Author: "Nicolas Marchand" / Topic: business - Searchworks@Jio Institute Digital Library Search Results

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1. Automatic Privacy and Utility Preservation for Mobility Data: A Nonlinear Model-Based Approach

Author: Nicolas Marchand, Antoine Boutet, Sophie Cerf, Sonia Ben Mokhtar, Vincent Primault, Lydia Y. Chen, Sara Bouchenak, Bogdan Robu, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Distribution, Recherche d'Information et Mobilité (DRIM), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-École Centrale de Lyon (ECL), Université de Lyon-Université Lumière - Lyon 2 (UL2)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Université Lumière - Lyon 2 (UL2), Privacy Models, Architectures and Tools for the Information Society (PRIVATICS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), IBM Research [Zurich], Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Inria Lyon, and Institut National de Recherche en Informatique et en Automatique (Inria)
Subjects: Information privacy, D48b Modeling and prediction, Computer science, Distributed computing, media_common.quotation_subject, Usability, 0211 other engineering and technologies, Index Terms-D46 Security and Privacy Protection, 02 engineering and technology, Configuration control, J9a Location-dependent and sensitive, D216b Configu- ration control, Adaptability, Data modeling, [INFO.INFO-IU]Computer Science [cs]/Ubiquitous Computing, [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], [INFO.INFO-CY]Computer Science [cs]/Computers and Society [cs.CY], Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Privacy protection, Electrical and Electronic Engineering, media_common, Measurement, 021110 strategic, defence & security studies, business.industry, H20a Security, Adaptation models, Computational modeling, and protec- tion, Security, integrity, business, Data privacy, Personally identifiable information, Mobile device, Protection mechanism
Abstract: International audience; The widespread use of mobile devices and location-based services has generated a large number of mobility databases. While processing these data is highly valuable, privacy issues can occur if personal information is revealed. The prior art has investigated ways to protect mobility data by providing a wide range of Location Privacy Protection Mechanisms (LPPMs). However, the privacy level of the protected data significantly varies depending on the protection mechanism used, its configuration and on the characteristics of the mobility data. Meanwhile, the protected data still needs to enable some useful processing. To tackle these issues, we present PULP, a framework that finds the suitable protection mechanism and automatically configures it for each user in order to achieve user-defined objectives in terms of both privacy and utility. PULP uses nonlinear models to capture the impact of each LPPM on data privacy and utility levels. Evaluation of our framework is carried out with two protectionmechanisms from the literature and four real-world mobility datasets. Results show the efficiency of PULP, its robustness and adaptability. Comparisons between LPPMs’ configurators and the state of the art further illustrate that PULP better realizes users’ objectives, and its computation time is in orders of magnitude faster.
Published: 2021
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2. Overview of the French Operational Network for In Situ Observation of PM Chemical Composition and Sources in Urban Environments (CARA Program)

Author: Joel Savarino, Jean-Eudes Petit, Gilles Levigoureux, Shouwen Zhang, Sabrina Pontet, Laurent Y. Alleman, Florie Chevrier, Carole Boullanger, Raphaële Falhun, Gaëlle Uzu, Jean-Luc Besombes, Nicolas Bonnaire, Samuël Weber, Deepchandra Srivastava, Abdoulaye Samaké, Dalia Salameh, Arnaud Papin, Valérie Gros, Véronique Riffault, Yunjiang Zhang, Anais Detournay, Caroline Marchand, Alexandre Albinet, Nicolas Marchand, Marta Dominik-Sègue, Céline Garbin, Mélodie Chatain, Eva Leoz-Garziandia, Véronique Ghersi, Sébastien Conil, Jérôme Rangognio, Tanguy Amodeo, Guillaume Grignion, Robin Aujay-Plouzeau, Jean-Luc Jaffrezo, Benjamin Chazeau, Olivier Favez, Institut National de l'Environnement Industriel et des Risques (INERIS), LCSQA - Laboratoire Central de Surveillance de la Qualité de l’Air, Institut des Géosciences de l’Environnement (IGE), Institut de Recherche pour le Développement (IRD)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA), Laboratoire des Sciences du Climat et de l'Environnement [Gif-sur-Yvette] (LSCE), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Chimie Atmosphérique Expérimentale (CAE), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Ecole nationale supérieure Mines-Télécom Lille Douai (IMT Lille Douai), Institut Mines-Télécom [Paris] (IMT), Centre for Energy and Environment (CERI EE - IMT Nord Europe), Ecole nationale supérieure Mines-Télécom Lille Douai (IMT Nord Europe), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Laboratoire Chimie de l'environnement (LCE), Aix Marseille Université (AMU)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS), AtmoSud, Madininair, Atmo Grand Est, Atmo Nouvelle-Aquitaine, Atmo Bourgogne Franche-Comté (ATMO BFC), Atmo Normandie, Air Breizh, Gwad'air, AIRPARIF - Surveillance de la qualité de l'air en Île-de-France, Qualitair Corse, Air Pays de la Loire, ATMO Auvergne-Rhône-Alpes (ATMO-AURA), LIG'AIR- Surveillance de la Qualité de l'Air en Région Centre, ATMO Hauts de France [Lille], Environnements, Dynamiques et Territoires de Montagne (EDYTEM), Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry])-Centre National de la Recherche Scientifique (CNRS), Observatoire Pérenne de l'Environnement, Agence Nationale pour la Gestion des Déchets Radioactifs (ANDRA), French Ministry of Environment, ADEME, CNRS, CEA, ACTRIS-France (CLAP national observation service), ANDRA, ENS Paris, CARA program (LCSQA), CPER CLIMIBIO, SOURCES project (1462C0064), DECOMBIO project (1362C0028), PM-DRIVE project (1162C0002), CAMERA project (1062c0008), INACS project (1262c0011), QAMECS project (1262c0011), ANR-11-LABX-0005,Cappa,Physiques et Chimie de l'Environnement Atmosphérique(2011), ANR-10-LABX-0056,OSUG@2020,Innovative strategies for observing and modelling natural systems(2010), European Project: 262254,EC:FP7:INFRA,FP7-INFRASTRUCTURES-2010-1,ACTRIS(2011), European Project: 654109,H2020,H2020-INFRAIA-2014-2015,ACTRIS-2(2015), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Institut national des sciences de l'Univers (INSU - CNRS)-Institut de Recherche pour le Développement (IRD)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Centre for Energy and Environment (CERI EE), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Institut de Chimie du CNRS (INC), Atmo Bourgogne Franche-Comté, Environnements, Dynamiques et Territoires de la Montagne (EDYTEM), and Centre National de la Recherche Scientifique (CNRS)-Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry])
Subjects: In situ, Atmospheric Science, source, 010504 meteorology & atmospheric sciences, [SDE.MCG]Environmental Sciences/Global Changes, Aerosol chemical composition, lcsh:QC851-999, 010501 environmental sciences, Environmental Science (miscellaneous), Mineral dust, Reference laboratory, 01 natural sciences, 7. Clean energy, apportionment, Apportionment, 11. Sustainability, Air quality index, Chemical composition, 0105 earth and related environmental sciences, [SDU.OCEAN]Sciences of the Universe [physics]/Ocean, Atmosphere, aerosol chemical composition, business.industry, Environmental resource management, Quality control, source apportionment, Particulates, atmospheric_science, Aerosol, monitoring strategies, 13. Climate action, urban air quality, Environmental chemistry, Environmental science, lcsh:Meteorology. Climatology, France, business, Quality assurance
Abstract: The CARA program has been developed since 2008 by the French reference laboratory for air quality monitoring (LCSQA) and the regional monitoring networks to gain a better knowledge at the national level on the particulate matter (PM) chemistry and its diverse origins in urban environments. It results of strong collaborations with international-level academic partners, allowing to bring state-of-the-art, straightforward and robust results and methodologies within operational air quality stakeholders (and subsequently, decision makers). Here, we illustrate some of the main outputs obtained over the last decade thanks to this program, regarding methodological aspects (both in terms of measurement techniques and data treatment procedures) as well as acquired knowledge on the predominant PM sources. Offline and online methods are used following well-suited quality assurance and quality control procedures, notably including inter-laboratory comparison exercises. Source apportionment studies are conducted using various receptor modeling approaches. Overall, the results presented herewith underline the major influences of residential wood burning (during the cold period) and road transport emissions (exhaust and non-exhaust ones, all along the year), as well as substantial contributions of mineral dust and primary biogenic particles (mostly during the warm period). Long-range transport phenomena, e.g., advection of secondary inorganic aerosols from the European continental sector and of Saharan dust into the French West Indies, are also discussed in this paper. Finally, we briefly address the use of stable isotope measurements (δ15N) and of various organic molecular markers for a better understanding of the origins of ammonium and of the different organic aerosol fractions, respectively.
Published: 2021
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3. Feedback Autonomic Provisioning for Guaranteeing Performance in MapReduce Systems

Author: Bogdan Robu, Damián Serrano, Sara Bouchenak, Nicolas Marchand, Mihaly Berekmeri, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Distribution, Recherche d'Information et Mobilité (DRIM), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-École Centrale de Lyon (ECL), Université de Lyon-Université Lumière - Lyon 2 (UL2)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Université Lumière - Lyon 2 (UL2), Grid'5000, ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), European Project: 610535,EC:FP7:ICT,FP7-ICT-2013-10,AMADEOS(2013), Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Computer Networks and Communications, business.industry, Computer science, Distributed computing, Node (networking), Big data, Feed forward, Workload, Provisioning, Cloud computing, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, Data modeling, 020901 industrial engineering & automation, Hardware and Architecture, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Benchmark (computing), 020201 artificial intelligence & image processing, business, Software, Information Systems
Abstract: International audience; Companies have a fast growing amounts of data to process and store, a data explosion is happening next to us. Currentlyone of the most common approaches to treat these vast data quantities are based on the MapReduce parallel programming paradigm.While its use is widespread in the industry, ensuring performance constraints, while at the same time minimizing costs, still providesconsiderable challenges. We propose a coarse grained control theoretical approach, based on techniques that have already provedtheir usefulness in the control community. We introduce the first algorithm to create dynamic models for Big Data MapReduce systems,running a concurrent workload. Furthermore we identify two important control use cases: relaxed performance - minimal resourceand strict performance. For the first case we develop two feedback control mechanism. A classical feedback controller and an evenbasedfeedback, that minimises the number of cluster reconfigurations as well. Moreover, to address strict performance requirements afeedforward predictive controller that efficiently suppresses the effects of large workload size variations is developed. All the controllersare validated online in a benchmark running in a real 60 node MapReduce cluster, using a data intensive Business Intelligenceworkload. Our experiments demonstrate the success of the control strategies employed in assuring service time constraints.
Published: 2018
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4. Feedback Control for Online Training of Neural Networks

