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LAAS-CNRS, France

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8 Papers

Scheduling Onboard Tasks of the NIMPH Nanosatellite

Topics: Optimization; Scheduling

Authors: Julien Rouzot ^{1

;

2} , Joséphine Gobert ¹ , Christian Artigues ¹ , Romain Boyer ¹ , Frédéric Camps ¹ , Philippe Garnier ² , Emmanuel Hebrard ¹ and Pierre Lopez ¹

Affiliations: ¹ LAAS-CNRS, Toulouse, France , ² IRAP, Toulouse, France

Digital Object Identifier: 10.5220/0012378500003639

Proceedings of ICORES 2024, ISBN: 978-989-758-681-1

Quick Abstract

In the context of terrestrial space missions, thanks to the recent development of micro and nanotechnologies, nanosatellites are becoming increasingly popular for their lower cost and ease of deployment. The NIMPH (Nanosatellite to Investigate Microwave Photonics Hardware) mission is an ongoing academic project aimed at developing and launching such a nanosatellite. The onboard resources on these missions are often very limited, and in our study case, a single onboard computer is responsible for orchestrating the science and avionic tasks of the nanosatellite. These tasks are subject to various constraints, such as frequency, minimum/maximum delay between the execution of the same type of task and strict precedences. This makes the scheduling of the onboard tasks a challenging problem, which is critical for the mission success. In this paper, we tackle the problem of scheduling NIMPH onboard tasks using Constraint Programming methods. Our scheduler demonstrates its performance by generating optimal or near-optimal schedules for the NIMPH nanosatellite.

A Heuristic Method for the Multi-skill Project Scheduling Problem with Partial Preemption

Topics: Project Management; Optimization; Scheduling

Authors: Oliver Polo-Mejía ¹ , Christian Artigues ² and Pierre Lopez ²

Affiliations: ¹ CEA, DEN, DEC, SETC, St. Paul lez Durance, France, LAAS-CNRS, Université de Toulouse, CNRS, Toulouse and France , ² LAAS-CNRS, Université de Toulouse, CNRS, Toulouse and France

Digital Object Identifier: 10.5220/0007390001110120

Proceedings of ICORES 2019, ISBN: 978-989-758-352-0

Quick Abstract

In this article we consider a new scheduling problem known as the Multi-Skill Project Scheduling Problem with Partial Preemption. The main characteristic of this problem is the way we handle the resources release during the preemption periods: only a subset of resources are released. Since this problem is NP-hard, we propose a greedy algorithm based on priority rules, modeling the subproblem of technicians allocation as a Minimum-Cost Maximum-Flow problem. In order to improve the performance of the greedy algorithm, we propose a randomized tree-based local search algorithm. Computational tests are carried out and analyzed.

Related Ontology Subjects/Areas/Topics (14)

Applications	Knowledge-Based Systems	Project Management
Artificial Intelligence	Methodologies and Technologies	Scheduling
Enterprise Information Systems	Operational Research	Software Engineering
Information Systems Analysis and Specification	Optimization	Symbolic Systems
Knowledge Discovery and Information Retrieval	Pattern Recognition

Matching CAD Model and Image Features for Robot Navigation and Inspection of an Aircraft

Topics: Graphical and Graph-Based Models; Classification; Feature Selection and Extraction; Image Understanding; Object Recognition; Robotics

Authors: Igor Jovančević ¹ , Ilisio Viana ¹ , Jean-José Orteu ¹ , Thierry Sentenac ² and Stanislas Larnier ³

Affiliations: ¹ Université de Toulouse, CNRS, INSA, UPS, Mines Albi, ISAE and ICA, France , ² Université de Toulouse, CNRS, INSA, UPS, Mines Albi, ISAE, ICA, CNRS, LAAS, Université de Toulouse, UPS and LAAS, France , ³ CNRS, LAAS, Université de Toulouse, UPS and LAAS, France

Digital Object Identifier: 10.5220/0005756303590366

Proceedings of ICPRAM 2016, ISBN: 978-989-758-173-1

Quick Abstract

This paper focuses on the navigation of a moving robot equipped with cameras, moving around an aircraft to perform inspection of different types of items (probes, doors, etc.). Matching CAD model and image features is useful to provide meaningful features for localization and inspection tasks. In our approach two primitive sets are matched using a similarity function. The similarity scores are injected in the edges of a bipartite graph. A best-match search procedure in bipartite graph guarantees the uniqueness of the match solution. The method provides good matching results even when the location of the robot with respect to the aircraft is badly estimated. Inspection approaches on static ports and air inlet vent are presented.

