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170 results on '"[ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering"'

101. Speckle Characterization Methods in Ultrasound Images - A Review

Author

Damerjian , V., Tankyevych , O., Souag , N., Petit , E., Amirat, Yacine, SIMO, 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 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
[ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2014

102. MLPNN adaptive controller based on a reference model to drive an actuated lower limb orthosis

Author

Karim Djouani, Boubaker Daachi, M. E. Daachi, T. Madani, 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), Département d’électronique, Université de Bordj Bou Arréridj, Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), 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, media_common.quotation_subject, 02 engineering and technology, Inertia, symbols.namesake, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Taylor series, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Reference model, ComputingMilieux_MISCELLANEOUS, media_common, Resistive touchscreen, Artificial neural network, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Control engineering, Perceptron, Exoskeleton, symbols, 020201 artificial intelligence & image processing, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

International audience; In this paper we propose to drive an actuated orthosis using an adaptive controller based on a reference model. It is not necessary to know all the functions of the dynamic model. Needing only the global structure of the dynamic model, we use a specific adaptive controller to obtain good performance in terms of trajectory tracking both in position and in velocity. A Multi-Layer Perceptron Neural Network (MLPNN) is used to estimate dynamics related to inertia, gravitational and frictional forces along with other unmodeled dynamics. The Lyapunov formalism is used for stability study of the system (shank+orthosis) in closed loop and to determine adaptation laws of the neural parameters. To treat the non-linearties related to the MLPNN, we have used first order Taylor series expansion. Experimental results have been obtained using a real orthosis worn by an appropriate dummy. Several tests have been realized to verify the effectiveness and the robustness of the proposed controller. For instance, our proposed orthosis model has given robust tracking performance under assistive as well as resistive forces.

Published
2014

103. A structural representation of the customer's behavior for the characterization of the indecisiveness class

Author

LUFIMPU-LUVIYA, Yannick, Merad, Djamal, Paris, Sébastien, Fertil, Bernard, Laboratoire des Sciences de l'Information et des Systèmes ( LSIS ), Aix Marseille Université ( AMU ) -Université de Toulon ( UTLN ) -Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique ( CNRS ), Laboratoire Interdisciplinaire Carnot de Bourgogne ( LICB ), Université de Bourgogne ( UB ) -Centre National de la Recherche Scientifique ( CNRS ), Institut Jean Lamour ( IJL ), Université de Lorraine ( UL ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire des Sciences de l'Information et des Systèmes (LSIS), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique (CNRS), Laboratoire Interdisciplinaire Carnot de Bourgogne (ICB), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS), Institut Jean Lamour (IJL), Institut de Chimie du CNRS (INC)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Université de Toulon (UTLN)-Aix Marseille Université (AMU), Laboratoire Interdisciplinaire Carnot de Bourgogne (LICB), and Domingues Vinhas, William

Subjects
[ INFO ] Computer Science [cs], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO]Computer Science [cs], [ SPI.SIGNAL ] Engineering Sciences [physics]/Signal and Image processing, [INFO] Computer Science [cs], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, ComputingMilieux_MISCELLANEOUS, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing
Abstract

National audience; no abstract

Published
2014

104. Powered orthosis for lower limb movements assistance and rehabilitation

Author

Samer Mohammed, Hala Rifai, Yacine Amirat, Walid Hassani, 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), 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 ), and Amirat, Yacine

Subjects
Engineering, medicine.medical_treatment, Knee Joint, Lower limb, Actuated orthosis, Tracking error, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, medicine, Torque, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Rehabilitation robotics, Electrical and Electronic Engineering, Simulation, ComputingMilieux_MISCELLANEOUS, Rehabilitation, business.industry, Applied Mathematics, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Healthy subjects, Computer Science Applications, Wearable robots, Control and Systems Engineering, Musculoskeletal modeling, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

International audience; This paper presents two rehabilitation approaches of the lower limb: passive and active. The passive one ensures repetitive motions of the limb without any effort delivered by the wearer. Within the active one, a human–exoskeleton interaction approach is proposed. It allows us to provide a knee joint torque support, adapted according to the intention and ability of the wearer, for assistance-as-needed. The wearer׳s intention is estimated using a realistic model of the muscles actuating the knee joint. The identification process concerns the inertial parameters of the shank-foot-exoskeleton and the musculotendinous parameters. Experiments were conducted online on a healthy subject and have shown satisfactory results in terms of tracking error, intention detection and passive-rehabilitation/active-assistance.