Author: Nicolas Marchand, Sophie Cerf, Bogdan Robu, Zilong Zhao, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), and ANR-19-P3IA-0003,MIAI,MIAI @ Grenoble Alpes(2019)
Subjects: FOS: Computer and information sciences, Computer Science - Machine Learning, 050210 logistics & transportation, Artificial neural network, Contextual image classification, Computer science, business.industry, 05 social sciences, PID controller, Machine Learning (stat.ML), Convolutional neural network, Data modeling, Exponential function, Image (mathematics), Machine Learning (cs.LG), 03 medical and health sciences, 0302 clinical medicine, [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], Statistics - Machine Learning, Robustness (computer science), 0502 economics and business, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Artificial intelligence, business, 030217 neurology & neurosurgery
Abstract: International audience; Convolutional neural networks (CNNs) are commonly used for image classification tasks, raising the challenge of their application on data flows. During their training, adaptation is often performed by tuning the learning rate. Usual learning rate strategies are time-based i.e. monotonously decreasing. In this paper, we advocate switching to a performance-based adaptation, in order to improve the learning efficiency. We present E (Exponential)/PI (Proportional Integral)-Control, a conditional learning rate strategy that combines a feedback PI controller based on the CNN loss function, with an exponential control signal to smartly boost the learning and adapt the PI parameters. Stability proof is provided as well as an experimental evaluation using two state of the art image datasets (CIFAR-10 and Fashion-MNIST). Results show better performances than the related works (faster network accuracy growth reaching higher levels) and robustness of the E/PI-Control regarding its parametrization.
Published: 2019
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5. Characterization of Gas-Phase Organics Using Proton Transfer Reaction Time-of-Flight Mass Spectrometry: Residential Coal Combustion

Author: Jay G. Slowik, Amelie Bertrand, Simone M. Pieber, Imad El Haddad, Junji Cao, Brice Temime-Roussel, Nicolas Marchand, André S. H. Prévôt, Felix Klein, Haiyan Ni, Veronika Pospisilova, Urs Baltensperger, Ru-Jin Huang, Dogushan Kilic, Giulia Stefenelli, Laboratory of Atmospheric Chemistry [Paul Scherrer Institute] (LAC), Paul Scherrer Institute (PSI), Laboratoire Chimie de l'environnement (LCE), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Institut de Chimie du CNRS (INC), and Aix Marseille Université (AMU)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)
Subjects: China, 010504 meteorology & atmospheric sciences, Air pollution, Coal combustion products, 010501 environmental sciences, medicine.disease_cause, 7. Clean energy, 01 natural sciences, complex mixtures, Mass Spectrometry, 11. Sustainability, medicine, otorhinolaryngologic diseases, Reaction Time, Environmental Chemistry, Coal, Europe, Eastern, Chemical composition, 0105 earth and related environmental sciences, [SDU.OCEAN]Sciences of the Universe [physics]/Ocean, Atmosphere, Air Pollutants, business.industry, Anthracite, technology, industry, and agriculture, General Chemistry, Particulates, respiratory system, Aerosol, respiratory tract diseases, Europe, 13. Climate action, Environmental chemistry, Stove, Environmental science, Protons, business, [CHIM.OTHE]Chemical Sciences/Other
Abstract: International audience; Residential coal combustion is a significant contributor to particulate urban air pollution in Chinese mega cities and some regions in Europe. While the particulate emission factors and the chemical characteristics of the organic and inorganic aerosol from coal combustion is extensively studied, the chemical composition and non methane organic gas (NMOG) emission factors from residential coal combustion are mostly unknown. We conducted 23 individual burns in a traditional Chinese stove used for heating and cooking using five different coals with Chinese origins, characterizing the NMOG emissions using a proton transfer reaction time-of-fight mass spectrometer. The measured emission factors range from 1−15 g/kgcoal for bituminous coals and are below 0.1 g/kgcoal for anthracite coals. The emission factors from the bituminous coals are mostly influenced by the time until the coal is fully ignited. The emissions from the bituminous coals are dominated by aromatic and oxygenated aromatic compounds with a significant contribution of hydrocarbons. The results of this study can help to improve urban air pollution modeling in China and eastern Europe and can be used to constrain a coal burning factor in ambient gas phase positive matrix factorization studies.
Published: 2018
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6. Biomimetic-Based Output Feedback for Attitude Stabilization of Rigid Bodies: Real-Time Experimentation on a Quadrotor

Author: Hala Rifai, W. Fermin Guerrero-Sánchez, Jose Fermi Guerrero Castellanos, Samer Mohammed, Gerardo Mino-Aguilar, Rafael Cruz-José, Nicolas Marchand, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Facultad de Ciencias de la Electrónica [Puebla] ( FCE BUAP ), Benemérita Universidad Autónoma de Puebla ( BUAP ), Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Facultad de Ciencias Físico Matemáticas [Puebla] (FCFM BUAP), GIPSA-lab/MoCa, ANR-08-CORD-0007,EVA,Entomoptère Volant Autonome(2008), ANR-10-EQPX-0044,ROBOTEX,Réseau national de plateformes robotiques d'excellence(2010), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)
Subjects: Lyapunov function, 0209 industrial biotechnology, Engineering, [ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, [ INFO.INFO-NI ] Computer Science [cs]/Networking and Internet Architecture [cs.NI], lcsh:Mechanical engineering and machinery, Angular velocity, bounded control, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], symbols.namesake, 020901 industrial engineering & automation, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Exponential stability, Control theory, Robustness (computer science), Inertial measurement unit, Orientation (geometry), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], lcsh:TJ1-1570, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, [ INFO.INFO-IM ] Computer Science [cs]/Medical Imaging, output feedback, business.industry, Mechanical Engineering, 020208 electrical & electronic engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], biomimetic attitude stabilization, Control engineering, quadrotor unmanned aerial vehicles (UAVs), Control and Systems Engineering, MEMS inertial sensors, Trajectory, symbols, Flapping, flapping flyers, business
Abstract: International audience; The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information about their angular velocity and the orientation of gravity and magnetic field vectors. Therefore, the proposed feedback laws are computed using direct inertial sensors measurements, that is vector observations with/without angular velocity measurements. Hence, the attitude is not explicitly required. This biomimetic approach is very simple, requires little computational power and is suitable for embedded applications on small control units. The boundedness of the control signal is taken into consideration through the design of the control laws by saturation of the actuators' input. The asymptotic stability Micromachines 2015, 6 994 of the closed loop system is proven by Lyapunov analysis. Real-time experiments are carried out on a quadrotor using MEMS inertial sensors in order to emphasize the efficiency of this biomimetic strategy by showing the convergence of the body's states in hovering mode, as well as the robustness with respect to external disturbances.
Published: 2015
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7. Adaptive Feedforward and Feedback Control for Cloud Services

Author: Nicolas Marchand, Sophie Cerf, Ioan Doré Landau, Sara Bouchenak, Bogdan Robu, Mihaly Berekmeri, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Distribution, Recherche d'Information et Mobilité (DRIM), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-École Centrale de Lyon (ECL), Université de Lyon-Université Lumière - Lyon 2 (UL2)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Université Lumière - Lyon 2 (UL2), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), European Project: 610535,EC:FP7:ICT,FP7-ICT-2013-10,AMADEOS(2013), Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Adaptive control, control of computing systems, business.industry, Computer science, Concurrency, Distributed computing, cloud computing, Feed forward, cloud control, Service level objective, 020206 networking & telecommunications, Control engineering, Cloud computing, 02 engineering and technology, adaptive control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Control and Systems Engineering, Robustness (computer science), PI and feedforward control, 020204 information systems, Cloud testing, 0202 electrical engineering, electronic engineering, information engineering, MapReduce, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], business
Abstract: International audience; The use of cloud services is becoming increasingly common. As the cost of these services is continuously decreasing, service performance is becoming a key differentiator between providers. Solutions that aim to guarantee Service Level Objectives (SLO) in term of performance by controlling cluster size are already used by cloud providers. However most of these control solutions are based on static if-then rules, they are therefore inefficient in handling the highly varying service dynamics of cloud environments. Client concurrency, network bottlenecks or non homogeneity of resources are just a few of the many causes that make the behavior of cloud services highly non linear and time varying. In this paper a novel control theoretical approach is presented that is robust to these phenomena. It consists of PI and feedforward controller adapted online. A stability analysis of the adaptive control configuration is provided. Simulations using a cloud service model taken from the literature illustrate the performance of the system under various conditions. The use of adaptation significantly improves control efficiency and robustness with respect to variations in the dynamic of the plant.
Published: 2017
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8. Real-time event-based formation control of a group of VTOL-UAVs

Author: Gerardo Mino-Aguilar, Nicolas Marchand, José Fermi Guerrero-Castellanos, A. Vega-Alonzo, S. Durand, Jesus Linares-Flores, Benemérita Universidad Autónoma de Puebla (BUAP), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Event (computing), 020208 electrical & electronic engineering, Control (management), ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Electronic mail, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, 020901 industrial engineering & automation, Position (vector), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, State (computer science), business, Quaternion
Abstract: International audience; This paper presents the development of a collaborative event-based control applied to the problem of formation of a group of VTOL-UAVs (Vertical Takeoff and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbours. The asymptotic convergence to average consensus or desired formation is depicted via a real-time implementation.
Published: 2017
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9. Feedback Control as MAPE-K Loop in Autonomic Computing

