Chapitres& Articles & Communications

Chapitres publis :
F.Z. Baghli, L. El Bakkali, Design and Simulation of Robot Manipulator Position Control
System Based on Adaptive Fuzzy PID Controller, Robotics and Mechatronics, Springer,
ISBN: 978-3-319- 22367- 4, 2015.
O. Hamdoun, L. El Bakkali, F.Z. Baghli, Optimal Trajectory Planning of 3RRR Parallel
Robot Using Ant Colony Algorithm, Robotics and Mechatronics (37), Springer, ISBN:
978-3-319-22367-4, 2015.
F.Z. Baghli, L. El Bakkali and O. Hamdoun, Parametric Design Optimization of Two
Links Robotic Manipulator, Robotics and Mechatronics (37), Springer, ISBN: 978-3-
319-22367-4, 2015.

Publications:
Fatima Zahra BAGHLI, Larbi EL BAKKALI, Yassine LAKHAL Multi -Input Multi-
Output Fuzzy Logic Controller for Complex System: Application on Two- Links
Manipulator , Procedia Technology, 19 (2015), 607614. Ind (Thomson Reuters)
Y. LAKHAL, F.Z. BAGHLI, R. OULAD BEN ZAROUALA, L.EL BAKKALI, Dynamic
Modeling and Simulation of a Flexible Wind Turbine for a Multi-objectives Control,
International Journal of Mechatronics, Electrical and Computer Technology, Vol. 4(10),
Jan, 2014, Special Number, pp. 1063-1083, ISSN: 2305-0543. Ind (Copernicus..)
Yassine LAKHAL, Fatima Zahra BAGHLI, Larbi EL BAKKALI, Fuzzy logic control
strategies for maximum power point tracking of a horizontal axis wind turbine, Procedia
Technology 19, 599606 (2015). Ind (Thomson Reuters)

Yassine LAKHAL, Fatima Zahra BAGHLI, Larbi EL BAKKALI, The efficiency of

bond graph approach for a flexible wind turbine modeling, Journal of Engineering Science
and Techlologie, 2016 (Soumis). Ind (Scopus).
Fatima Zahra Baghli, Larbi El bakkali, Modeling and Analysis of the Dynamic
Performance of a Robot Manipulator driving by an Electrical Actuator Using Bond Graph
Methodology International Journal of Mechanical & Mechatronics Engineering IJMME-
IJENS Vol: 14 No: 04, 2014. Ind (Scopus) (1.826)
Fatima Zahra Baghli, Larbi El bakkali, Yassine Lakhal, Abdelfatah Nasri, Brahim
Gasbaoui, The efficiency of the inference system knowledge strategy for the position
control of a robot manipulator with two degree of freedom, International Journal of
 Research in Engineering and Technology, Volume: 02, Issue: 07 Jul-2013. ISSN: 2319-
1163. Ind ( Copernicus..)
Fatima Zahra Baghli, Larbi El Bakkali,Yassine Lakhal, Abdelfatah Nasri, Brahim
Gasbaoui, Arm manipulator position Control based on Multi-Input Multi-Output PID
Strategy, Journal of Automation, Mobile Robotics & Intelligent Systems ,Volume 8, N2,
2014. Ind (Ebesco, Doaj..)
Fatima Zahra Baghli, Larbi El Bakkali, Artificial Intelligence Applications for a Robot
Manipulator with Two Degrees of Freedom Position Control, International Journal of
Mechatronics, Electrical and Computer Technology , Vol. 4(11), Apr. 2014, pp. 349-368,
ISSN: 2305-0543. Ind (Copernicus..)

Fatima Zahra Baghli, Yassine Lakhal, Larbi El Bakkali, Ouafae Hamdoun, Design and
Simulation of Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for a Robot
Manipulator , in Proc. IEEE Complex Systems (WCCS), ISBN 978-1-4799-4648-8,
2014.