Published
2014

105. Qualitative approach for inverse kinematic modeling of a Compact Bionic Handling Assistant trunk

Author

Melingui , R. Merzouki, Mbede , J. B., Escande , C., Daachi , B., Benoudjit , N., SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
[ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2014

106. Finite-time Control of an Actuated Orthosis Using Fast Terminal Sliding Mode

Author

T. Madani, Karim Djouani, Boubaker Daachi, Amirat, Yacine, 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), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
Resistive touchscreen, Engineering, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Terminal sliding mode, Stability (learning theory), Fast terminal sliding mode control, Cryptographic protocol, Exoskeleton, Control theory, Position (vector), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Convergence (routing), [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Finite-time convergence, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Simulation, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; This paper deals with the controller of an active orthosis for rehabilitation reasons of the knee joint. The dynamical model of the system, constituted of the shank and the orthosis is complex and is considered as unknown in the conception of the proposed controller. The full security protocol has been carefully applied and we have selected a healthy person for our experiments. The flexion/extension movements used for our experiments are of sinusoidal form and are generally applied by therapeutic doctors. The fast terminal sliding mode technique used in the proposed controller permits a finite time convergence towards zero of the tracking errors both in position and in velocity. The experimental results are satisfactory and prove clearly the effectiveness of the proposed approach. As the wearer used can develop a muscular effort, we have tested the two cases: resistive and assistive effort and we have obtained a good performance in both cases as has been proven in the stability analysis by the the Lyapunov approach.

Published
2014

107. A genetic algorithm designed for robot trajectory planning

Author

Patrick Siarry, Amir Nakib, Hamouche Oulhadj, Riad Menasri, Boubaker Daachi, 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 ), SIMO, 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), and Amirat, Yacine

Subjects
Smoothness (probability theory), Computer science, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Trajectory optimization, Function (mathematics), Robot control, Acceleration, Control theory, Position (vector), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Genetic algorithm, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Trajectory, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Differentiable function, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; In this work, we deal with a class of problem of trajectory planning taking into account the smoothness of the trajectory. We assume that we have a set of positions in which the robot must pass. These positions are not assigned in the time axis. This kind of result can be found in many works of trajectory planning. Thus, this result is not complete in the sense that we do not have the complete trajectory and, we do not have any idea about the whole time to move. In this work, we propose a formulation of this problem, where the total length of the trajectory and the total time to move from the initial to the final position are minimized simultaneously. In order to avoid abrupt movement, we should ensure the smoothness of the trajectory at the position, the velocity and the acceleration levels. Thus, the position function must be at least two times differentiable. We use a genetic algorithm to resolve this problem and we show the efficiency of the proposed technique by simulation.

Published
2014

108. A CSP versus a zonotope-based method for solving guard set intersection in nonlinear hybrid reachability

Author

Nacim Ramdani, Louise Travé-Massuyès, Moussa Maiga, Christophe Combastel, Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA), ANR-11-INSE-0006,MAGIC-SPS,Méthodes et Algorithmes Garantis pour le Contrôle d'Intégrité et la Surveillance Préventive des Systèmes(2011), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique ( PRISME ), Université d'Orléans ( UO ) -Ecole Nationale Supérieure d'Ingénieurs de Bourges ( ENSI Bourges ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), IRAUS, Université d'Orléans ( UO ) -Ecole Nationale Supérieure d'Ingénieurs de Bourges ( ENSI Bourges ) -Université d'Orléans ( UO ) -Ecole Nationale Supérieure d'Ingénieurs de Bourges ( ENSI Bourges ), Équipe DIagnostic, Supervision et COnduite ( LAAS-DISCO ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), ECS-Lab, Equipe Commande des Systèmes ( ECS ), Ecole Nationale Supérieure de l'Electronique et de ses Applications-Ecole Nationale Supérieure de l'Electronique et de ses Applications, ANR 2011 INS 006 MAGIC-SPS,ANR 2011 INS 006 MAGIC-SPS, Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique (PRISME), Ecole Nationale Supérieure d'Ingénieurs de Bourges (ENSI Bourges)-Université d'Orléans (UO), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] (LAAS), Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UPS), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique [Toulouse] (INP), Ecole Nationale Supérieure d'Ingénieurs de Bourges (ENSI Bourges)-Université d'Orléans (UO)-Ecole Nationale Supérieure d'Ingénieurs de Bourges (ENSI Bourges)-Université d'Orléans (UO), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique [Toulouse] (INP)-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UPS), and Equipe Commande des Systèmes (ECS)

