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LAAS-CRNS, France

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27 Papers

Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands

Topics: Control and Supervision Systems; Vehicle Control Applications; Software Agents for Intelligent Control Systems; Autonomous Agents; Mobile Robots and Autonomous Systems; Engineering Applications on Robotics and Automation

Authors: E. Flécher ¹ , A. Durand-Petiteville ² , F. Gouaisbaut ¹ , V. Cadenat ¹ , T. Sentenac ³ and S. Vougioukas ²

Affiliations: ¹ CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse, France, Univ. de Toulouse, UPS, F-31400, Toulouse and France , ² Departement of Biological and Agricultural Engineering, University of California, Davis, CA, 95616 and U.S.A. , ³ CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse and France

Digital Object Identifier: 10.5220/0007918803550362

Proceedings of ICINCO 2019, ISBN: 978-989-758-380-3

Quick Abstract

This paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. The main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. Then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. These controllers are based on an input to output linearization and proved to be very efficient on simulations.

Related Ontology Subjects/Areas/Topics (8)

Autonomous Agents	Intelligent Control Systems and Optimization	Software Agents for Intelligent Control Systems
Control and Supervision Systems	Mobile Robots and Autonomous Systems	Vehicle Control Applications
Informatics in Control, Automation and Robotics	Robotics and Automation

Autonomous Aerial Vehicle - Based on Non-Monotonic Logic

Topics: Power Management; Systems Modeling and Simulation; Navigation Systems; Autonomous Vehicles and Automated Driving; Electric Vehicles

Authors: José Luis Vilchis Medina ¹ , Pierre Siegel ¹ and Andrei Doncescu ²

Affiliations: ¹ Aix Marseille Université, CNRS and LIF, France , ² LAAS and CNRS, France

Digital Object Identifier: 10.5220/0006304002360241

Proceedings of VEHITS 2017, ISBN: 978-989-758-242-4

Quick Abstract

In this article we study the case of an autonomous motor-glider. The aims of the aircraft is to maintain its flight as long as possible, taking advantage of the rising air from the ground, known as thermals, despite of limited energy resources and possible external influences, such as turbulences. The pilot task being to make decisions with incomplete, uncertain or even contradictory information, as well as driving to the desired path or destination. We propose the formulation of a model from the point of view of logical theory, using non-monotonic logic and more specifically default logic, to tackle these problems. Finally, we present the results of a simulation for further application in a glider(reduced model) which use solar cells for power management in embedded system.

Related Ontology Subjects/Areas/Topics (6)

Industrial Engineering		Power Management		Systems Modeling and Simulation
Informatics in Control, Automation and Robotics		Sensor Networks		Wireless Information Networks

Design of a Sensor-based Controller Performing U-turn to Navigate in Orchards

Topics: Control and Supervision Systems; Mobile Robots and Autonomous Systems

Authors: A. Durand-Petiteville ¹ , E. Le Flecher ² , V. Cadenat ² , T. Sentenac ³ and S. Vougioukas ¹

Affiliations: ¹ University of California, United States , ² CNRS, LAAS, Univ. de Toulouse, UPS and LAAS, France , ³ CNRS and LAAS, France

Digital Object Identifier: 10.5220/0006478601720181

Proceedings of ICINCO 2017, ISBN: 978-989-758-264-6

Quick Abstract

In this work, the problem of designing sensor-based controllers allowing to navigate in orchards is considered. The navigation techniques classically used in the literature rely on path following using metric maps and metric localization obtained from onboard sensors. However, it appears promising to use sensor-based approaches together with topological maps for two main reasons: first, the environment nature is rather changing and second, only high-level information are sufficient to describe it. One of the key maneuver when navigating through an orchard is the u-turn which must be performed at the end of each row to reach the next one. This maneuver is generally performed using only dead reckoning because of the lack of dedicated sensory data. In this paper, we propose two sensor-based control laws allowing to perform u-turns, improving the performance quality. They allow following particular spirals which are defined from laser rangefinder data and adapted to realize the desired maneuver. Their stability is studied and their performances are thoroughly examined. Finally, they are embedded in a complete navigation strategy to show their efficiency in our agricultural context.