Author: Nicolas Marchand, Eric Rutten, Daniel Simon, Control for Autonomic computing systems (CTRL-A), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), CNRS PEPS Rupture API: https://team.inria.fr/ctrl-a/members/eric-rutten/peps-api, ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM)
Subjects: Structure (mathematical logic), 0209 industrial biotechnology, Computer science, business.industry, Autonomic managers, administration loops, 020207 software engineering, Control engineering, [INFO.INFO-SE]Computer Science [cs]/Software Engineering [cs.SE], 02 engineering and technology, Feedback loop, control theory, Field (computer science), Autonomic computing, Loop (topology), 020901 industrial engineering & automation, Software, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Control system, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], business
Abstract: International audience; Computing systems are becoming more and more dynamically recon-figurable or adaptive, to be flexible w.r.t. their environment and to automate their administration. Autonomic computing proposes a general structure of feedback loop to take this into account. In this paper, we are particularly interested in approaches where this feedback loop is considered as a case of control loop where techniques stemming from Control Theory can be used to design efficient safe, and predictable controllers. This approach is emerging, with separate and dispersed effort, in different areas of the field of reconfigurable or adaptive computing , at software or architecture level. This paper surveys these approaches from the point of view of control theory techniques, continuous and discrete (super-visory), in their application to the feedback control of computing systems, and proposes detailed interpretations of feedback control loops as MAPE-K loop, illustrated with case studies.
Published: 2017
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10. Gasoline cars produce more carbonaceous particulate matter than modern filter-equipped diesel cars

Author: Covadonga Astorga, Nicolas Marchand, Ru-Jin Huang, Jay G. Slowik, Simone M. Pieber, Allen L. Robinson, André S. H. Prévôt, Jose L. Jimenez, I. El Haddad, S. Hellebust, Ricardo Suarez-Bertoa, Kaspar R. Daellenbach, Michael Clairotte, A. A. Zardini, Stephen Matthew Platt, J. A. de Gouw, Brice Temime-Roussel, Patrick L. Hayes, Urs Baltensperger, Paul Scherrer Institute (PSI), Institute for Atmospheric and Climate Science [Zürich] (IAC), Eidgenössische Technische Hochschule - Swiss Federal Institute of Technology [Zürich] (ETH Zürich), European Commission - Joint Research Centre [Ispra] (JRC), Institute of Earth Environment [Xi’an], Chinese Academy of Sciences [Xi’an], Laboratoire Chimie de l'environnement (LCE), Aix Marseille Université (AMU)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS), NOAA Earth System Research Laboratory (ESRL), National Oceanic and Atmospheric Administration (NOAA), Department of Chemistry and Biochemistry [Boulder], University of Colorado [Boulder], Université de Montréal (UdeM), Center for Atmospheric Particle Studies [Pittsburgh] (CAPS), Carnegie Mellon University [Pittsburgh] (CMU), Laboratory of Atmospheric Chemistry [Paul Scherrer Institute] (LAC), JRC Institute for Energy and Transport (IET), European Commission - Joint Research Centre [Petten], This work was supported by the Swiss Federal Office for the Environment (FOEN), the Federal Roads Office (FEDRO), the Swiss National Science Foundation (SNSF) for SAPMAV (No. 200021 13016), WOOSHI (No. 140590), and Ambizione (PZ00P2_131673), and The French Environment and Energy Management Agency (ADEME, Grant numbers 1162C0002 and 1262C0017). The instrumental platform MASSALYA from the Aix-Marseille Université is acknowledged for PTR-ToF-MS measurements. The VELA staff is acknowledged for its skilful technical assistance, in particular Franz Muehlberger, Urbano Manfredi, Mauro Cadario and Philippe Le Lijours. JLJ was supported by CARB 11-305 and EPA STAR 83587701-0., and Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Institut de Chimie du CNRS (INC)
Subjects: 010504 meteorology & atmospheric sciences, Science, [SDE.MCG]Environmental Sciences/Global Changes, Fraction (chemistry), 010501 environmental sciences, 7. Clean energy, 01 natural sciences, Diesel fuel, Gasoline, NOx, 0105 earth and related environmental sciences, Pollutant, [SDU.OCEAN]Sciences of the Universe [physics]/Ocean, Atmosphere, Multidisciplinary, Diesel particulate filter, Waste management, business.industry, Fossil fuel, Particulates, 13. Climate action, Environmental science, Medicine, business, [CHIM.OTHE]Chemical Sciences/Other
Abstract: Carbonaceous particulate matter (PM), comprising black carbon (BC), primary organic aerosol (POA) and secondary organic aerosol (SOA, from atmospheric aging of precursors), is a highly toxic vehicle exhaust component. Therefore, understanding vehicle pollution requires knowledge of both primary emissions, and how these emissions age in the atmosphere. We provide a systematic examination of carbonaceous PM emissions and parameterisation of SOA formation from modern diesel and gasoline cars at different temperatures (22, −7 °C) during controlled laboratory experiments. Carbonaceous PM emission and SOA formation is markedly higher from gasoline than diesel particle filter (DPF) and catalyst-equipped diesel cars, more so at −7 °C, contrasting with nitrogen oxides (NOX). Higher SOA formation from gasoline cars and primary emission reductions for diesels implies gasoline cars will increasingly dominate vehicular total carbonaceous PM, though older non-DPF-equipped diesels will continue to dominate the primary fraction for some time. Supported by state-of-the-art source apportionment of ambient fossil fuel derived PM, our results show that whether gasoline or diesel cars are more polluting depends on the pollutant in question, i.e. that diesel cars are not necessarily worse polluters than gasoline cars.
Published: 2017
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11. Nonlinear Control Algorithms with Integral Action**The results in this chapter were developed in collaboration with A.G. Alatorre and S. Mondié from CINVESTAV-IPN, Mexico, and with J. Colmenares and N. Marchand from GIPSA Lab, France

Author: Angel-Gabriel Alatorre, Jose Colmenares-Vazquez, Pedro Castillo Garcia, Sabine Mondié, and Nicolas Marchand
Subjects: Lyapunov stability, Scheme (programming language), Quadcopter, Engineering, business.industry, Control (management), Nonlinear control, Nonlinear system, Position (vector), business, Constant (mathematics), computer, Algorithm, computer.programming_language
Abstract: Popular nonlinear controllers are composed of proportional and derivative terms (or their combination). Sometimes when the system is constantly disturbed, the controllers are not capable of achieving the desired position. The integral part in a control scheme is often used to reduce this behavior even in the presence of uncertainties or perturbations; furthermore, when the disturbance is constant, the steady state error converges to zero. In this chapter classical controllers used in the aerial vehicles community are developed with an integral part to stabilize a VTOL (Vertical Take-Off and Landing) aircraft. The proposed algorithms are validated in simulations and real flight missions using a quadcopter test-bed. The main results, presented in several graphs, illustrate good performance of the closed-loop system.
Published: 2017
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12. Cost function based event triggered Model Predictive Controllers application to Big Data Cloud services

Author: Sara Bouchenak, Nicolas Marchand, Mihaly Berekmeri, Bogdan Robu, Sophie Cerf, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Distribution, Recherche d'Information et Mobilité (DRIM), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), European Project: 610535,EC:FP7:ICT,FP7-ICT-2013-10,AMADEOS(2013), Marchand, Nicolas, Laboratoires d'excellence - Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique - - PERSYVAL-lab2011 - ANR-11-LABX-0025 - LABX - VALID, Architecture for Multi-criticality Agile Dependable Evolutionary Open System-of-Systems - AMADEOS - - EC:FP7:ICT2013-10-01 - 2016-09-30 - 610535 - VALID, Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-École Centrale de Lyon (ECL), Université de Lyon-Université Lumière - Lyon 2 (UL2)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), and Université de Lyon-Université Lumière - Lyon 2 (UL2)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Event (computing), Real-time computing, Big data, Control (management), Workload, Cloud computing, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, 020201 artificial intelligence & image processing, State (computer science), business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; High rate cluster reconfigurations is a costly issue in Big Data Cloud services. Current control solutions manage to scale the cluster according to the workload, however they do not try to minimize the number of system reconfigurations. Event-based control is known to reduce the number of control updates typically by waiting for the system states to degrade below a given threshold before reacting. However, computer science systems often have exogenous inputs (such as clients connections) with delayed impacts that can enable to anticipate states degradation. In this paper, a novel event-triggered approach is proposed. This triggering mechanism relies on a Model Predictive Controller and is defined upon the value of the optimal cost function instead of the state or output error. This controller reduces the number of control changes, in the normal operation mode, through constraints in the MPC formulation but also assures a very reactive behavior to changes of exogenous inputs. This novel control approach is evaluated using a model validated on a real Big Data system. The controller efficiently scales the cluster according to specifications, meanwhile reducing its reconfigurations.
Published: 2016
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13. Event-based control strategy for consensus of a group of VTOL-UAVs

Author: Gerardo Mino-Aguilar, S. Durand, S. E. Maya-Rueda, A. Vega-Alonzo, José Fermi Guerrero-Castellanos, Nicolas Marchand, Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie (ICube), Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)-École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Réseau nanophotonique et optique, Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Matériaux et nanosciences d'Alsace (FMNGE), Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Strasbourg (UNISTRA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), École Nationale du Génie de l'Eau et de l'Environnement de Strasbourg (ENGEES)-Université de Strasbourg (UNISTRA)-Institut National des Sciences Appliquées - Strasbourg (INSA Strasbourg), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Les Hôpitaux Universitaires de Strasbourg (HUS)-Centre National de la Recherche Scientifique (CNRS)-Matériaux et Nanosciences Grand-Est (MNGE), Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Réseau nanophotonique et optique, and Université de Strasbourg (UNISTRA)-Université de Haute-Alsace (UHA) Mulhouse - Colmar (Université de Haute-Alsace (UHA))-Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Event (computing), 020208 electrical & electronic engineering, 02 engineering and technology, Electronic mail, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Multiagent Systems, Computer Science::Robotics, Vehicle dynamics, Attitude control, 020901 industrial engineering & automation, Computer Science::Systems and Control, Position (vector), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Convergence (routing), 0202 electrical engineering, electronic engineering, information engineering, State (computer science), Quaternion, business
Abstract: International audience; This paper presents the development of a collaborative event-based control applied to the problem of consensus and formation of a group of VTOL-UAVs (Vertical Takeoff and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbors. The asymptotic convergence to average consensus or desired formation is depicted via numerical simulations.
Published: 2016
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14. A Novel Hyperacute Gimbal Eye to Implement Precise Hovering and Target Tracking on a Quadrotor

