their connection with the beliefs and myths of Mesopotamian society. The research adopts a historical, descriptive, and analytical approach. The first chapter discusses the temple institution, its origins, types, and functions, while the second chapter focuses on the priestly system, its hierarchy, duties, and the position of priestesses. The third chapter addresses the concept of rituals and their main forms, including marriage, birth, funerary, and temple-building rituals. The study concludes that rituals constituted an essential element of Mesopotamian religious and social life, contributing to the consolidation of beliefs and the organization of society. It also highlights the central role of the temple as a religious, economic, and political institution, as well as the important contribution of priests and priestesses in preserving religious traditions and practices.
Motor Torque Estimation and Security Control for Electric Vehicle Applications
(AMAR TELIDJI UNIVERSITY OF LAGHOUAT FACULTY OF TECHNOLOGY DEPARTMENT OF ELECTROTECHNIC, 2026) LAGGOUN SAFA MALAK; NEKKAR MELISSA; Bengjedia Bachir
Electric vehicle (EV) propulsion systems require high-performance control strategies to ensure accurate speed regulation and robustness against external disturbances. Among the factors affecting drive performance, load torque variations caused by road conditions, vehicle mass changes, and resistive forces can significantly degrade speed tracking and dynamic response. This thesis investigates the use of observer-based load torque estimation techniques to enhance the performance of a DC motor drive intended for electric vehicle applications. Three estimation methods are studied: the Luenberger Observer (LO), Sliding Mode Observer (SMO), and Extended State Observer (ESO). Their mathematical formulations are developed and their estimation capabilities are first evaluated under open-loop conditions. The proposed observers are then integrated into a closed-loop speed control system, and their performance is assessed through simulation under various operating conditions. Finally, the developed approach is applied to a 1.5 kW DC motor-based electric vehicle propulsion system. The results demonstrate that accurate load torque estimation improves disturbance rejection, speed tracking performance, and overall system robustness.
DEEP SPACE ANTENNA POSITION CONTROL USING OPTIMIZED PID WITH ARTIFICIAL INTELLIGENCE
(FACULTY OF TECHNOLOGY AMAR TELIDJI UNIVERSITY, 2026) Islam Bousif; Mohammed Yousri Silaa
This thesis presents the design, optimization, and comparative analysis of advanced control strategies for a two-axis (azimuth–elevation) antenna tracking system. The main objective is to improve tracking accuracy, dynamic response, and robustness under realistic operating conditions. To achieve this, several control approaches are investigated, including classical Proportional–Integral–Derivative (PID) controllers, Sliding Mode Control (SMC), and a hybrid SMC-PID scheme. In order to enhance controller performance, metaheuristic optimization algorithms, namely Particle Swarm Optimization (PSO), Grey Wolf Optimization (GWO), and Ant Colony Optimization (ACO), are employed to tune the controller parameters. The performance evaluation is conducted using the Integral of Time-weighted Absolute Error (ITAE) as the primary objective function, ensuring both fast transient response and minimal steady-state error. The simulation results demonstrate that classical tuning methods such as Ziegler–Nichols provide limited performance due to oscillations and slower convergence. In contrast, optimization-based PID controllers significantly improve system behavior, with ACOPID achieving the best performance among standalone PID approaches. Furthermore, the integration of SMC with PID in a hybrid structure leads to superior results, combining robustness against disturbances with smooth tracking performance. The proposed ACO-SMC-PID controller exhibits the best overall performance, characterized by reduced tracking error, fast convergence, improved stability, and efficient control effort. The findings confirm that hybrid nonlinear control strategies optimized using metaheuristic algorithms provide an effective and reliable solution for high-precision antenna tracking applications.