Related Ontology Subjects/Areas/Topics (4)

Control and Supervision Systems		Mobile Robots and Autonomous Systems		Robotics and Automation
Informatics in Control, Automation and Robotics

Pose Interpolation for Rolling Shutter Cameras using Non Uniformly Time-Sampled B-splines

Topics: Image-Based Modeling and 3D Reconstruction; Stereo Vision and Structure from Motion; Image Formation, Acquisition Devices and Sensors; Entertainment Imaging Applications; Tracking and Visual Navigation

Authors: Bertrand Vandeportaele ¹ , Philippe-Antoine Gohard ² , Michel Devy ¹ and Benjamin Coudrin ³

Affiliations: ¹ LAAS-CNRS, France , ² LAAS-CNRS and Innersense, France , ³ Innersense, France

Digital Object Identifier: 10.5220/0006171802860293

Proceedings of VISAPP 2017/VISIGRAPP, ISBN: 978-989-758-227-1

Quick Abstract

Rolling Shutter (RS) cameras are predominant in the tablet and smartphone market due to their low cost and small size. However, these cameras require specific geometric models when either the camera or the scene is in motion to account for the sequential exposure of the different lines of the image. This paper proposes to improve a state-of-the-art model for RS cameras through the use of Non Uniformly Time-Sampled B-splines. This allows to interpolate the pose of the camera taking into account the varying dynamic of the motion by adding more control points where needed while keeping a low number of control points where the motion is smooth. Two methods are proposed to determine adequate distributions for the control points, using either an IMU sensor or an iterative reprojection error minimization. Results on simple synthetic data sets are shown to prove the concept and future works are introduced that should lead to the integration of our model in a SLAM algorithm.

Related Ontology Subjects/Areas/Topics (13)

Applications	Image Formation and Preprocessing	Pattern Recognition
Applications and Services	Image Formation, Acquisition Devices and Sensors	Software Engineering
Computer Vision, Visualization and Computer Graphics	Image-Based Modeling	Stereo Vision and Structure from Motion
Entertainment Imaging Applications	Motion, Tracking and Stereo Vision	Tracking and Visual Navigation
Geometry and Modeling

S3Bike: An Electrically Assisted Cycle Monitored in Heart Beat to Help People with Heart Problem - Tests and Choice of the Best Heart Rate Sensor

Topics: Training and Testing; Prevention and Rehabilitation

Authors: Coline Jamme ¹ , Kaveena Devi Persand ² , Georges Soto-Romero ¹ and Annabelle Vigué ³

Affiliations: ¹ Biomedical Engineering School, Faculty of Franche-Comté, LAAS-CNRS, Université de Toulouse and CNRS, France , ² LAAS-CNRS, Université de Toulouse, CNRS and INSA, France , ³ Biomedical Engineering School and faculty of Franche-Comté, France

Digital Object Identifier: 10.5220/0006503601070110

Proceedings of icSPORTS 2017, ISBN: 978-989-758-269-1

Quick Abstract

Many older people give up all physical activities because of their feeling of insecurity outdoors. In parallel, the number of Electrically Assisted Cycles (EAC) in the cities increases significantly. Purpose: The aim of the current study is to know if it’s possible to monitor their heart rate via an EAC to give a secure access to locomotion of people under medical advice. Methods: It is two-fold: For all the experiments, our reference is the Polar H7 chest strap. First, we compared different sensor’s positions during a 30 seconds’ effort test indoors on a healthy subject. Then, we studied the repeatability and the reproducibility of the PulseSensor placed on the cyclist’s earlobe during rest and test efforts on two samples of 12 health subjects. Results: The PulseSensor placed on the earlobe is reliable indoors. Conclusion: The PulseSensor can be a good sensor to monitor an EAC in heart rate. But we need to design a system to integrate all the electronic directly on the cyclist and his helmet and to protect it from the outdoors interactions like the exposure to the sun, the humidity or the cyclist’s perspiration.