Author: Stéphane Viollet, Nicolas Marchand, Julien Diperi, Marc Boyron, Augustin Manecy, ONERA - The French Aerospace Lab [Toulouse], ONERA, Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Okamura, A and Menciassi, K and Yokoi, K and Martinet, P and Oh, P and Valdastri, P and Krovi, A and Ude, A and Burschka, D and Lee, D and Arrichiello, F and Liu, H and Moon, H and Neira, J and Sycara, Viollet, Stéphane, Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Pixel, [SDV.NEU.PC]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Psychology and behavior, Orientation (computer vision), business.industry, Track (disk drive), 010401 analytical chemistry, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [SDV.NEU.PC] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Psychology and behavior, 02 engineering and technology, Gimbal, Tracking (particle physics), 01 natural sciences, 0104 chemical sciences, Refresh rate, Visual processing, 020901 industrial engineering & automation, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Artificial intelligence, business
Abstract: IEEE International Conference on Robotics and Automation (ICRA), Royal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN, MAY 16-21, 2016; International audience; This paper presents a new minimalist bio-inspired artificial eye of only 24 pixels, able to locate accurately a target placed in its small field of view (+/- 10 degrees). The eye is mounted on a very light custom-made gimbal system which makes the eye able to track faithfully a moving target. We have shown, that our gimbal eye can be embedded on a small quadrotor to achieve accurate hovering with respect to a target placed onto the ground. Our aiborne eye was enhanced with a bio-inspired reflex in charge of locking efficiently the robot's gaze onto a target and compensate for the robot's rotations and disturbances. The use of very few pixels allowed to implement a visual processing algorithm at a refresh rate of 400 Hz. This high refresh rate coupled to a very fast control of the eye's orientation allowed the robot to track a target moving at a speed up to 200 degrees.s(-1).
Published: 2016

15. Managing Dynamicity in SoS

Author: Andrea Ceccarelli, Sara Bouchenak, Bogdan Robu, Sorin M. Iacob, Nicolas Marchand, Francesco Brancati, Patrick de Oude, Distribution, Recherche d'Information et Mobilité (DRIM), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-École Centrale de Lyon (ECL), Université de Lyon-Université Lumière - Lyon 2 (UL2)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Université Lumière - Lyon 2 (UL2), Department of Mathematics and Informatics, Università degli Studi di Firenze = University of Florence [Firenze] (UNIFI), Thales (Netherlands), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), European Project: 610535,EC:FP7:ICT,FP7-ICT-2013-10,AMADEOS(2013), Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), and Università degli Studi di Firenze = University of Florence (UniFI)
Subjects: 020301 aerospace & aeronautics, Engineering, business.industry, Feedback control, Control reconfiguration, 02 engineering and technology, Reliability engineering, 0203 mechanical engineering, 020204 information systems, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Dependability, Artificial intelligence, business, Adaptation (computer science), Implementation, Reliability (statistics)
Abstract: International audience; SoS dynamicity refers to short-term changes in an SoS, which occur in response to changing environmental or operational parameters of the CSs. These changes may have different effects, such as SoS adaptation or the generation of emergent phenomena. This chapter starts by recalling the MAPE approach in Sect. 2 before to introduce existing monitoring approaches in Sect. 3. Finally, Sect. 4 overviews existing reconfiguration techniques for SoS dynamicity management, related to Analyzis, Planning and Execution phases and illustrates through an examples the possible implementations of dynamicity management with modelling and feedback control techniques.
Published: 2016
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16. Toward an Easy Configuration of Location Privacy Protection Mechanisms

Author: Antoine Boutet, Vincent Primault, Nicolas Marchand, Sophie Cerf, Sara Bouchenak, Bogdan Robu, Sonia Ben Mokhtar, CERF, Sophie, Laboratoires d'excellence - Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique - - PERSYVAL-lab2011 - ANR-11-LABX-0025 - LABX - VALID, Architecture for Multi-criticality Agile Dependable Evolutionary Open System-of-Systems - AMADEOS - - EC:FP7:ICT2013-10-01 - 2016-09-30 - 610535 - VALID, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Distribution, Recherche d'Information et Mobilité (DRIM), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA), ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), European Project: 610535,EC:FP7:ICT,FP7-ICT-2013-10,AMADEOS(2013), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-École Centrale de Lyon (ECL), Université de Lyon-Université Lumière - Lyon 2 (UL2)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), and Université de Lyon-Université Lumière - Lyon 2 (UL2)
Subjects: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], Privacy by Design, business.industry, Privacy software, Computer science, Privacy protection, Context (language use), 02 engineering and technology, Modular design, Computer security, computer.software_genre, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, 020204 information systems, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-DC] Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], 020201 artificial intelligence & image processing, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], business, computer
Abstract: Communication orale sur poster; International audience; The widespread adoption of Location-Based Services (LBSs) has come with controversy about privacy. While leverag-ing location information leads to improving services through geo-contextualization, it rises privacy concerns as new knowledge can be inferred from location records, such as home/work places, habits or religious beliefs. To overcome this problem, several Location Privacy Protection Mechanisms (LPPMs) have been proposed in the literature these last years. However , every mechanism comes with its own configuration parameters that directly impact the privacy guarantees and the resulting utility of protected data. In this context, it can be difficult for a non-expert system designer to choose appropriate configuration parameters to use according to the expected privacy and utility. In this paper, we present a framework enabling the easy configuration of LPPMs. To achieve that, our framework performs an offline, in-depth automated analysis of LPPMs to provide the formal relationship between their configuration parameters and both privacy and the utility metrics. This framework is modular: by using different metrics, a system designer is able to fine-tune her LPPM according to her expected privacy and utility guarantees (i.e., the guarantee itself and the level of this guarantee). To illustrate the capability of our framework, we analyse Geo-Indistinguishability (a well known differentially private LPPM) and we provide the formal relationship between its configuration parameter and two privacy and utility metrics.
Published: 2016

17. Experience with CONSER: A System for Server Control through Fluid Modeling

Author: Sara Bouchenak, Luc Malrait, Nicolas Marchand, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique de Grenoble (LIG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), System architecture for reflective distributed computing environments (SARDES), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), Université Joseph Fourier - Grenoble 1 (UJF), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), and Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Service (systems architecture), Computer science, Performance, Distributed computing, QoS, 02 engineering and technology, Server systems, Electronic mail, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Theoretical Computer Science, [INFO.INFO-IU]Computer Science [cs]/Ubiquitous Computing, Concurrency control, 020901 industrial engineering & automation, File server, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Server, Control, 0202 electrical engineering, electronic engineering, information engineering, Throughput (business), business.industry, Quality of service, Modeling, Availability, 020206 networking & telecommunications, Computational Theory and Mathematics, Hardware and Architecture, Benchmark (computing), SLA, business, Software, Computer network
Abstract: International audience; Server technology provides a means to support a wide range of online services and applications. However, their ad-hoc configuration poses significant challenges to the performance, availability and economical costs of applications. In this paper, we examine the impact of server configuration on the central tradeoff between service performance and availability. First, we present a server model as a nonlinear continuous-time model using fluid approximations. Second, we develop concurrency control on server systems for an optimal configuration. We primarily provide two control laws for two different QoS objectives. AM-C is an availability-maximizing server control that achieves the highest service availability given a fixed performance constraint; and PM-C is a performance-maximizing control law that meets a desired availability target with the highest performance. We then improve the control with two additional multi-level laws. AA-PM-C is an availability-aware performance maximizing control, and PA-AM-C is a performance-aware availability maximizing control. In this paper, we present CONSER, a novel system for the control of servers. We evaluate CONSER's fluid model and control techniques on the TPC-C industry-standard benchmark. Our experiments show that the proposed techniques sucessfully guarantee performance and availability constraints.
Published: 2011
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18. A prediction-based nonlinear controller for stabilization of a non-minimum phase PVTOL aircraft

Author: Nicolas Marchand, Ahmed Chemori, Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Drone, Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Grenoble Images Parole Signal Automatique (GIPSA-lab), and Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Joseph Fourier - Grenoble 1 (UJF)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Mechanical Engineering, General Chemical Engineering, Biomedical Engineering, Phase (waves), Aerospace Engineering, 02 engineering and technology, Degrees of freedom (mechanics), 01 natural sciences, Stability (probability), Industrial and Manufacturing Engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, 020901 industrial engineering & automation, Planar, Control and Systems Engineering, Control theory, Robustness (computer science), 0103 physical sciences, Minimum phase, Electrical and Electronic Engineering, business, 010301 acoustics
Abstract: In this paper, a nonlinear prediction-based control approach is proposed for stabilization of planar vertical take-off and landing (PVTOL) aircraft. This system has fewer control inputs than degrees of freedom (i.e. under-actuated) and has unstable zero dynamics (i.e. non-minimum phase). The proposed control approach is based on partial feedback linearization, which allows the emergence of a completely linearized sub-state and internal dynamics. Then, optimal trajectories are proposed for the linearized variables, where the optimization objective is to enhance the behaviour and the stability of the internal dynamics. Stability analysis of the closed-loop system is performed using a graphical tool based on Poincare's section. The performance of the proposed scheme is illustrated through simulations. Copyright © 2007 John Wiley & Sons, Ltd.
Published: 2008
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19. Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins

Author: Mathieu Porez, Frédéric Boyer, M. El Rafei, Nicolas Marchand, Mazen Alamir, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and ANR-RAAMO, ROBEA-CNRS
Subjects: 0209 industrial biotechnology, Engineering, Eel Robot, 010505 oceanography, business.industry, Work (physics), Context (language use), 02 engineering and technology, Tracking (particle physics), Motion control, 01 natural sciences, Rolling angle, 020901 industrial engineering & automation, Position (vector), Control theory, 3D Control, Robot, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, 0105 earth and related environmental sciences
Abstract: International audience; In this paper, recent advances in the design of feedback laws for the 3D movement of an Eel-like robot are presented. Such a robot is under construction in the context of a national French robotic project. The proposed feedback enables the tracking of a desired 3D position of the Eel head as well as the stabilization of the rolling angle without using pectoral fins. We build on a previous work in which we proposed a complete control scheme for robot's 3D movement using its pectoral fins. The controller is tested on a recently developed complete 3D model in order to assess its efficiency in tackling 3D manoeuvres.
Published: 2008
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20. Velocity control of mini-UAV using a helmet system

Author: J. U. Alvarez-Munoz, J. E. Gomez-Balderas, J.J. Tellez-Guzman, Nicolas Marchand, J. Colmenares Vazquez, Pedro Castillo, and Jonathan Dumon
Subjects: 0209 industrial biotechnology, Engineering, Control algorithm, business.industry, 05 social sciences, Control (management), ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Aerodynamics, ComputingMethodologies_ARTIFICIALINTELLIGENCE, Motion (physics), 020901 industrial engineering & automation, Operator (computer programming), Control theory, Torque, 0501 psychology and cognitive sciences, business, 050107 human factors, Simulation
Abstract: The usage of a helmet to command a mini-unmanned aerial vehicle (mini-UAV), is a telepresence system that connects the operator to the vehicle. This paper proposes a system which remotely allows the connection of a pilot's head motion and the 3D movements of a mini-UAVs. Two velocity control algorithms have been tested in order to manipulate the system. Results demonstrate that these movements can be used as reference inputs of the controller of the mini-UAV.
Published: 2015
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21. Nonlinear control of a nano-hexacopter carrying a manipulator arm

