Introduction Cable-driven continuum robots enable dexterous motion in confined spaces, but inverse kinematics remains difficult because different internal shapes and cable states can produce the same end-effector position. Methods This study presents a design-aware hybrid optimization framework, DA-IHHO-DELS, for inver...
Selman Djeffal, Abdelhamid Ghoul, Mohamed Razi Morakchi et al.· Frontiers in Robotics and AI· 0 citations
Introduction Radial distribution grids require renewable planning methods that jointly account for meteorological generation, WT/PV capacity allocation, and smart-inverter voltage support. Methods An ANN-PSO-VoltVAR framework was developed using 2012-2021 NASA POWER irradiance, wind-speed, and temperature data for In S...
Selman Djeffal, Badreddine Bendriss, Abdelhamid Ghoul et al.· Frontiers in Artificial Inte...· 0 citations
The results indicate that the main benefit of STEP-CBF+ emerges when contact feasibility must be evaluated together with the consequences of the next support phase and body posture, providing an interpretable intermediate safety layer between terrain perception and lower-level locomotion control.
Heat delivery limits the discharge rate of LaNi5 metal-hydride reactors. This study develops PG-SADE-GHF to co-design radial foam porosity, CuCr1Zr/AlSi10Mg allocation, and transient heat-transfer/pressure scheduling.
The original MATLAB surrogate was used only for inexpensive screening. Its selected coordin...
Selman Djeffal, Badreddine Bendriss, A. Chibani et al.· Frontiers in Energy Research· 0 citations
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