Related Ontology Subjects/Areas/Topics (3)

Health, Sports Performance and Support Technology

Sport Science Research and Technology

Training and Testing

A Mass-flow based MILP Formulation for the Inventory Routing with Explicit Energy Consumption

Topics: Routing; Logistics; Energy and Environment

Authors: Yun He ¹ , Cyril Briand ¹ and Nicolas Jozefowiez ²

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

Digital Object Identifier: 10.5220/0005698802420251

Proceedings of ICORES 2016, ISBN: 978-989-758-171-7

Quick Abstract

In this paper, we present a new mass-flow based Mixed Integer Linear Programming (MILP) formulation for the Inventory Routing Problem (IRP) with explicit energy consumption. The problem is based on a multi-period single-vehicle IRP with one depot and several customers. Instead of minimizing the distance or inventory cost, the problem takes energy minimization as an objective. In this formulation, flow variables describing the transported mass serve as a link between the inventory control and the energy estimation. Based on physical laws of motion, a new energy estimation model is proposed using parameters like vehicle speed, average acceleration rate and number of stops. The solution process contains two phases with different objectives: one with inventory and transportation cost minimization as in traditional IRP, the other with energy minimization. Using benchmark instances for inventory routing with parameters for energy estimation, experiments have been conducted. Finally, the results of these two solution phases are compared to analyse the influence of energy consumption to the inventory routing systems.

Related Ontology Subjects/Areas/Topics (9)

Applications	Enterprise Information Systems	Pattern Recognition
e-Business	Logistics	Routing
Energy and Environment	Operational Research	Software Engineering

Embedded Sensors System Applied to Wearable Motion Analysis in Sports

Topics: Health Monitoring Devices; Mobile and Wearable Devices

Authors: Aurélien Valade ¹ , Antony Costes ² , Anthony Bouillod ³ , Morgane Mangin ⁴ , P. Acco ¹ , Georges Soto-Romero ¹ , Jean-Yves Fourniols ¹ and Frederic Grappe ⁵

Affiliations: ¹ LAAS-CNRS, France , ² Université de Toulouse, UPS and PRiSSMH, France , ³ LAAS-CNRS, EA4660 and C3S - Université de Franche Comté, France , ⁴ Université de Franche-Comté, France , ⁵ EA4660 and C3S - Université de Franche Comté, France

Digital Object Identifier: 10.5220/0005699001700175

Proceedings of BIODEVICES 2016/BIOSTEC, ISBN: 978-989-758-170-0

Quick Abstract

This paper presents two different wearable motion capture systems for motion analysis in sports, based on inertial measurement units (IMU). One system, called centralized processing, is based on FPGA + microcontroller architecture while the other, called distributed processing, is based on multiple microcontrollers + wireless communication architecture. These architectures are designed to target multi-sports capabilities, beginning with tri-athlete equipment and thus have to be non-invasive and integrated in sportswear, be waterproofed and autonomous in energy. To characterize them, the systems are compared to lab quality references.

Related Ontology Subjects/Areas/Topics (6)

Biomedical Engineering		Devices		Human-Computer Interaction
Biomedical Instruments and Devices		Health Monitoring Devices		Physiological Computing Systems

Preliminary Study: A New Method to Assess the Effective Frontal Area of Cyclists

Topics: Simulation and Mathematical Modeling; Training and Testing; Sports Biomechanics, Gait & Posture

Authors: Anthony Bouillod ¹ , Luca Oggiano ² , Georges Soto-Romero ³ , Emmanuel Brunet ⁴ and Frederic Grappe ⁵

Affiliations: ¹ C3S Health - Sport Department, French Cycling Federation and LAAS-CNRS, France , ² Norwegian University of Science and Technology, Norway , ³ LAAS-CNRS and ISIFC - Génie Biomédical, France , ⁴ French Cycling Federation, France , ⁵ C3S Health - Sport Department and Professional Cycling Team FDJ, France

Digital Object Identifier: 10.5220/0006104400670071

Proceedings of icSPORTS 2016, ISBN: 978-989-758-205-9

Quick Abstract

The present work aimed to assess the effective frontal area (ACd, m2) of a cyclist using both 3D scanning and Computational Fluid Dynamics (CFD) simulation and compare the results with wind tunnel and field measurements. One elite cyclist was recruited to complete a 3D scanning, a wind tunnel test and a field test. The 3D scanning was analyzed using CFD simulation to determine the ACd of the cyclist. The CFD ACd was compared to those measured in both wind tunnel and field tests. The 3D scanning method provides useful data for cycling science and TT position or equipment optimization, by using iterative approach. Indeed, the ACd obtained after CFD simulation was in accordance with those obtained in both wind tunnel and field testing sessions. Resolution, scanning time and post processing are compatible with an extensive use in real conditions and with a larger number of cyclists.