Communications
BAGHLI Fatima Zahra
F. Z. Baghli, Y. Lakhal, L. El bakkali, Contrle dynamique dun bras manipulateur
deux degres de libertt par un contrleur PID ,11me Congrs international de
Mcanique de la SMSM, Agadir 23-26 Avril 2013.
F. Z. Baghli, Y. Lakhal, L. El bakkali, Contrle dynamique dun bras manipulateur
flexible deux dgres de libert par un contrleur PID Adaptatif, 21me Congrs
franais de Mcanique, Bordeaux 23- 26 Avril 2013.
F. Z. Baghli, Y. Lakhal, L. El bakkali, Contrle dynamique dun bras manipulateur
deux degres de libertt par un contrleur PID , 2RJC-UAE, Ttouan 25-26 Mai, 2013.
F. Z. Baghli, L. El bakkali, Lefficacit de la stratgie dinfrence floue pour le contrle
de position dun bras manipulateur flexible , 2RJC-UAE, Ttouan 25-26 Mai 2013.
F. Z. Baghli, L. El bakkali, Lefficacit de la stratgie dinfrence floue pour le contrle
de position dun bras manipulateur flexible , Congrs International Matriaux & Stabilit
Structurelle Rabat, Maroc, 27-30 November 2013.
F. Z. Baghli, O. Hamdoun, L. El Bakkali, Modeling and Analysis of a Robot
Manipulator by using Bond Graph Methodology, Robotics Workshop: Trends and
Challenges, Marrakech, 14 Juin 2014.
 F. Z. Baghli, Y. Lakhal, L. El bakkali, O. Hamdoun, Design and Simulation of Adaptive
Neuro Fuzzy Inference System (ANFIS) Controller for a Robot Manipulator , the 2nd
World Conference on Complex Systems, Agadir, 10-13 November 2014.
F. Z. Baghli, Y. Lakhal, O. Hamdoun, L. El bakkali , Modeling the Kinematics and the
Dynamics of a Robot Manipulator by Bond Graph Methodology , 1re Confrence
Internationale sur la Mcanique des Matriaux et des Structures MSM2014, Marrakech,
19-21 Novembre, 2014.
F. Z. Baghli, L. El bakkali, Y. Lakhal, Design and Development of the Bond Graph
Model for a Robot Manipulator , Journes sur la Modlisation et Analyse en Mcanique
et Energtique, Tanger 29-30 avril 2014.
F. Z. BAGHLI, L. EL BAKKALI, Lefficacit de la stratgie dinfrence floue pour le
contrle de position dun bras manipulateur deux degrs de liberts , 15me Journe de
la Recherche Scientifique, Martil, 20-21 Dcembre.
F. Z. BAGHLI, L. EL BAKKALI, Y. LAKHAL Multi -Input Multi-Output Fuzzy Logic
Controller for Complex System: Application on Two- Links Manipulator , 8th
International Conference Interdisciplinarity in Engineering, INTER-ENG 2014, 9-10
October 2014, Tirgu Mures,Romania .
F. Z. Baghli, O.Hamdoun, L. El Bakkali, Parametric Design Optimization of Two Link
Robotic Manipulator, The 4th IFTOMM International Symposium on Robotics and
Mechatronics, 23-25 Juin, Poitiers (France), 2015.
F. Z. Baghli, O.Hamdoun, L. El Bakkali, Design and Simulation of Robot Manipulator
Position Control System based on Adaptive Fuzzy PID Controller, The 4th IFTOMM
International Symposium on Robotics and Mechatronics, 23-25 Juin, Poitiers (France),
2015.
F.Z.Baghli, Y. Lakhal, L. El bakkali, Bond Graph Modeling of a Robot Manipulator ,
22me Congrs Franais de Mcanique, Lyon 24-28 Aot 2015.
F. Z. Baghli, L. El bakkali, Modeling and Analysis of the Dynamic Performance of a
Robot Manipulator Using Bond Graph Methodology, 12me Congrs de Mcanique, 21-
24 Avril 2015, Casablanca.
F. Z. Baghli, L. El bakkali, O. Hamdoun,Performances Measurement of a Robotic Arm
Manipulator, December 27-28, 2015, Thailand.
 F. Z. BAGHLI, L. EL BAKKALI, Comparative Study of Advanced Controllers:
Application for a Robot Manipulator, the First International Symposium on
Computational Mathematics and Engineering Sciences 3-6 Mars 2016, Errachidia.

