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Laboratoire Angevin de Recherche en Ingénierie des Systèmes

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    Friday, July 14th

    Friday, July 14th

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    On Friday, July 14th from 10:00 am till 3:30 pm

    in the "Petit Palais"


    Distributed Path Planning for Controlling a Fleet of UAVs : Application to a Team of Quadrotors
    Belkadi adel; Abaunza Hernan; Ciarletta Laurent; Castillo Pedro; Theilliol Didier
    Vandœuvre, Nancy and Compiègne, France
    Keywords: Flying robots, Autonomous robotic systems
    Abstract: In this paper, a distributed trajectory generation strategy is proposed to control a group of Unmanned Aerial Vehicles (UAVs). The issue, treated as an online optimization problem, is solved using a Particle Swarm Optimization (PSO) algorithm. The proposed PSO is implemented independently in each vehicle in order to determine, by minimizing a cost function, the best paths that ensure the eet formation control, target tracking and collision and obstacle avoidance. The method illustrated in this paper offers solutions to several questions related to the control of a group of UAVs and could be applied to solve problems such as covering large search areas for surveillance, inspection and rescue. Firstly, experiments on one quadrotor are implemented to illustrate the effectiveness of the proposed algorithm. Large disturbances and obstacles are considered to illustrate the robustness of the presented approach. The method is tested in a real environment with a group of three quadrotors.

    Altitude Control for an Indoor Blimp Robot
    Wang Yue; Zheng Gang; Efimov Denis; Perruquetti Wilfrid
    Villeneuve d’Ascq, France
    Keywords: Flying robots
    Abstract: This paper presents design of altitude controller for an indoor blimp robot and its realization. Due to hardware restrictions, the altitude control behavior of blimp is modeled as a switched system with time-varying delay. HOSM differentiator is used as an observer for vertical velocity, it is also used in order to estimate the switching signal. Then a predictor-based controller is conceived, its gain is determined by common Lyapunov function method to ensure the global uniform exponential stability of switched system. Control scheme is implemented by Matlab Simulink, finally, the performance of blimp altitude controller is verified in experiments.

    Reactive MPC for Autonomous MAV Navigation in Indoor Cluttered Environments: Flight Experiments
    Marzat Julien; Bertrand Sylvain; Eudes Alexandre; Sanfourche Martial; Moras Julien
    Palaiseau, France

    Visual Marker based Multi-Sensor Fusion State Estimation
    Sanchez-Lopez Jose Luis; Arellano-Quintana Victor; Tognon Marco; Campoy Pascual; Franchi Antonio
    Madrid, Spain, Mexico City, Mexico and Toulouse, France
    Keywords: Information and sensor fusion, Multi sensor systems, Flying robots
    Abstract: This paper presents the description and experimental results of a versatile Visual Marker based Multi-Sensor Fusion State Estimation that allows to combine a variable optional number of sensors and positioning algorithms in a loosely-coupling fashion, incorporating visual markers to increase its performances. This technique allows an aerial robot to navigate in different environments and carrying out different missions with the same state estimation architecture, exploiting the best from every sensor. The state estimation algorithm has been successfully tested controlling a quadrotor equipped with an extra IMU and a RGB camera used only to detect visual markers. The entire framework runs on an onboard computer, including the controllers and the proposed state estimator. The whole software is made publicly available to the scientific community through an open source implementation.



    in room “Handball”


    A new brain emotional learning simulink toolbox for control systems design
    Coelho João Paulo; Pinho Tatiana M.; Boaventura-Cunha José; de Oliveira Josenalde B.
    Bragança, Vila Real and Porto, Portugal and Macaíba, Brazil

    Software demonstration of quasi on line parametric identification related to thermal state in tokamak plasmas
    Attar Lamia; Perez Laetitia; Moulay Emmanuel; Nouailletas Rémy; Brémond Sylvain; Autrique Laurent
    Angers, Nantes and Poitiers, France
    Keywords: Software for system identification, Continuous time system estimation, Identification for control
    Abstract: In this paper, estimation of space and time varying thermal diffusivity and heating source in a nonlinear parabolic partial differential equation (PDE) describing heat transport in tokamak plasma is considered. An iterative regularization method based on a Conjugate Gradient Method (CGM) is implemented to deal with model and measurement errors. The estimation strategy is investigated in the infinite dimensional framework. Real data from the Tore Supra (TS) tokamak are provided to evaluate the performance of the proposed strategy. A demonstration of a software dedicated to quasi on line parametric identification is proposed.

    A demonstrator of an Ethernet based embedded network in space launchers
    Petit Dorine; Georges Jean-Philippe; Divoux Thierry; Regnier Bruno; Miramont Philippe
    Vandœuvre-lès-Nancy and Paris, France
    Keywords: Telecommunication-based automation systems, Remote and distributed control, Spacecraft servicing
    Abstract: The relationships between the French Space Agency (CNES) and the CRAN framework, the CRAN has studied how the Ethernet standardized network may advantageously replace the old MIL-STD-1553B communication bus which is embedded today in the European launchers. Some classical requirements had to be respected, but specific constraints of the spatial field have been also met. Theoretical studies were leaded, and it was expected by the CNES to validate the academic results through real experimentations on which the results should be confirmed. A demonstrator has been designed which has fulfilled its role, but has also induced new unexpected problematics.

    Prototyping of EMG-Controlled Prosthetic Hand with Sensory System
    Borisov Ivan I.; Borisova Olga V.; Krivosheev Sergei V.
    Petersburg, Russia

    Time-optimal Control for Bilinear Nonnegative-in-control Systems: Application to Magnetic Manipulation
    Zemánek Jiří; Čelikovský Sergej; Hurák Zdeněk
    Prague, Czech Republic

    Global Stabilization for A Class of Nonlinear Systems with Time Delays via Sampled-Data Output Feedback
    Xiaohong Wang; Du Haibo; Li Shihua
    Nanjing (Jiangsu) and Hefei (Anhui), China
    Keywords: Delay systems, Lyapunov methods, Stability of nonlinear systems
    Abstract: In this paper, a class of lower-triangular-structure nonlinear systems with time delays both in the nonlinearities and control input are globally stabilized by sampled-data output feedback control. First, a new coordinates change is introduced to erive an scaling gain in the controller. By employing the non-separation principle, a sampled-data output feedback controller is then constructed for the systems. A novel Lyapunov-Krasovskii functional is given to guarantee the sampled-data output feedback stabilization of the nonlinear systems under certain sufficient conditions. Simulation result is provided to illustrate the correctness and effectiveness of the results.

    Hexabot: a small 3D-printed six-legged walking robot designed for desert ant-like navigation tasks
    Dupeyroux Julien; Passault Grégoire; Ruffier Franck; Viollet Stéphane; Serres Julien
    Marseille and Bordeaux, France

    Software Demonstrator to Study Room Temperature Influence on Microvascular Blood Flow
    Humeau-Heurtier Anne; Mahé Guillaume; Abraham Pierre
    Angers and Rennes, France

    Autonomous Robot for Weeding
    Guyonneau Rémy; Mercier Franck; Belin Etienne
    Angers, France

    Design and control of an embedded mobile microrobotic system for education
    Ivan Ioan Alexandru; Gurgu Ion Valentin; Radulescu Nicolae; Dragomir Florin; Ivan Mihaela; Dulama Ioana; Bucurica Ioan Alin; Toscano Rosario
    Saint-Étienne, France and Targoviste, Romania