Related Ontology Subjects/Areas/Topics (5)

Computer Systems in Sports		Simulation and Mathematical Modeling		Training and Testing
Health, Sports Performance and Support Technology		Sport Science Research and Technology

Quantifying Fidelity for Timed Transition Systems

Topics: Petri Nets; Real-Time Systems; Dynamical Systems Models and Methods; Verification and Validation

Authors: Sangeeth Saagar Ponnusamy ¹ , Vincent Albert ² and Patrice Thebault ³

Affiliations: ¹ Airbus Operations SAS, CNRS, LAAS and Université de Toulouse, France , ² CNRS, LAAS and Université de Toulouse, France , ³ Airbus Operations SAS, France

Digital Object Identifier: 10.5220/0006006103180326

Proceedings of SIMULTECH 2016, ISBN: 978-989-758-199-1

Quick Abstract

The paper addresses one of the fundamental questions in using simulation as a means for system verification and validation, namely, how far the simulation model represents the transition timings of the real system. A formal quantification of this difference in transition timings of a simulation model with respect to the system specification is presented based on game theoretic distance notions from literature. In this two player game, simulation model tries to mimic the system’s transitions and incurs a distance if it fails to match the timing of the transition. Fidelity of simulation model is presented through this distance notion based on the quantitative simulation relations and timed simulation game. This game between two timed transition systems is modelled in petri-net formalism and a quantitative reachability graph is generated using TINA tool embedded in ProDEVS simulation platform to explore all such player strategies. The resulting exhaustive exploration yields a global fidelity distribution of the simulation model in terms of transition timings which could be analysed in ProDEVS to gain further insight into the simulation model behaviour with respect to the system model. The approach is demonstrated on a buffer system modelling case study to validate a processor through simulation.

Related Ontology Subjects/Areas/Topics (7)

Biomedical Engineering	Formal Methods	Real-Time Systems
Biomedical Signal Processing	Petri Nets	Simulation and Modeling
Dynamical Systems Models and Methods

Validity and Reliability of the 3D Motion Analyzer in Comparison with the Vicon Device for Biomechanical Pedalling Analysis

Topics: Training and Testing; Sport Statistics and Analyses; Sports Biomechanics, Gait & Posture

Authors: Anthony Bouillod ¹ , Antony Costes ² , Georges Soto-Romero ³ , Emmanuel Brunet ⁴ and Frédéric Grappe ⁵

Affiliations: ¹ C3S Health - Sport Department, French Cycling Federation and LAAS-CNRS, France , ² UPS and PRISSMH, France , ³ LAAS-CNRS and ISIFC Génie Biomédical, France , ⁴ French Cycling Federation, France , ⁵ C3S Health - Sport Department and Professional Cycling Team FDJ, France

Digital Object Identifier: 10.5220/0006088200630066

Proceedings of icSPORTS 2016, ISBN: 978-989-758-205-9

Quick Abstract

The present work aimed to assess the validity and reliability of the 3D motion analyzer (Shimano Dynamics Lab, Sittard, Netherland) during laboratory cycling tests in comparison with the Vicon device (Vicon Motion Systems Ltd. Oxford, UK). Three cyclists were required to complete one laboratory cycling test at three different pedalling cadence and at a constant power output. Kinematic measurements were collected simultaneously from 3D motion analyzer and Vicon devices and performed five times for each pedalling cadence. The two systems showed a high reliability with excellent intraclass correlation coefficients for most kinematic variables. Moreover, this system was considered as valid by considering the error due to the initial markers placement. Experts and scientists should use the Vicon system for the purpose of research whereas the 3D motion analyzer could be used for bike fitting.

Related Ontology Subjects/Areas/Topics (5)

Computer Systems in Sports		Sport Science Research and Technology		Training and Testing
Health, Sports Performance and Support Technology		Sport Statistics and Analyses

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