Related Ontology Subjects/Areas/Topics (11)

Applications	Graphical and Graph-Based Models	Robotics
Classification	Image Understanding	Software Engineering
Computer Vision, Visualization and Computer Graphics	Object Recognition	Theory and Methods
Feature Selection and Extraction	Pattern Recognition

A UML-based Approach for Multi-scale Software Architectures

Topics: Software Engineering; Model Driven Architectures and Engineering; Modeling Formalisms, Languages, and Notations (e.g. UML, ER variants)

Authors: Ilhem khlif ¹ , Mohamed Hadj Kacem ² , Ahmed Hadj Kacem ² and Khalil Drira ³

Affiliations: ¹ University of Sfax, CNRS and Univ. de Toulouse, Tunisia , ² University of Sfax, Tunisia , ³ CNRS and Univ. de Toulouse, France

Digital Object Identifier: 10.5220/0005380403740381

Proceedings of ICEIS 2015, ISBN: 978-989-758-097-0

Quick Abstract

Multi-level software architecture design is an important issue in software engineering. Several research studies have been done on the modeling of multi-level architectures based on UML. However, they neither included the refinement between the levels nor clarified the relationships between them. In this paper, we propose a multiscale modeling approach for multi-level software architecture oriented to facilitate adaptability management. The proposed design approach is founded on UML notations and uses component diagrams. The diagrams are submitted to vertical and horizontal transformations for refinement; this is done to reach a fine-grain description that contains necessary details that characterize the architectural style. The intermediate models provide a description with a given abstraction that allow the validation to be conducted significantly while remaining tractable w.r.t. complexity. The validation scope can involve intrinsic properties ensuring the model correctness w.r.t. the UML specification. To achieve this, we propose a set of model refinement rules. The rules manage the refinement and abstraction process (vertical and horizontal) as a model transformation from a coarse-grain description to a fine-grain description. Finally, we experimented our approach by modeling an Emergency Response and Crisis Management System (ERCMS) as a case of study.

Related Ontology Subjects/Areas/Topics (4)

Enterprise Information Systems		Model Driven Architectures and Engineering		Software Engineering
Information Systems Analysis and Specification

Deterministic Method for Automatic Visual Grading of Seed Food Products

Topics: Feature Selection and Extraction; Shape Representation; Object Recognition

Authors: Pierre Dubosclard ¹ , Stanislas Larnier ¹ , Hubert Konik ² , Ariane Herbulot ¹ and Michel Devy ¹

Affiliations: ¹ CNRS and Univ. de Toulouse, France , ² Laboratoire Hubert Curien, France

Digital Object Identifier: 10.5220/0005188102120217

Proceedings of ICPRAM 2015, ISBN: 978-989-758-076-5

Quick Abstract

This paper presents a deterministic method for automatic visual grading, designed to solve the industrial problem of evaluation of seed lots. The sample is thrown in bulk onto a tray placed in a chamber for acquiring color image. An image processing method had been developed to separate and characterize each seed. Shape learning is performed on isolated seeds. The collected information is used for the segmentation. A first step is made based on simple criteria such as regions, edges and normals to the boundary. Then, an active contour with shape prior is performed to improve the results.