Author: S. Durand, G. Hasan, J. Colmenares-Vazquez, Nicolas Marchand, Jose-Fermi Guerrero-Castellanos, A. E. Lopez-Luna, Jonathan Dumon, J.J. Tellez-Guzman, J. U. Alvarez-Munoz, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), GIPSA-Services (GIPSA-Services), CONACYT-Mexico, Univ. J. Fourier, ANR-10-EQPX-0044,ROBOTEX,Réseau national de plateformes robotiques d'excellence(2010), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Marchand, Nicolas, and Réseau national de plateformes robotiques d'excellence - - ROBOTEX2010 - ANR-10-EQPX-0044 - EQPX - VALID
Subjects: 020301 aerospace & aeronautics, 0209 industrial biotechnology, Engineering, business.industry, Control engineering, 02 engineering and technology, Nonlinear control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, Nonlinear system, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0203 mechanical engineering, Position (vector), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Torque, Quaternion, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Robotic arm
Abstract: International audience; This paper proposes a simple solution for stabilization of a nano-hexacopter carrying a manipulator arm in order to increase the type of missions achievable by these types of systems. The manipulator arm is attached to the lower part of the hexacopter. The motion of the arm induces a change of the center of mass of the whole body, which induces torques which can produce the loss of stability. The present work deals with the stabilization of the whole system-that is hexacopter and arm-by means of a set of nonlinear control laws. First, an attitude control, stabilizes the hexacopter to a desired attitude taking into account the movement of the arm. Then, a suitable virtual control and the translational dynamics allow the formulation of a nonlinear controller, which drives the aerial vehicle to a desired position. Both controls consist in saturation functions. Experimental results validate the proposed control strategy and compares the results when the motion of the arm is taken into account or not.
Published: 2015

22. Attitude control of a gyroscope actuator using event-based discrete-time approach

Author: Nicolas Marchand, Thibaut Raharijaona, S. Durand, J.J. Martinez-Molina, B. Boisseau, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Lyapunov function, 0209 industrial biotechnology, Engineering, discrete-time, event-based control, business.industry, Gyroscope, 02 engineering and technology, Linear-quadratic regulator, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, symbols.namesake, 020901 industrial engineering & automation, Discrete time and continuous time, law, Control theory, 0202 electrical engineering, electronic engineering, information engineering, symbols, Torque, 020201 artificial intelligence & image processing, Event-triggered control, Actuator, business
Abstract: International audience; In this paper, a discrete state feedback Linear Quadratic Regulator (LQR) for event-triggered control is presented. To ensure zero steady state error in the case of such controllers, one normally extends the states with an integral action. Instead of using integral action, the idea is to estimate the disturbance causing the steady state error and use this to extend the states. A Lyapunov-based event triggering function is proposed. Practical results using a gyroscope actuator are presented and compared to a classical time-triggered controller. The obtained results demonstrate the simplicity and efficiency of the proposed approach.
Published: 2015
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23. Integral backstepping control for trajectory tracking of a hybrid vehicle

Author: Nicolas Marchand, J. E. Gomez-Balderas, Pedro Castillo, J. Colmenares-Vazquez, J. U. Alvarez-Munoz, J. J. Tellez-Guzman, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS), GIPSA - Architecture, Géométrie, Perception, Images, Gestes (GIPSA-AGPIG), Département Images et Signal (GIPSA-DIS), CONACYT, and ANR-10-EQPX-0044,ROBOTEX,Réseau national de plateformes robotiques d'excellence(2010)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, 010401 analytical chemistry, Angular velocity, Control engineering, 02 engineering and technology, Tracking (particle physics), 01 natural sciences, 0104 chemical sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Position (vector), Control theory, Backstepping, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Trajectory, Hybrid vehicle, business, Position control
Abstract: International audience; This article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral back-stepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying the techniques aforementioned. I. SYSTEM DESCRIPTION In this work control laws are developed for trajectory tracking of a hybrid terrestrial aerial vehicle. These kinds of vehicles have the advantage to be used as a flying vehicle or as a cart depending on the situation. Some situations may be when the vehicle find an obstacle and it has to take the more convenient mode of operation to overcome or to avoid the obstacle. Controlling these hybrid vehicles becomes a challenge. It is necessary to design and implement control laws for the trajectory following in the air and over the floor. The control strategy has to generate a smooth transition when the drone is passing from air to floor or vice versa. There are several works dedicated to path following with hexarotors and also for carts, see for example [1]–[3]. This work considers a particular hybrid vehicle : a mini-UAV that is converted in a cart by attaching to it two wheels without any additional motors as in Fig. 1. The orientation and position of the cart will be controlled by the yaw and pitch angles and by the thrust generated by its helices. Among its characteristics, the thrust direction can be inversed as a result of the pitch angle variation. Therefore, the cart-drone can move forward or backward depending on the sign of pitch angle. This hybrid vehicle in terrestrial mode can turn around z axis. It is also a nonholonomic system because it is not capable to move on the wheels axis direction in terrestrial mode. For more references in cart control refer to [4]–[6].
Published: 2015
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24. Event-triggered attitude control for flying robots using an event approach based on the control

Author: J.J. Tellez-Guzman, A. Vega-Alonzo, José Fermi Guerrero-Castellanos, S. Durand, Nicolas Marchand, Marchand, Nicolas, Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Event (relativity), 020208 electrical & electronic engineering, Control engineering, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Exponential stability, Control theory, Control system, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Robot, Quaternion, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Control-Lyapunov function
Abstract: International audience; This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter. The experiments show that the event driven controller reduces the control update without deteriorating the closed-loop system performance.
Published: 2015

25. X4-MaG: a low-cost open-source micro-quadrotor and its Linux-based controller

Author: Augustin Manecy, Franck Ruffier, Nicolas Marchand, Stéphane Viollet, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), ANR-10-EQPX-0044,ROBOTEX,Réseau national de plateformes robotiques d'excellence(2010), ANR-08-CORD-0007,EVA,Entomoptère Volant Autonome(2008), ANR-12-INSE-0009,IRIS,Rétine intelligente intégrant des traitements innovants.(2012), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Aerospace Engineering, PID controller, Control engineering, 02 engineering and technology, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Software, Control theory, law, Arduino, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Autopilot, 0202 electrical engineering, electronic engineering, information engineering, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Quaternion, MATLAB, business, computer, computer.programming_language
Abstract: International audience; The brand new open-source quadrotor platform called X4-Mag presented here was developed for academic and research applications. X4-MaG is a small, low-cost open quadrotor weighing only 307-grammes. This quadrotor offers two levels of controllers providing a manual mode and an automatic mode thanks to powerful Linux-based computational resources embedded onboard. The experiments presented here show the reliability of the open hardware and software embedded onboard the X4-MaG quadrotor, which is very easy to use. To estimate the robot's attitude, we developed a quaternion-based complementary filter requiring very few computational resources, which have been implemented on an 8-bit Arduino board. We have also established that the stabilization feedback system based on quaternions tracks the attitude setpoints with accuracy up to twice greater than a classical cascaded PI controller. The controllers and estimators were designed in the Matlab/Simulink environment and directly implemented onboard the tiny Linux-based autopilot board using a custom made toolbox (RT-MaG toolbox).The autopilot was tested in the brand-new Marseilles' Flying Arena with various 3-D flight trajectories and found to be highly reliable and accurate with errors of only 0.7cm in hover and less than 3.2cm at 1.2$m.s{-1}$). The X4-MaG quadrotor was able to reach speeds greater than 2 $m.s^{-1}$ and reject attitude disturbances as large as 20° within 0.8s.
Published: 2015
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26. RT-MaG: An open-source SIMULINK toolbox for Linux-based real-time robotic applications

Author: Stéphane Viollet, Augustin Manecy, Nicolas Marchand, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), and Viollet, Stéphane
Subjects: [SDV.NEU.PC]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Psychology and behavior, business.industry, Computer science, media_common.quotation_subject, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [SDV.NEU.PC] Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Psychology and behavior, Serial port, Robotics, Network interface, Toolbox, Debugging, Asynchronous communication, Control system, Embedded system, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Artificial intelligence, business, MATLAB, computer, Computer hardware, computer.programming_language, media_common
Abstract: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali, INDONESIA, DEC 05-10, 2014; International audience; The new open-source Matlab/Simulink toolbox called RT-MaG presented here generates reliable standalone robotic applications running on real-time embedded Linux targets such as tiny Computers On Module (e.g., Gumstix boards). This toolbox gives direct access from Simulink to the main communication drivers classically used in robotics: network interfaces (via UDP), asynchronous and synchronous serial port interfaces (RS232, SPI), Pulse-width-modulation (PWM), general purpose input-output (GPIO) and analog-to-digital converters (ADCs). A Simulink model is automatically converted into a standalone multi-task program, which guarantees a repeatable execution time within each sampling time. The toolbox includes efficient debug modes which detect problems such as unsuitable configurations and hardware failure. The main features of the toolbox and its structure are described here. We also discuss the real-time performances and I/Os delays and show that a control loop can be implemented at frequencies of up to 1kHz. The tests performed show that RT-MaG can be used to efficiently implement all the control laws involved in stabilizing a quadrotor.
Published: 2014
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27. Event-based speed control on a sensor-less miniature thruster

Author: Thibaut Raharijaona, B. Boisseau, Nicolas Marchand, John-Jairo Martinez-Molina, Franck Ruffier, Lorris Dola, Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Peps SpikeRob, Marchand, Nicolas, and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Electronic speed control, business.industry, Event (computing), Event based, 010401 analytical chemistry, Angular velocity, 02 engineering and technology, 01 natural sciences, 0104 chemical sciences, Power (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Reduction (complexity), 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control theory, Control system, Equidistant, business, Simulation, Event-based control
Abstract: International audience; The main contribution of this paper is the experimental evaluation of the performance of different event-based control strategies in the case of a sensor-less miniature thruster. While most control engineering applications considers periodic control with equidistant sample intervals, the event-based approach updates the control signal only when required. The performances in terms of thruster power consumption and control update number are evaluated by comparing the event- based control system with respect to the time-based loop for the angular speed regulation of a sensor-less miniature thruster. The experimental results clearly show an important reduction of the control updates while the power consumptions are similar.
Published: 2014