LAKHAL Yassine
Y. Lakhal, F. Z. Baghli, L. El bakkali, Modlisation et commande dun arognrateur
par un contrleur PI , 2RJC-UAE, Ttouan 25-26 2013.
Y. Lakhal, F.Z.Baghli, L. El bakkali, Modlisation et commande dun arognrateur
par un contrleur PI ,11me Congrs international de Mcanique de la SMSM, Agadir
23-26 Avril 2013.
Y. Lakhal, F.Z. BAGHLI, L.EL BAKKALI, Dynamic modelling and behaviour analysis
of flexible wind turbine , Journes sur la Modlisation et Analyse en Mcanique et
Energtique, Tanger 29-30 avril 2014.
Y. LAKHAL, F. Z. BAGHLI, L. EL BAKKALI Modeling and simulation of flexible
wind turbine , 1re Confrence Internationale sur la Mcanique des Matriaux et des
Structures MSM2014, Marrakech, 19-21 Novembre , 2014.
Y. LAKHAL, F. Z. BAGHLI, L. EL BAKKALI, Fuzzy logic control strategies for
maximum power point tracking of a horizontal axis wind turbine, 8th International
Conference Interdisciplinarity inEngineering, INTER-ENG 2014, 9-10 October 2014,
Tirgu Mures,Romania.
Yassine LAKHAL, F.Z. BAGHLI, L.EL BAKKALI, Bond Graph Approach for
Modeling a flexible wind turbine , 12me Congrs international de Mcanique de la
SMSM, Cassablanca 21-24 Avril 2015.
Yassine LAKHAL, F.Z. BAGHLI, L.EL BAKKALI, Dynamic Modeling for flexible
Wind Turbine by the Bond Graph Method, 22me Congrs Franaise de Mcanique, Lyon
24-27- Aot.

HAMDOUN Ouafae
O.HAMDOUN, F.Z.BAGHLI, Y.LAKHAL, L.EL BAKKALI, Modlisation
dynamique dun robot parallle trois degr de libert, 2 RJC-UAE, 28-29 Mai ,2013
Ttouan, Maroc.
 Ouafae HAMDOUN, Larbi ELBAKKALI, Modlisation dynamique dun robot
parallle trois degrs de libert, International Congress on Materials & Structural
Stability Building up Sustainable Materials & Constructions, CMSS-Rabat 2013.
Ouafae HAMDOUN, Larbi EL BAKKALI, Fatima Zahra BAGHLI, Inverse
Kinematic model of 3 RRR parallel robot, Journes sur la Modlisation et Analyse en
Mcanique et Energtique, Avril 29-30, 2014 Tanger, Maroc.
Ouafae HAMDOUN, Fatima Zahra BAGHLI, Larbi EL BAKKALI, Inverse
Kinematic problem of 3 RRR Parallel Robot, Robotics Workshop: trend and
Challengs, 14 June 2014 Marrakech, Morocco.
Ouafae HAMDOUN, Fatima Zahra BAGHLI, Larbi EL BAKKALI, Dynamics
Modeling and Simulation of 3 Dof Parallel Robot, 1re Confrence Internationale sur
la Mcanique des Matriaux et des Structures MSM2014-Marrakech 2014.
Ouafae HAMDOUN, Fatima Zahra BAGHLI, Larbi EL BAKKALI, Inverse
kinematic Modeling of 3RRR Parallel Robot, 22me Congrs Franais de Mcanique,
24 au 28 Aot 2015 Lyon (France).
O.Hamdoun, L. El Bakkali and F. Z. Baghli, Optimal Trajectory Planning of 3 RRR
Planar Parallel Robot using Ant Colony Algorithm, The 4th IFTOMM International
Symposium on Robotics and Mechatronics, 23- 25 Jun, 2015 Poitiers(France).
O. Hamdoun, L. El Bakkali and F.Z. Baghli, Path Planning and Optimization
Trajectory of 3RRR Parallel Robot, Colloque International sur le dveloppement de
l'Entrepreneuriat Innovant en milieu Universitaire: Innovation au profit du
Dveloppement Rgional, 23-25 Novembre 2015, Ttouan, Maroc.
Ouafae HAMDOUN, Fatima Zahra BAGHLI, Larbi EL BAKKALI Optimal
Kinematic Design of 3RRR Planar Parallel Robot, 2nd International Conference on
Applied Mechanics, December 27-28, Phuket Thailland ICOAM 2015.
O.HAMDOUN, F.Z.BAGHLI, Y.LAKHAL, L.EL BAKKALI, Modlisation
dynamique dun robot parallle trois degr de libert, 2 RJC-UAE, 28-29 Mai ,2013
Ttouan, Maroc.
Ouafae HAMDOUN, Larbi EL BAKKALI, Kinematic study and Worskspace analysis
of planar parallel robot, 16me Journe de la Recherche Scientifique, Tanger 19-20
Dcembre 2014.

