Contact 632, 12th avenue LaSalle, Quebec, Canada, H8P2R5 Information

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1 Abbas Chamseddine Curriculum Vitae Contact 632, 12th avenue LaSalle, Quebec, Canada, H8P2R5 Information Academic Appointments École de Technologie Supérieure (ÉTS) Department of Electrical Engineering, Montreal, Canada Postdoctoral Fellow January Present Partners: Ultra Electronics TCS, Natural Sciences and Engineering Research Council of Canada (NSERC). Keywords: Unmanned Aerial Vehicles (UAVs), Communication Relays, Navigation, GPS-denied environment. Concordia University September December 2012 Department of Mechanical & Industrial Engineering, Montreal, Canada Postdoctoral Fellow Partners: Defence Research and Development Canada (DRDC), Quanser Inc., Natural Sciences and Engineering Research Council of Canada (NSERC). Keywords: Flight control systems, Real-time control, Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), Fault diagnosis, Fault recovery, State and parameter estimation, Trajectory planning, Modeling, Simulation, Experimental application, Helicopter test-bed. Nancy-University September September 2009 Automatic Control Research Centre of Nancy (CRAN), Nancy, France Postdoctoral Fellow Partners: ONERA, Airbus France, Thales Alenia Space. Keywords: Satellite systems, Control systems, Fault diagnosis, Fault recovery, State estimation, Trajectory planning, Modeling, Simulation. Paul Cézanne University March September 2008 Faculty of Sciences and Techniques, Marseille, France Researcher and Lecturer Education Paul Cézanne University September November 2007 Laboratory of Information and Systems Sciences (LSIS), Marseille, France Ph.D. in Control Engineering Partners: STMicroelectronics - Rousset - France. Keywords: Instrumentation, Sensor networks, Fault diagnosis, Fault recovery, Systems of subsystems, Optimization, Vehicle active suspension, Actuator dynamics, Modeling, Simulation. École Centrale de Nantes, Nantes, France September September 2004 M.S. in Control Systems and Applied Computer Science Partners: MNHM, LMF, LIRMM, GIPSA-Lab. Keywords: Optimal control, Eel robot, Modeling, Simulation. Lebanese University September September 2003 Faculty of Engineering, Beirut, Lebanon B.S. in Mechanical Engineering

2 Awards Expertise Organizations NSERC Postdoctoral Fellowship September September 2012 Natural Sciences and Engineering Research Council of Canada Aerospace Engineering, Automatic Control, Flight Control Systems, Linear and Nonlinear Systems, State and Parameter Estimation, Fault Detection and Diagnosis, Fault Recovery, Fault-tolerant Sensors and Actuators, Reconfigurable Controller, Optimization, Autonomous Robotic Systems, Unmanned Ground and Aerial Vehicles, Quadrotor Helicopter, Formation Control. Association for Unmanned Vehicle Systems International (AUVSI) Member December Present Canadian Aeronautics and Space Institute (CASI) Member January Present Ordre des Ingénieurs du Québec (OIQ) - Membership number Junior member August Present Skills Websites MATLAB/Simulink, C Language, Maple, GAMS, Lindo, Simulation, Real-time Control.