28. Event-Based Control for Embedded and Networked System: Application to a Mini Quadrotor Helicopter using Motion Capture

Author: Jonathan Dumon, Nicolas Marchand, Sylvain Durand, Fermi Guerrero Castellanos, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA-Services (GIPSA-Services), Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), and Durand, Sylvain
Subjects: Engineering, business.industry, Event (computing), Control (management), Control engineering, Networked control system, Motion capture, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Reduction (complexity), [SPI.AUTO] Engineering Sciences [physics]/Automatic, Sampling (signal processing), Control theory, Position (vector), business
Abstract: International audience; Although periodicity simplifies design and analysis in control theory, it is no more adapted for embedded and networked cyber-physical systems because it results in a conservative usage of resources. Indeed, the control signal is computed and updated at the same rate regardless whether is really required or not, and is periodically sent on the communication link. On the other hand, event-driven sampling calls for resources whenever they are indeed necessary. An event-based controller is proposed in this paper as a solution to reduce the updates from the controller to the plant. An event-based corrector is also added to reduce the communications from the plant to the controller. The approach is tested for controlling the position of a real-time mini quadrotor helicopter using a motion capture system with deported controller. A reduction of the computing/communication resources utilization is highly demonstrated for similar final performance.
Published: 2014

29. Hovering by Gazing: A Novel Strategy for Implementing Saccadic Flight-Based Navigation in GPS-Denied Environments

Author: Nicolas Marchand, Stéphane Viollet, Augustin Manecy, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Biorobotique (BIOROB), Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS), ANR-08-CORD-0007,EVA,Entomoptère Volant Autonome(2008), and Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)
Subjects: business.industry, Computer science, lcsh:Electronics, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Eye movement, lcsh:TK7800-8360, Accelerometer, Gaze, Saccadic masking, lcsh:QA75.5-76.95, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Artificial Intelligence, Global Positioning System, Robot, Computer vision, Artificial intelligence, lcsh:Electronic computers. Computer science, business, Software, Simulation
Abstract: International audience; Hovering flies are able to stay still in place when hovering above flowers and burst into movement towards a new object of interest (a target). This suggests that sensorimotor control loops implemented onboard could be usefully mimicked for controlling Unmanned Aerial Vehicles (UAVs). In this study, the fundamental head-body movements occurring in free-flying insects was simulated in a sighted twin-engine robot with a mechanical decoupling inserted between its eye (or gaze) and its body. The robot based on this gaze control system achieved robust and accurate hovering performances, without an accelerometer, over a ground target despite a narrow eye field of view (±5 ). The gaze stabilization strategy validated under Processor-In-the-Loop (PIL) and inspired by three biological Oculomotor Reflexes (Ors) enables the aerial robot to lock its gaze onto a fixed target regardless of its roll angle. In addition, the gaze control mechanism allows the robot to perform short range target to target navigation by triggering an automatic fast "target jump" behaviour based on a saccadic eye movement.
Published: 2014
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30. Attitude Stabilization of a Quadrotor by Means of Event-Triggered Nonlinear Control

Author: J. U. Alvarez-Munoz, Victor R. Gonzalez-Diaz, Nicolas Marchand, Sylvain Durand, J. J. Tellez-Guzman, José Fermi Guerrero-Castellanos, Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université Joseph Fourier - Grenoble 1 (UJF)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), and Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
Subjects: Engineering, business.industry, Mechanical Engineering, Control engineering, Nonlinear control, Industrial and Manufacturing Engineering, Control function, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, Nonlinear system, Exponential stability, Artificial Intelligence, Control and Systems Engineering, Control theory, Robustness (computer science), Affine transformation, Electrical and Electronic Engineering, business, Quaternion, Software
Abstract: In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback is derived from the universal formula for event-triggered stabilization of general nonlinear systems affine in the control. Event-triggered control is a resource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows a reduction of the control computational cost and communications demand. The proposed feedback ensures asymptotic stability to the desired attitude. Real-time experiments are carried out in order to show the convergence of the quadrotor states to the desired attitude as well as robustness with respect to external disturbances. Results show that the proposed strategy can reduce by 80 % the number of control function calls and consequently reduce the communications of the embedded system without sacrificing performance of the whole system. To the best of the authors' knowledge, this is the first time that a nonlinear event-triggered controller is experimentally applied to the attitude stabilization of an unmanned aircraft system.
Published: 2014
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31. Numerical Stabilization of a Rigid Spacecraft with Two Actuators

Author: Nicolas Marchand and Mazen Alamir
Subjects: Attitude control, Nonlinear system, Polynomial basis, Function approximation, Spacecraft, Control theory, business.industry, business, Failure mode and effects analysis, Chebyshev filter, Projection (linear algebra), Mathematics
Abstract: In this paper, a new approach to stabilize the rigid spacecraft operating with only two control torques (i.e. in failure mode) is presented. This approach is based on the receding horizon principle and uses a systematic projection on a Chebyshev’s polynomial basis to approximate the trajectories of each variable of the system. A general theory and its approximated numerical implementation are presented and simulations are provided.
Published: 1998
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32. Event-triggered nonlinear control for attitude stabilization of a quadrotor

Author: J. J. Tellez-Guzman, Sylvain Durand, J. U. Alvarez-Munoz, José Fermi Guerrero-Castellanos, Nicolas Marchand, Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université Joseph Fourier - Grenoble 1 (UJF)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Marchand, Nicolas
Subjects: 0209 industrial biotechnology, Engineering, business.industry, 020208 electrical & electronic engineering, Sampling (statistics), Control engineering, 02 engineering and technology, Nonlinear control, Control Architectures, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, Nonlinear system, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Exponential stability, Control theory, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, Airspace Control, Affine transformation, business, Quaternion, Micro- and Mini- UAS
Abstract: International audience; Event-triggered control is a ressource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback is derived from the universal formula for event-triggered stabilization of general nonlinear systems affine in the control. The proposed feedback ensures the asymptotic stability and it is smooth everywhere except at the origin. Real-time experiments are carried out in order to show the convergence of the quadrotor states to the desired attitude as well as the robustness with respect to external disturbances. Results show that the proposed control can reduce by 80 $\%$ the communications of the embedded system without sacrificing performance of the whole system. To the best of the authors' knowledge, this is the first time that a nonlinear event-triggered controller is experimentally applied to the attitude stabilization of an unmanned aircraft system.
Published: 2013

33. Biomimetic-Based Output Feedback for Attitude Stabilization of a Flapping-wing Micro Aerial Vehicle

Author: Nicolas Marchand, Hala Rifai, Guylaine Poulin-Vittrant, Jose-Fermi Guerrero-Castellanos, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GREMAN (matériaux, microélectronique, acoustique et nanotechnologies) (GREMAN - UMR 7347), Centre National de la Recherche Scientifique (CNRS)-Université de Tours (UT)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Tours-Centre National de la Recherche Scientifique (CNRS), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Tours (UT)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Lyapunov function, 0209 industrial biotechnology, Engineering, 030310 physiology, General Mathematics, 02 engineering and technology, Stability (probability), 03 medical and health sciences, symbols.namesake, 020901 industrial engineering & automation, Robustness (computer science), Control theory, Orientation (geometry), [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, [SPI.ACOU]Engineering Sciences [physics]/Acoustics [physics.class-ph], 0303 health sciences, business.industry, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Control engineering, Sense (electronics), Computer Science Applications, Control and Systems Engineering, Modulation, Bounded function, Halteres, symbols, business, Software
Abstract: SUMMARYThe paper deals with the development of a bounded control law for Flapping-wing Micro Aerial Vehicles that mimics a strategy adopted by animal flapping flyers to stabilize their orientation. The control consists on generating torques about the body's principal axes by means of a modulation of the wing angle amplitudes. It is known that flapping flyers orient their body without any numerical computation or estimation of their current attitude. Therefore, the proposed control law is computed using the direct measurements of onboard sensors mimicking animal sensitive organs, more specifically the halteres, legs sensilla, and magnetic sense. The technological equivalents of these biological sensors are three rate gyros, a tri-axis accelerometer, and a tri-axis magnetometer, respectively. Besides, the control signal is bounded to keep the wing angle amplitudes below the maximal values. Owing to its simplicity, this control law is suitable for applications where onboard computational resources are limited. The stability of the closed-loop system is proved based on Lyapunov analysis and averaging theory. The effectiveness of the proposed control law is shown in simulations. The robustness with respect to external disturbances is also shown emphasizing the importance and need of the bounded control.
Published: 2013
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34. Receding Horizon Stabilization of a Rigid Spacecraft With Two Actuators

Author: Nicolas Marchand and Mazen Alamir
Subjects: Engineering, Spacecraft, business.industry, Mechanical Engineering, Chebyshev filter, Computer Science Applications, Polynomial basis, Control and Systems Engineering, Robustness (computer science), Control theory, Physics::Space Physics, Engineering simulation, Actuator, business, Instrumentation, Information Systems
Abstract: In this paper, a receding-horizon control, using systematic projection on a Chebyshev’s polynomial basis, is proposed for the stabilization of a rigid spacecraft operating with only two actuators. The proposed scheme privileges the speed of the algorithm. Simulations on SPOT4 spacecraft with a robustness test are provided.
Published: 2003
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35. Bio-inspired hovering control for an aerial robot equipped with a decoupled eye and a rate gyro