EL MOUFARI Meryem
 M.EL MOUFARI, L. EL BAKKALI, Energy Release Rate Approach for
Delamination in Composite Structures, 2nd International Conference on Applied
Mechanics (ICOAM 2015), Phuket, Thailand27-28December2015.
M.EL MOUFARI, L. EL BAKKALI, Effect of combination of thermal and
mechanical loading on delamination onset and growth of unidirectional composite
materials, In Xme Confrence Internationale: Conception et Production Intgres,
2-4 December Tanger 2015
M. EL MOUFARI, L. EL BAKKALI, Interaction of thermal loading on the damage
evolution of composite materials , 22 me Congrs franais de Mcanique, Lyon 24-
28 Aot 2015.
M.EL MOUFARI, L. EL BAKKALI, Numerical characterization of damage
evolution in composite laminates subjected to various thermal mechanical loading
,12me Congrs international de Mcanique de la SMSM, Casablanca 21-24 Avril
2015.
M.EL MOUFARI, L. EL BAKKALI, Evaluation of damage progression modes in
composite laminates Carbone/Epoxy under various thermal mechanical loading,
16me Journe de la Recherche Scientifique, Tanger 19-20 Dcembre 2014.
M.EL MOUFARI, L. EL BAKKALI, Parametric analysis of the compact tension
specimen in composite materials under thermo mechanical loading , 1re Conference
internationale sur la mecanique des materiaux et des structures MSM2014, Marrakech
19- 21 Novembre 2014.
M.EL MOUFARI, L. EL BAKKALI, Impact of geometric parameter variations on
the failure mechanisms in composite, Journes sur la Modlisation et Analyse en
Mcanique et Energtique JMAME2014, Tanger 29-30 Avril 2014.
M.EL MOUFARI, L. EL BAKKALI, Analyse de la fatigue thermomcanique par la
mthode des lments finis . 2RJC-UAE, Ttouan 25-26 Mai 2013.

EL HADDAD Zakaria
EL HADDAD.Z, BENDAOU.O, EL BAKKALI.L, Technique propose pour valuer
la rponse mcanique Stochastique fonde sur la transformation avec MEF, 12me
Congrs de Mcanique Casablanca, du 21 au 24 avril 2015.
Zakaria EL HADDAD, Larbi EL BAKKALI,Othmane BENDAOU.Application de
Premire / deuxime mthodes de fiabilit (FORM / SORM).1re Confrence
 Internationale sur la Mcanique des Matriaux et des Structures MSM2014-
Marrakech 2014.
Zakaria EL HADDAD, Larbi EL BAKKALI, Othmane BENDAOU Choix parmi les
Mthodes fiabilistes 2RJC UAE Ttouan le 25-26 mai 2013.
Zakaria EL HADDAD, Larbi EL BAKKALI,Othmane BENDAOU, Etude Mecano-
Fiabiliste Dun Packagin Electronique De Type BGA. X me Confrence Internationale
sur Conception et Production Intgres,Tanger le 2-4 Dcembre 2015 .