3 Abbas Chamseddine Research Activities Postdoctoral Fellow École de Technologie Supérieure (ÉTS) Department of Electrical Engineering, Montreal, Canada January 2013 to present Ground to ground mobile radios suffer from the same limitation: effective range. To maintain broadband inter-connectivity, communication relays are employed to relay messages from one point to another or between various points, so as to facilitate communications between units and extend the communication range by repeating communication signals. One way to establish a communication relay is to use aircrafts, satellites and unmanned aerial vehicles (UAVs). Such systems can effectively connect to units operating in mountainous area, where terrestrial radio communications are typically masked and screened by the terrain. This research work considers the problem of communication relay establishment between ground units by using an unmanned aerial vehicle (UAV). The objective is to drive the UAV to the optimal placement so that the signals from ground units are of equal and maximal strength. Research Associate Concordia University October December 2012 Department of Mechanical & Industrial Engineering, Montreal, Canada This research work was a continuation of my Postdoctoral appointment at Concordia University. Postdoctoral Fellow Concordia University September September 2012 Department of Mechanical & Industrial Engineering, Montreal, Canada The research work considered a new and emerging research subject: the fault-tolerant control problem for unmanned aerial vehicles in formation flight. The work considered actuator faults and aimed to combine fault-tolerant control with trajectory re-planning to minimize fault effects on the formation. Starting with the single vehicle case, the problem of actuator fault diagnosis has been investigated using model-based observers such as uscentend Kalman filter (UKF), two-stage Kalman filter (TSKF) and adaptive two-stage Kalman filter (ATSKF). In addition, the fault-tolerant control problem has been considered by using model reference adaptive control (MRAC) and fuzzy PID techniques. Better post-fault performance can be obtained when actuator fault tolerance is combined with trajectory re-planning. Trajectory re-planning aimed to redefine the nominal reference trajectories so that system constraints are respected after fault occurrence. These techniques had been implemented and applied to a cutting-edge quadrotor helicopter test-bed at the Department of Mechanical and Industrial Engineering of Concordia University. Postdoctoral Fellow Nancy-University September August 2009 Automatic Control Research Centre of Nancy (CRAN), Nancy, France In the context of the SIRASAS project (Stratégies Innovantes et Robustes pour l Autonomie des Systèmes Aéronautiques et Spatiaux) sponsored by the FRAE (Fondation de Recherche pour l Aéronautique et l Espace), my research work addressed the fault diagnosis and the fault-tolerant control problems for satellite systems in rendez-vous mission. The system consists of a Chaser satellite which is requested to join a Target satellite in the orbit of planet Mars. The Chaser is equipped with thrusters which are subject to actuator faults and the objective is to use model-based fault diagnosis techniques in order to detect faults. Control re-allocation is then combined with flatness-based trajectory planning/re-planning techniques to modify the nominal reference trajectory of the system while taking into consideration the remaining actuation resources after fault occurrence.

4 Temporary Lecturer and Researcher Doctorate Paul Cézanne University March August 2008 Faculty of Sciences and Techniques, Marseille, France This period was dedicated for teaching and for continuing the research work carried out during my doctorate. Paul Cézanne University September November 2007 Laboratory of Information and Systems Sciences (LSIS), Marseille, France My work considered the fault diagnosis and fault-tolerant control problems for complex systems. Two approaches were proposed: the first consists in finding the sensor network to be used so that the observability of a complex system is preserved in the presence of sensor faults. The second approach consists in finding the number and the location of sensors to be used to detect and isolate actuator faults. The approaches are posed as constrained nonlinear binary optimization problems and are illustrated by using the vehicle active suspension system. The considered model is the full vehicle system with actuator dynamics. The system is a nonlinear complex system of dimension 22. To facilitate its study, it is physically decomposed into five interconnected subsystems: the chassis, front right, front left, rear right and rear left subsystems.

5 Abbas Chamseddine Teaching Activities Institution Paul Cézanne University Paul Cézanne University Nancy-University Concordia University & University of Provence Year Status Teaching Assistant Temporary Lecturer and Researcher Post-doctoral Fellow Post-doctoral Fellow Domain Automatic Control Automatic Control Operations Research Flight Control Systems System Modeling Continuous Systems Graph Theory Modeling of Quadrotor UAV Identification Discrete Systems Linear Programming Control of Quadrotor UAV Material Regulator Design Industrial Regulators Controllability State-feedback Control Observability Diagnosis Fault Diagnosis Nb of hours 310 hours 112 hours 100 hours 10 hours Total 532 hours