Author: Augustin Manecy, Nicolas Marchand, Stéphane Viollet, Institut des Sciences du Mouvement Etienne Jules Marey (ISM), Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Inertial frame of reference, business.industry, Rate gyro, 02 engineering and technology, Accelerometer, Gaze, Signal, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Position (vector), Control theory, Control system, Robot, business, 030217 neurology & neurosurgery
Abstract: Hovering flies are capable of achieving outstanding performances when hovering above flowers for several minutes. A new insect-based hovering control strategy is presented here for accurately stabilizing the position of a sighted twin-rotor equipped with a decoupled eye with a narrow field-of-view of only a few degrees. The main aim of this paper is to describe how accurately hovering flight above a target can be achieved by means of this fundamental bio-inspired mechanical decoupling system between the eye and the body. The simulated gaze control system implemented on-board the aerial robot has several advantages : — it enables the robot's gaze to be stabilized on the basis of three bio-inspired oculomotor reflexes (ORs) : a visual fixation reflex (VFR), a translational reflex and a rotational vestibulo-ocular reflex (tVOR and rVOR), — it makes the eye compensate quickly and accurately for any sudden, untoward disturbances caused by the vagaries of the supporting head or body, — it provides a reference visual signal to compensate for the rate gyro drift used to implement the VORs and to stabilize the hovering robot, — it greatly improves the stability of the robot's roll during voluntary lateral displacements with respect to the target. Close comparisons were made between two simulated robots with and without a decoupled eye, which were both subjected to strong lateral and roll disturbances. The simulations show that the robot with a decoupled eye can reject disturbances twice as fast as that with a fixed eye. This innovative bio-inspired hovering control method stabilizes the robot's attitude without any need for accelerometers, magnetometers or classical inertial measurement units.
Published: 2012
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36. Unsteady Flow Rate Evaluation Methodology for Identification of the Dynamic Transfer Function of a Cavitating Venturi

Author: Nicolas Lemoine, Nicolas Marchand, Regiane Fortes Patella, Artem Marie-Magdeleine, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Laboratoire des Écoulements Géophysiques et Industriels [Grenoble] (LEGI), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Joseph Fourier - Grenoble 1 (UJF), SNECMA Vernon [Vernon], Safran Group, SNECMA, SYSCO (GIPSA-SYSCO), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA), and Marchand, Nicolas
Subjects: business.product_category, Computer simulation, Computer science, Mass flow, [SPI.MECA.MEFL] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Fluids mechanics [physics.class-ph], Mechanics, Transfer function, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.MEFL]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Fluids mechanics [physics.class-ph], [SPI]Engineering Sciences [physics], [SPI.AUTO] Engineering Sciences [physics]/Automatic, Rocket, Moving average, Robustness (computer science), Venturi effect, Cavitation, [PHYS.MECA.MEFL] Physics [physics]/Mechanics [physics]/Fluid mechanics [physics.class-ph], [PHYS.MECA.MEFL]Physics [physics]/Mechanics [physics]/Fluid mechanics [physics.class-ph], business, ComputingMilieux_MISCELLANEOUS
Abstract: International audience; The development of new rocket turbopumps makes it necessary to study different phenomena occurring during cavitation, such as auto-oscillations that can cause the POGO effect and damage the rocket structure if they occur at the structural eigenfrequency. This is why an experimental facility is currently being developed in the Cremhyg laboratory in Grenoble, France in order to perform dynamic characterization of different cavitating devices to define the general identification methodology. The work presented in this paper serves the purpose to test this methodology on a simulation case of the cavitating Venturi computed with the IZ code. The principle of the IZ code is presented in the second paragraph. The first step of the methodology consists of evaluating pressures and mass flow rates at the inlet and the outlet of the cavitating profile and the next steps aims at estimating the dynamic transfer function of the cavitating Venturi. For this purpose, the Kinetic Differential Pressure method was chosen and introduced and its robustness towards evaluation uncertainties is evaluated in the third paragraph. Next, the numerical simulation with the IZ code gives the empirical transfer function results from the precise inlet and outlet pressure data which is later compared with the transfer matrix coefficients obtained with the Kinetic Differential Pressure method using the standard identification procedures such as the Empirical transfer function evaluation and the user-made Auto-Regressive Moving Average eXogenous algorithm.
Published: 2012
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37. Design and implementation of an Attitude and Heading Reference System (AHRS)

Author: Nicolas Marchand, B.B. Salmeron, W. F. Guerrero-Sanchez, Sylvain Durand, H. Madrigal-Sastre, José Fermi Guerrero-Castellanos, Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université Joseph Fourier - Grenoble 1 (UJF)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Instituto Politechnico National (IPN), Instituto Politecnico Nacional [Mexico] (IPN), and Marchand, Nicolas
Subjects: Wahba's problem, 020301 aerospace & aeronautics, 0209 industrial biotechnology, Engineering, business.industry, Attitude and heading reference system, Control engineering, 02 engineering and technology, Kalman filter, Accelerometer, Sensor fusion, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Bluetooth, Extended Kalman filter, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, 0203 mechanical engineering, law, Control theory, Quaternion, business, ComputingMilieux_MISCELLANEOUS
Abstract: This paper deals with the development and implementation of a cheap Micro Attitude and Heading Reference System (AHRS) using low-cost inertial and magnetic sensors. The orientation is parameterized with unit quaternion and the data fusion is done unifying a quaternion linear formulation of Wahba's problem with a Multiplicative Extended Kalman Filter. It includes the gyro bias model. The estimation methodology proposed in this work is implemented and evaluated in real time, in order to assess its effectiveness. Special attention was paid to the low power consumption, speed and weight requirements, leading to the selection of a 16-bit microcontroller. The sensor suite is based on a tri-axis accelerometer, a dual axis gyro, a single axis gyro and a tri-axis magnetometer. Furthermore, the system is equipped with a Bluetooth module, which provides wireless capabilities. The total system supply voltage is 3.3 V. The dimension and weight are 60×40×15 mm and 60 g, respectively. The attitude rate estimation is 55.5 Hz.
Published: 2011

38. AsynCar, a Radio-Controlled Vehicle for Asynchronous Experiments: Implementation of an Event-Based Cruise Control

Author: Jose Fermi Guerrero Castellanos, Nicolas Marchand, Sylvain Durand, Julien Minet, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA-Services (GIPSA-Services), Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Steady state (electronics), Event (computing), business.industry, Computation, 020208 electrical & electronic engineering, Control (management), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Reduction (complexity), 020901 industrial engineering & automation, Control theory, Asynchronous communication, 0202 electrical engineering, electronic engineering, information engineering, business, Cruise control, Simulation
Abstract: International audience; The main contribution of this paper is to develop an experimental platform in order to test some event-based control strategies. Contrary to the time-triggered fashion which calculates the control signal at each sampling time, an event-driven controller updates the control signal only when required. This theoretically allows to reduce the computational cost. In this paper, we propose to firstly test an asynchronous cruise control mechanism. Some first results clearly show a noticeable reduction of the mean control computation cost, which is really encouraging for developing such a platform.
Published: 2011

39. Fully Discrete Control Scheme of the Energy-Performance Tradeoff in Embedded Electronic Devices

Author: Sylvain Durand, Nicolas Marchand, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), and ARAVIS
Subjects: Scheme (programming language), 0209 industrial biotechnology, Engineering, business.industry, 020208 electrical & electronic engineering, 02 engineering and technology, Energy consumption, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Reduction (complexity), Model predictive control, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Scalability, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, Electronics, business, computer, Energy (signal processing), computer.programming_language, Voltage
Abstract: International audience; A voltage scalable device is known to be interesting for energy saving. It enables to reduce the general speed of the device and, therefore, its consumption. We already proposed a fast predictive control strategy to deal with this power-performance tradeoff in an electronic device supplied by two voltage levels and a continuously varying frequency. In this paper, the approach is extended to a fully discrete scheme with M possible voltage levels and N frequency levels. The proposed approach clearly gives an important reduction of the energy consumption with a very low control computational cost. Moreover, the control strategy is highly robust to tackle variability since it is not based on any parameters of the system.
Published: 2011
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40. Bounded attitude control of rigid bodies: Real-time experimentation to a quadrotor mini-helicopter

Author: Ahmad Hably, Nicolas Marchand, José Fermi Guerrero-Castellanos, J. Delamare, Suzanne Lesecq, Facultad de Ciencias de la Electrónica [Puebla] (FCE BUAP), Benemérita Universidad Autónoma de Puebla (BUAP), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Département Systèmes (DSYS), Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Laboratoire de Génie Electrique de Grenoble (G2ELab), Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), and Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
Subjects: Quadrotor helicopter, 0209 industrial biotechnology, Engineering, media_common.quotation_subject, Embedded control, Angular velocity, 02 engineering and technology, Nonlinear control, Inertia, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, Sylvester's law of inertia, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, Quaternion, media_common, business.industry, Applied Mathematics, 020208 electrical & electronic engineering, Computer Science Applications, Control and Systems Engineering, Bounded function, business, Attitude stabilization
Abstract: International audience; A quaternion-based feedback is developed for the attitude stabilization of rigid bodies. The control design takes into account a priori input bounds and is based on nested saturation approach. It results in a very simple controller suitable for an embedded use with low computational resources available. The proposed method is generic not restricted to symmetric rigid bodies and does not require the knowledge of the inertia matrix of the body. The control law can be tuned to force closed-loop trajectories to enter in some a priori fixed neighborhood of the origin in a finite time and remain thereafter. The global stability is guaranteed in the case where angular velocities sensors have limited measurement range. The control law is experimentally applied to the attitude stabilization of a quadrotor mini-helicopter.
Published: 2011
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41. Energy Consumption Reduction with Low Computational Needs in Multicore Systems with Energy-Performance Tradeoff

Author: Sylvain Durand, Nicolas Marchand, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
Subjects: 010302 applied physics, Engineering, Multi-core processor, business.industry, Automatic frequency control, Clock rate, 02 engineering and technology, Energy consumption, 01 natural sciences, 020202 computer hardware & architecture, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Reduction (complexity), Embedded system, 0103 physical sciences, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, Robust control, business, Frequency scaling, Voltage
Abstract: International audience; A two voltage level electronic device is interesting because the clock frequency and the supply voltage level could be reduced (respecting certain rules) in order to decrease the energy consumption. We proposed in a previous paper a robust control architecture to deal with this power-performance tradeoff and we are now interested in extending this principle for several devices which works together since they are all supplied with the same voltage and clock frequency. Thus, an intuitive multicore control strategy which duplicates the whole monocore architecture as much as devices is compared with a second strategy where the duplication is reduced as much as possible. It appears that the proposal clearly gives a low control computational needs with the same reduction of the energy consumption.
Published: 2009