Related Ontology Subjects/Areas/Topics (7)

Applications	Pattern Recognition	Software Engineering
Feature Selection and Extraction	Shape Representation	Theory and Methods
Object Recognition

Dynamic Obstacle Avoidance using Online Trajectory Time-scaling and Local Replanning

Topics: Mobile Robots and Autonomous Systems; Guidance, Navigation and Control

Authors: Ran Zhao ¹ and Daniel Sidobre ²

Affiliations: ¹ CNRS and Univ. de Toulouse, France , ² Univ. de Toulouse, France

Digital Object Identifier: 10.5220/0005570204140421

Proceedings of ICINCO 2015, ISBN: 978-989-758-123-6

Quick Abstract

In various circumstances, planning at trajectory level is very useful to generate flexible collision-free motions for autonomous robots, especially when the system interacts with humans or human environment. This paper presents a simple and fast obstacle avoidance algorithm that operates at the trajectory level in real-time. The algorithm uses the Velocity Obstacle to obtain the boundary conditions required to avoid a dynamic obstacle, and then adjust the time evolution using the non-linear trajectory time-scaling scheme. A trajectory local replanning method is applied to make a detour when the static obstacles block the advance path of the robot, which leads to failure of implementing time-scaling approach. Cubic polynomial functions are used to describe trajectories, which brings sufficient flexibility in terms of providing higher order smoothness. We applied this algorithm on reaching tasks for a mobile robot. Simulation results demonstrate that the technique can generate collision-free motion in real time.

Related Ontology Subjects/Areas/Topics (3)

Informatics in Control, Automation and Robotics

Mobile Robots and Autonomous Systems

Robotics and Automation

A Combinatorial Optimization Approach for the Electrical Energy Management in a Multi-source System

Topics: Optimization; Industrial Engineering; Mathematical Modeling; Energy and Environment

Authors: Yacine Gaoua ¹ , Stéphane Caux ² and Pierre Lopez ³

Affiliations: ¹ INPT, UPS, CNRS and Univ de Toulouse, France , ² INPT and UPS, France , ³ CNRS and Univ de Toulouse, France

Digital Object Identifier: 10.5220/0004203900550059

Proceedings of ICORES 2013, ISBN: 978-989-8565-40-2

Quick Abstract

Minimizing the consumption of hydrogen by a fuel cell system in a hybrid vehicle can reduce its environmental impact and increase its autonomy. However an intelligent management of power distribution is essential to meet the demand of the powertrain. The characteristics of the sources constituting the energy chain of the hybrid vehicle (efficiency and energy losses) make the mathematical model nonlinear. Solution methods such as Dynamic Programming and Quasi-Newton which have so far been developed in previous works give satisfactory results but with very large computation times. In this paper, a new combinatorial model is proposed and a Branch-and-Cut method is developed to solve the problem to optimality. This approach leads to drastically reduced computation times.

Related Ontology Subjects/Areas/Topics (13)

Applications	Knowledge-Based Systems	Optimization
Artificial Intelligence	Mathematical Modeling	Pattern Recognition
Energy and Environment	Methodologies and Technologies	Software Engineering
Industrial Engineering	Operational Research	Symbolic Systems
Knowledge Discovery and Information Retrieval

A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction

Topics: Control and Supervision Systems; Real-Time Systems Control

Authors: Wuwei He ¹ , Daniel Sidobre ² and Ran Zhao ¹

Affiliations: ¹ CNRS and Univ. de Toulouse, France , ² Univ. de Toulouse, France

Digital Object Identifier: 10.5220/0004427000190028

Proceedings of ICINCO 2013, ISBN: 978-989-8565-71-6

Quick Abstract

This paper presents a reactive trajectory controller for manipulating objects in Human Robot Interaction (HRI) context. The trajectories to be followed by the robot are provided by a human aware motion planner. The controller is based on an online trajectory generator, which is capable of calculating a trajectory from an arbitrary initial condition to a target within one control cycle. The controller is capable of switching to a new trajectory each time the motion planner provides a new trajectory, changing the frame in which the input trajectory is controlled and tracking a target or a trajectory in a frame, which moves with respect to the robot frame. The controller chooses different control modes for different situations. Visual servoing by trajectory generation is considered as one case of the control situations. Some results obtained with this controller are presented to illustrate the potential of the approach.

Related Ontology Subjects/Areas/Topics (5)

Control and Supervision Systems		Real-Time Systems Control		Signal Processing, Sensors, Systems Modeling and Control
Informatics in Control, Automation and Robotics		Robotics and Automation

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