6 Abbas Chamseddine Publications Published Book Published Book Chapter Submitted Book Chapter Editor B1- H. Noura, D. Theilliol, J-C. Ponsart, A. Chamseddine, Fault-tolerant Control Systems: Design and Practical Applications, Springer, BC1- Y. M. Zhang, A. Chamseddine, Fault Tolerant Flight Control Techniques with Application to a Quadrotor UAV Testbed, Automatic Flight Control Systems - Latest Developments, InTech - Open Access Publisher. ISBN: SBC1- A. Chamseddine, M. H. Amoozgar, Y. M. Zhang, Experimental Validation of Fault Detection and Diagnosis for Unmanned Aerial Vehicles, Handbook of Unmanned Aerial Vehicles - Springer - Submitted in March E1- A. Cauvin, A. Chamseddine, N. Faessel, S. Fournier, Y. Sam (Editors). MajecSTIC 08, Actes de la Sixième Manifestation des Jeunes Chercheurs en Sciences et Technologies de l Information et de la Communication, Vol. 6, Marseille, October 2008, ISBN: E2- A. Boubezoul, A. Cauvin, A. Chamseddine, N. Faessel, Y. Sam (Editors). JDL6 08, Actes des Cinquièmes Journées des Doctorants du LSIS, Vol. 5, Giens, June ISBN: Journal Papers J1- A. Chamseddine, D. Theilliol, Y. M. Zhang, C. Join, C. A. Rabbath, Active Faulttolerant Controller and Trajectory Design against Actuator Faults and Saturation: Application to a Quadrotor Unmanned Aerial Vehicle, accepted by the International Journal of Adaptive Control and Signal Processing. J2- A. Chamseddine, C. Join, D. Theilliol, Trajectory Planning/Re-planning for Satellite Systems in Rendezvous Mission in the Presence of Actuator Faults Based on Attainable Efforts Analysis, accepted by International Journal of Systems Science. J3- Y. M. Zhang, A. Chamseddine, C. A. Rabbath, B. W. Gordon, C.-Y. Su, S. Rakheja, C. Fulford, J. Apkarian, P. Gosselin, Development of Advanced FDD and FTC Techniques with Application to an Unmanned Quadrotor Helicopter Testbed, accepted by Journal of Franklin Institute. J4- M. H. Amoozgar, A. Chamseddine, Y. M. Zhang, Experimental Test of a Two- Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter, Journal of Intelligent and Robotic Systems, Vol. 70, No. 1-4, 2012, pp

7 J5- A. Chamseddine, Y. M. Zhang, C.A. Rabbath, D. Theilliol, Trajectory Planning and Replanning Strategies Applied to a Quadrotor Unmanned Aerial Vehicle, Journal of Guidance, Control, and Dynamics, Vol. 35, No. 5, September - October J6- A. Chamseddine, Y. M. Zhang, C.A. Rabbath, C. Join, D. Theilliol, Flatness-based Trajectory Planning for a Quadrotor Unmanned Aerial Vehicle, IEEE Transactions on Aerospace and Electronic Systems, Vol. 48, No. 4, 2012, pp J7- A. Chamseddine, H. Noura, Sensor Network Design for Complex Systems, International Journal of Adaptive Control and Signal Processing, Vol. 26, No. 6, 2011, pp J8- A. Chamseddine, H. Noura, M. Ouladsine, Design of Minimal and Tolerant Sensor Networks for Observability of Vehicle Active Suspension, IEEE Transactions on Control Systems Technology, Vol. 17, N. 3, 2009, pp J9- A. Chamseddine, H. Noura, Control and Sensor Fault-Tolerance of Vehicle Active Suspension, IEEE Transactions on Control Systems Technology, Vol. 16, N. 3, 2008, pp J10- H. Noura, A. Chamseddine, Discussion on: Sensor Gain Fault Diagnosis for a Class of Nonlinear Systems, European Journal of Control, Vol. 12, N. 5, Submitted Journal Papers SJ1- A. Chamseddine, D. Theilliol, I. Sadeghzadeh, Y. M. Zhang, P. Weber, Reliability Optimization Design for Over-actuated Systems Based on the MIT Rule: Application to an Octocopter Helicopter Testbed, Submitted to Reliability Engineering and System Safety. SJ2- F. Sharifi, A. Chamseddine, H. Mahboubi, Y. M. Zhang, A. G. Aghdam Distributed Coordination of Multi-Agent Systems with Experimental Application to Unmanned Ground and Aerial Vehicles Testbed, Submitted to IEEE Transactions Control Systems Technology. SJ3- A. Chamseddine, Y. M. Zhang, Trajectory Planning for Fault-tolerant Formation Control of Unmanned Ground Vehicles: Theoretical Development and Experimental Application, Submitted to ISA Transactions. Submitted Conference Papers SC1- A. Chamseddine, G. Charland-Arcand, O. Akhrif, F. Gagnon, Optimal Position Seeking for Unmanned Aerial Vehicle Communication Relay using Only Signal Strength and Angle of Arrival, Submitted to American Control Conference, Conference Papers C1- M. H. Amoozgar, A. Chamseddine, Y. M. Zhang, Fuzzy Gain-Scheduled PID for Payload Drop: Application to an Unmanned Quadrotor Helicopter Testbed, Accepted to ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), August 4-7, C2- M. H. Amoozgar, A. Chamseddine, Y. M. Zhang, Experimental Test of an Interacting Multiple Model Filtering Algorithm for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter, International Conference on Intelligent Robotics and Applications, Montreal, Quebec, Canada, October 3-5, 2012.