42. Average Delay Guarantee in Server Systems Using Admission Control

Author: Luc Malrait, Nicolas Marchand, Sara Bouchenak, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Laboratoire d'Informatique de Grenoble (LIG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), System architecture for reflective distributed computing environments (SARDES), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), and Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Database server, business.industry, Computer science, Quality of service, 020206 networking & telecommunications, 02 engineering and technology, Admission control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Client–server model, Microsoft Transaction Server, Server farm, Internet Authentication Service, Server, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Log shipping, business, Database transaction, Computer network
Abstract: International audience; Although server technology provides a mean to support a wide range of online services and applications, their ad-hoc conguration poses signicant challenges to the perfor- mance, availability and economical costs of applications. One of the main concerns is that under a heavy load, the delay introduced by a server in the transaction process may grow unbounded. This paper precisely addresses this issue. First, we present the design of a server model as a non-linear continuous-time model. Second, we develop an admission control algorithm that allow to ensure a maximum average delay on the server. Model and control algorithm were implemented and applied on the standard PostgreSQL database server running the TPC-C warehouse application. The experiments show that the proposed method provides signicant benets for database servers management.
Published: 2009

43. Constrained Model Predictive Control of a Skid-Steering Mobile Robot

Author: Olivier Sename, Nicolas Marchand, Federico Bribiesca Argomedo, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), and Marchand, Nicolas
Subjects: 0209 industrial biotechnology, Engineering, business.industry, Mobile robot, Control engineering, 02 engineering and technology, Kinematics, Actuator saturation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, Vehicle dynamics, Model predictive control, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Skid (automobile), Exponential stability, Control theory, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; Abstract—In this paper, a kinematic model of a four-wheelskid-steering mobile robot is presented and a receding horizonstabilizing control law for the system is developed, based onthe optimization of a quadratic cost function on the systemstates and control inputs. Global asymptotic stability of thenominal system with actuator saturation constraints is analyticallyproven and a simple dynamical model is constructed forvalidation purposes. The robustness and performance of thecontroller were tested under simulation on both models andthe results are presented and discussed.
Published: 2009

44. Further Results on Event-Based PID Controller

Author: Sylvain Durand, Nicolas Marchand, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Steady state (electronics), business.industry, Computation, Elementary event, 020208 electrical & electronic engineering, Open-loop controller, PID controller, Control engineering, 02 engineering and technology, Signal, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Reduction (complexity), 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, business
Abstract: International audience; In this paper, some improvements of the simple event-based PID controller presented by K-E Arzen in the 14th World Congress of IFAC (Beijing, P.R. China, 1999) are proposed. This controller, contrary to a time-triggered controller which calculates the control signal at each sampling time, calculates the new control signal only when the measurement signal sufficiently changes. In the original work of Arzen, a safety maximum period is added forcing the control to be recomputed even if the measurement signal remains unchanged. The contribution of this paper is to propose a scheme to avoid this re-computation. Besides a noticeable reduction of the mean control computation cost, the performance of the closed loop system is also improved.
Published: 2009

45. Fast Predictive Control of Micro Controller's Energy-Performance Tradeoff

Author: Nicolas Marchand, Sylvain Durand, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), and Département Automatique (GIPSA-DA)
Subjects: 0209 industrial biotechnology, Engineering, business.industry, 020208 electrical & electronic engineering, Automatic frequency control, Clock rate, High voltage, 02 engineering and technology, Energy consumption, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Model predictive control, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, Robust control, business, Low voltage, Power control
Abstract: International audience; A two voltage level electronic device is interesting because the clock frequency and the supply voltage level could be reduced in order to decrease the energy consumption. However, these two quantities have to be controlled respecting certain rules, and decreasing them leads to a reduced computational speed. In this paper a control architecture is proposed to deal with this power-performance tradeoff. First, a fast predictive control technique gives the best computational speed set point to minimize the penalizing high voltage running time. Then, the frequency and the supply voltage are controlled together in order that the measured speed tracks this set point. Finally, the proposal clearly gives an important reduction of the energy consumption. Moreover, the control strategy is robust to process variability and therefore suitable for 45nm, 32nm or smaller implementations.
Published: 2009

46. Reduced Mean Model for Controlling a Three-Dimensional Eel-like Robot

Author: Frédéric Boyer, Mazen Alamir, M. El Rafei, Mathieu Porez, Nicolas Marchand, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Eel Robot, Robot calibration, reduced Model, 010505 oceanography, Continuous modelling, business.industry, Context (language use), Mobile robot, Control engineering, 02 engineering and technology, Solid modeling, 01 natural sciences, Robot control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Identification (information), 020901 industrial engineering & automation, Control Design, Robot, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, Simulation, ComputingMilieux_MISCELLANEOUS, 0105 earth and related environmental sciences
Abstract: This paper presents a reduced mean model of a three-dimensional Eel-like robot. Such a robot is under construction in the context of a national French robotic project. This model is based on mechanical considerations as well as on our experience with an existing 3D continuous model of the target prototype. Identification and validation of the dynamic model are presented here.
Published: 2009

47. Attitude and Position Control of a Flapping Micro Aerial Vehicle

Author: Hala Rifai, Guylaine Poulin, Nicolas Marchand, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Laboratoire Ultrasons Signaux et Instrumentation (LUSI), Université de Tours (UT), and Université de Tours
Subjects: Airfoil, 0209 industrial biotechnology, Computer science, business.industry, 02 engineering and technology, Aerodynamics, Energy consumption, Avionics, 7. Clean energy, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Noise, 020901 industrial engineering & automation, 0103 physical sciences, Flapping, Robot, Aerospace engineering, Actuator, business, 010301 acoustics, ComputingMilieux_MISCELLANEOUS
Abstract: Inspired from the natural flight, the flapping Micro Aerial Vehicles (MAV) combine the advantages of the rotary and fixed airfoils. They are able to achieve vertical taking off and landing, stationary flight and are characterized by their high maneuverability, soft noise and use the unsteady aerodynamics in order to develop higher lift force and theoretically reduce their energy consumption. They also get benefit from their biomimetic shape in order to execute discrete missions. The main disadvantages of such airfoils remain the complexity of analyzing the mechanisms adopted by insects during flight and maneuvers (Dudley, 2002) besides the technological reproduction of these techniques on flying robots (Hedrick & Daniel, 2006). Their development is constrained by the necessity of using low computational embedded systems, tiny sensors and actuators to ensure the free autonomous flight. Moreover, the conventional aerodynamic theory, well known for fixed aircrafts, fails for flapping wings airfoils due to the low Reynolds numbers and the influence of the unsteady airflows on the wings besides the high degrees of under actuation. Micro aerial vehicles may be used for numerous indoor and outdoor civil applications (monitoring buildings, forests, cities, seism or high voltage lines, preventing forests fires, inspecting high monuments, intervening in narrow and dangerous environments for rescuing, gaming), military applications where its discretion thanks to its biomimetic behaviour is an advantage (spying and investigating) or even for exploring other planets like Mars (Thakoor et al., 2003). Researches in flapping flight domain attract biology, aeronautic, robotic and avionic communities. The progress in microelectronic technologies, materials, sensors, actuators, embedded computational systems, communication tools, etc. is helping the feasibility and development of these aircrafts. Therefore, flapping micro aerial vehicles are in a full rise nowadays; different projects are held all over the world. The present work lies within the scope of the French project OVMI1 (Objet Volant Mimant l'Insecte) financed by the national agency for scientific research. It
Published: 2009

48. Global discrete-time stabilization of the PVTOL aircraft based on fast predictive control

Author: Nicolas Marchand, Ahmed Chemori, Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Drone, Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), and Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Engineering, Optimization problem, business.industry, Control (management), 02 engineering and technology, Decoupling (cosmology), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Model predictive control, 020901 industrial engineering & automation, Discrete time and continuous time, Control theory, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Quadratic programming, State (computer science), business
Abstract: International audience; This paper deals with stabilization control of a non-minimum phase under-actuatedPlanar Vertical Take-Off and Landing (PVTOL) aircraft. The proposed control approach,inspired from that proposed in Poulin et al. (2007), is based on a discrete time model of thePVTOL and receding horizon technique to take into account constraints on the control inputs(positivity and boundedness). State constraints can also be handled. The computational cost isreduced by decoupling the optimization problem into two QP problems of reduced dimensions.The minimized cost functions proposed here extends the previous work by allowing state andcontrol weight. The proposed control approach is illustrated through simulation case studiesincluding stabilization and robustness towards parameters uncertainties.
Published: 2008
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49. Bounded control of a flapping wing micro drone in three dimensions

Author: Hala Rifai, Guylaine Poulin, Nicolas Marchand, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Génie Electrique de Grenoble (G2ELab), Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS), ANR-05-JCJC-0197,OVMI,OBJET VOLANT MIMANT L'INSECTE(2005), Marchand, Nicolas, and Jeunes chercheuses et jeunes chercheurs - OBJET VOLANT MIMANT L'INSECTE - - OVMI2005 - ANR-05-JCJC-0197 - JCJC - VALID
Subjects: 0209 industrial biotechnology, Engineering, bounded control, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Physics::Fluid Dynamics, Computer Science::Robotics, 020901 industrial engineering & automation, 0203 mechanical engineering, Robustness (computer science), Position (vector), Control theory, Biomimetic flight, Torque, averaging, 020301 aerospace & aeronautics, business.industry, modeling, Body movement, Aerodynamic force, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Bounded function, Flapping, Robust control, business
Abstract: This paper presents a bounded control of a flapping micro aerial vehicle (MAV) in three dimensions. First, a simplified model of the flapping MAV is presented aiming to test the control law. The averaging theory shows that for high frequency systems, only the mean aerodynamic forces and torques over a period affect the movement of the body. Therefore, a bounded nonlinear state feedback control, calculated using the averaged model, is applied to the time varying system in order to stabilize it at a desired position in hovering mode. The robustness of the control is tested with respect to the aerodynamic coefficient and to external disturbances.
Published: 2008
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50. Global stabilization of a four rotor helicopter with bounded inputs

Author: Nicolas Marchand, Ahmad Hably, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), and Drone
Subjects: 020301 aerospace & aeronautics, 0209 industrial biotechnology, Engineering, Rotor (electric), business.industry, Thrust, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, law.invention, 020901 industrial engineering & automation, Thrust control, 0203 mechanical engineering, Exponential stability, Control theory, law, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Bounded function, Integrator, business
Abstract: International audience; This paper proposes a global asymptotic stabilizing control law for a quad-rotor helicopter with bounded inputs. The proposed control design exploits the technique based on the sum of saturating functions and is based on the global stabilization of multiple integrators with bounded inputs. The positiveness of the thrust and the boundedness of the control inputs are taken into account. Numerical simulations show the effectiveness of the proposed controller.
Published: 2007
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