Z.EL HADDAD, Ot.BEN DAOU, L.EL BAKKALI, MECANO-STOCHASTIC

ANALYSIS OF A PLATE The 1st International Symposium on Computational
Mathematics & Engineering Sciences 3-6 March 2016 Errachidia- MOROCCO.

ED-DOKKALI Imane

ED DOKKALI Imane, EL BAKKALI Larbi, Modlisation de Flexibilit de la Pale

en Utilisant la Mthode des Elments Finis ,12me Congrs international de
Mcanique de la SMSM, Cassablanca 21-24 Avril 2015.
ED DOKKALI Imane, EL BAKKALI Larbi, ELHAIK Dikra, The Determination of
natural frequencies of blade wind using the finite elemnt method , Journes sur la
Modlisation et Analyse en Mcanique et Energtique, Tanger 29-30 avril 2014.

Dikra EL HAIK

Dikra El Haiek, Larbi El Bakkali, Jalal El Bahaoui,

BadreddineAboulissane, Modeling and synthesis of a medical robot
for echography application1st International Symposium on
Computational Mathematics and Engineering Sciences, CMES2016,
3-6 Mars 2016, Errachidia-Morocco.
Dikra El Haiek, Larbi El Bakkali, Jalal El Bahaoui, Kinematicanalysis
of spherical robots Xme Confrence Internationale : Conception et
Production Intgres, CPI 2015,2-4 Dcembre 2015,Tanger-Maroc.
Dikra El Haiek, Larbi El Bakkali, Jalal El Bahaoui, Workspace and
Trajectory Simulation of Spherical Robots 17JR-UAE, 18-19
Dcembre 2015,Ttouan.
 Dikra El Haiek, Larbi El Bakkali, Jalal El Bahaoui, Modlisation et
commande dun bras manipulateur 12 me congrs de
mcanique, 22-25 Avril 2015, Casablanca, Maroc.
Dikra El Haiek, Larbi El Bakkali, Jalal El Bahaoui, Gnration de
mouvement dun robot par linterpolation polynomiale 16JR-UAE,
19-20 Dcembre 2014, Tanger, Maroc.
Dikra El Haiek, Larbi El Bakkali, Jalal El Bahaoui, Dveloppement
dalgorithme de commande optimale de robots manipulateurs
JDP14-UAE,10 Mai 2014 Ttouan, Maroc.

ABOULISSANE Badreddine
Badreddine Aboulissane, Larbi El Bakkali. Modeling and Simulation
of Spatial Mechanism. Xme Confrence Internationale: Conception
et Production Intgres, Dc. 2015, Tanger, Morocco.
B. Aboulissane, L. El Bakkali, Dexterity and workspace analysis of a
pure translational parallel robot, 17me Journe de la Recherche
Scientifique, Ttouan 18-19 Dcembre 2015.
Badreddine Aboulissane, Larbi El bakkali, Dikra El haiek. Joint
Clearances Analysis of the 3UPU Parallel Manipulator. 1st
International Symposium on Computational Mathematics and
Engineering Sciences, March 2016, Errachidia, Morocco.

Mohamed Ould Mohamed Lemine

Mohamed Ould Mohamed lemine, EL BAKKALI LARBI, Modlisation
et simulation paramtrique dun arognrateur, 1st International
Symposium on Computational Mathematics and Engineering
Sciences, March 2016, Errachidia, Morocco.
Mohamed Ould Mohamed lemine, EL BAKKALI LARBI, Modlisation et
Simulation du systme de conversion nergtique dun arognrateur Modeling and
Simulation of the energy conversion system of a wind turbine , Xme Confrence
Internationale: Conception et Production Intgres, Dc. 2015,
Tanger, Morocco.