8 C3- M. H. Amoozgar, A. Chamseddine, Y. M. Zhang, Experimental Test of a Two- Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter, International Conference on Unmanned Aircraft Systems, Philadelphia, PA, USA, June 12-15, C4- A. Chamseddine, I. Sadeghzadeh, Y. M. Zhang, D. Theilliol, A. Khelassi, Control Allocation for a Modified Quadrotor Helicopter Based on Reliability Analysis, Infotech@Aerospace Conference, Garden Grove, California, USA, June 19-21, C5- A. Chamseddine, I. Sadeghzadeh, Y. M. Zhang, Control Allocation and Re-allocation for a Modified Quadrotor Helicopter against Actuator Faults, The 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Mexico City, Mexico, August 29-31, C6- Y. M. Zhang, A. Chamseddine, C. A. Rabbath, B. W. Gordon, C.-Y. Su, C. Fulford, J. Apkarian, P. Gosselin, Fault Diagnosis, Fault-tolerant and Cooperative Control for Unmanned Systems, The 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Mexico City, Mexico, August 29-31, C7- I. Sadeghzadeh, A. Mehta, A. Chamseddine, Y. M. Zhang, Active Fault Tolerant Control of a Quadrotor UAV Based on Gain-Scheduled PID Control, 25th Annual Canadian Conference on Electrical & Computer Engineering, Montreal, Quebec, Canada, April 29 - May 2, C8- A. Chamseddine, Y. M. Zhang, C. A. Rabbath, Trajectory Planning and Replanning for Fault Tolerant Formation Flight Control of Quadrotor Unmanned Aerial Vehicles, American Control Conference, Montreal, Quebec, Canada, June 27-29, C9- A. Chamseddine, T. Li, Y. M. Zhang, C. A. Rabbath, D. Theilliol, Flatness-based Trajectory Planning for a Quadrotor Unmanned Aerial Vehicle Test-bed Considering Actuator and System Constraints, American Control Conference, Montreal, Quebec, Canada, June 27-29, C10- M. H. Amoozgar, A. Chamseddine, Y. M. Zhang, Fault-Tolerant Fuzzy Gain Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults, IFAC Conference on Advances in PID Control, Brescia, Italy, March 28-30, C11- A. Chamseddine, C. Join, D. Theilliol, D. Sauter, Y. M. Zhang, Flatness-based Trajectory Planning to Improve Actuator Fault-tolerance Capability, Conférence Méditerr-anéenne sur l ingénierie Sûre des Systèmes Complexes, Agadir, Morocco, May 27-28, C12- A. Chamseddine, Y. M. Zhang, C.-A. Rabbath, C. Fulford, J. Apkarian, Model Reference Adaptive Fault Tolerant Control of a Quadrotor UAV, AIAA Infotech@Aerospace Conference, St. Louis, Missouri, USA, March 29-31, C13- A. Chamseddine, Y. M. Zhang, C.-A. Rabbath, C. Fulford, J. Apkarian, Model Reference Adaptive Control for Actuator Fault Tolerance of a Quad-rotor UAV, Unmanned Systems Canada Conference, Montreal, Quebec, Canada, November 2-5, C14- A. Chamseddine, Y. M. Zhang, C.-A. Rabbath, Adaptive Trajectory Planning for a Quad-rotor Unmanned Aerial Vehicle, AIAA Guidance, Navigation, and Control Conference, Toronto, Ontario, Canada, August 2-5, 2010.

9 C15- A. Chamseddine, C. Join, D. Theilliol, Actuator Fault-Tolerant Control for Satellites in Rendezvous Mission, Diagnostics of Processes and Systems, Gdansk, Poland, Sept. 7-9, C16- A. Chamseddine, H. Noura, D. Theilliol, Optimal Sensor Network for Fault Diagnosis Using Structural Analysis, Conference on Advances in Computational Tools for Engineering Applications, July 15-17, C17- D. Theilliol, A. Chamseddine, Y. M. Zhang, P. Weber, Optimal Reconfigurable Control Allocation Design Based on Reliability Analysis, 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Barcelona, Spain, June 30 - July 3, C18- D. Theilliol, A. Chamseddine, Y. M. Zhang, P. Weber, Design of Actuator Reconfigurable Control Allocation Versus Reliability Analysis, 23rd IAR Workshop on Advanced Control and Diagnosis, Coventry University, UK, November 27-28, C19- A. Chamseddine, H. Noura, M. Ouladsine, Sensor Location for Actuator Fault Diagnosis in Vehicle Active Suspension, IEEE Conference on Control Applications, San Antonio, Texas, USA, 2008, pp C20- A. Chamseddine, H. Noura, Observability of Complex Systems: Minimal Cost Sensor Network Design, 17th IFAC World Congress, Seoul, Korea, July 6-11, C21- A. Chamseddine, H. Noura, T. Raharijaona, M. Ouladsine, Structural Analysisbased Sensor Location for Diagnosis as Optimization Problem, Conference on Decision and Control, New Orleans USA, December 12-14, 2007, pp C22- A. Chamseddine, H. Noura, T. Raharijaona, M. Ouladsine, Sensor Network Design for Actuator Fault Diagnosis in Vehicle Active Suspension, 5th Workshop on Advanced Control and Diagnosis, Grenoble, France, November 15-16, C23- A. Chamseddine, H. Noura, T. Raharijaona, Optimal Sensor Network Design for Observability of Complex Systems, American Control Conference, New York City USA, July 11-13, 2007, pp C24- A. Chamseddine, H. Noura, T. Raharijaona, Optimal Sensor Network Design for Observability of Active Suspension, International Modeling and Simulation Multiconference, Buenos Aires, Argentina, February 8-10, C25- A. Chamseddine, T. Raharijaona, H. Noura, Sliding Mode Control Applied to Active Suspension Using Nonlinear Full Vehicle and Actuator Dynamics, 45th IEEE Conference on Decision and Control, San Diego, CA, USA, December 13-15, 2006, pp C26- A. Chamseddine, H. Noura, T. Raharijaona, Control of Linear Full Vehicle Active Suspension System Using Sliding Mode Techniques, IEEE Conference on Control Applications, Munich, Germany, October 4-6, 2006, pp C27- A. Chamseddine, H. Noura, T. Raharijaona, Full Vehicle Active Suspension: Sensor Fault Diagnosis and Fault Tolerance, 6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Beijing, P.R. China, August 30 - September 1, 2006, pp

10 C28- A. Chamseddine, H. Noura, M. Ouladsine, Sensor Fault Detection, Identification and Fault Tolerant Control: Application to Active Suspension, American Control Conference, Minneapolis, Minnesota USA, June 14-16, 2006, pp C29- A. Chamseddine, H. Noura, T. Raharijaona, Diagnostic et Tolérance aux Pannes de Capteurs: Application à la Suspension Active, Conférence Internationale Francophone d Automatique, Bordeaux, France, 30, 31 mai et 1er juin, C30- A. Chamseddine, H. Noura, M. Ouladsine, Sensor Fault-Tolerant Control for Active Suspension Using Sliding Mode Techniques, 1st Workshop on Networked Control System and Fault Tolerant Control, Ajaccio, Corsica, France, October 6-7, 2005.