Subjects
0209 industrial biotechnology, Mathematical optimization, Dynamical systems theory, 02 engineering and technology, Interval (mathematics), event localization, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], reachability analysis, 020901 industrial engineering & automation, Reachability, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, ComputingMilieux_MISCELLANEOUS, Constraint satisfaction problem, Mathematics, Guard (information security), Intersection (set theory), Applied Mathematics, hybrid systems, event detection, Computational Mathematics, Computational Theory and Mathematics, zonotope, Hybrid system, Local consistency, 020201 artificial intelligence & image processing, Algorithm, Intervals analysis
Abstract

International audience; Computing the reachable set of hybrid dynamical systems in a reliable and verified way is an important step when addressing verification or synthesis tasks. This issue is still challenging for uncertain nonlinear hybrid dynamical systems. We show in this paper how to combine a method for computing continuous transitions via interval Taylor methods and a method for computing the geometrical intersection of a flowpipe with guard sets, to build an interval method for reachability computation that can be used with truly nonlinear hybrid systems. Our method for flowpipe guard set intersection has two variants. The first one relies on interval constraint propagation for solving a constraint satisfaction problem and applies in the general case. The second one computes the intersection of a zonotope and a hyperplane and applies only when the guard sets are linear. The performance of our method is illustrated on examples involving typical hybrid systems.

Published
2014
Full Text
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109. Robotique Ubiquitaire. Principes, état de l’art, challenges

Author

Amirat , Yacine, Chibani , A., Amirat, Yacine, 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 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2014

110. Cloud Robotics & IoT- Bringing More Intelligence to Objects and Robots

Author

Chibani , A., 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), 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 ), and Amirat, Yacine

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2014

111. Fed-batch bioreactor with mortality rate

Author

Francis Mairet, Térence Bayen, Marc Mazade, Institut de Mathématiques et de Modélisation de Montpellier (I3M), Université Montpellier 2 - Sciences et Techniques (UM2)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Modelling and Optimisation of the Dynamics of Ecosystems with MICro-organisme (MODEMIC), 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)-Mathématiques, Informatique et STatistique pour l'Environnement et l'Agronomie (MISTEA), Institut National de la Recherche Agronomique (INRA)-Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro)-Institut National de la Recherche Agronomique (INRA)-Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro), Biological control of artificial ecosystems (BIOCORE), Laboratoire d'océanographie de Villefranche (LOV), Observatoire océanologique de Villefranche-sur-mer (OOVM), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Observatoire océanologique de Villefranche-sur-mer (OOVM), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-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)-Institut National de la Recherche Agronomique (INRA), Analyse, Calcul Scientifique Industriel et Optimisation de Montpellier (ACSIOM), Université Montpellier 2 - Sciences et Techniques (UM2)-Centre National de la Recherche Scientifique (CNRS), INRIA Associated team DYMECOS and BIONATURE project, CIRIC, Inria Chile, Tarbouriech, Sophie and Krstic, Miroslav, INRIA Associated team with Chile: DYMECOS, Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro)-Institut National de la Recherche Agronomique (INRA)-Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro)-Institut National de la Recherche Agronomique (INRA), Institut National de la Recherche Agronomique (INRA)-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)-Laboratoire d'océanographie de Villefranche (LOV), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire océanologique de Villefranche-sur-mer (OOVM), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire océanologique de Villefranche-sur-mer (OOVM), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université Montpellier 2 - Sciences et Techniques (UM2)-Université de Montpellier (UM), Institut National de la Recherche Agronomique (INRA)-Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro), Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut National de la Recherche Agronomique (INRA)-Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro), Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro), Centre National de la Recherche Scientifique (CNRS)-Université Montpellier 2 - Sciences et Techniques (UM2), Institut national d’études supérieures agronomiques de Montpellier (Montpellier SupAgro), Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut National de la Recherche Agronomique (INRA), Institut de Mathématiques et de Modélisation de Montpellier ( I3M ), Université Montpellier 2 - Sciences et Techniques ( UM2 ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ), Modelling and Optimisation of the Dynamics of Ecosystems with MICro-organisme ( MODEMIC ), 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 ) -Mathématiques, Informatique et STatistique pour l'Environnement et l'Agronomie ( MISTEA ), Institut National de la Recherche Agronomique ( INRA ) -Institut national d’études supérieures agronomiques de Montpellier ( Montpellier SupAgro ) -Institut National de la Recherche Agronomique ( INRA ) -Institut national d’études supérieures agronomiques de Montpellier ( Montpellier SupAgro ), Biological control of artificial ecosystems ( BIOCORE ), Laboratoire d'océanographie de Villefranche ( LOV ), Université Pierre et Marie Curie - Paris 6 ( UPMC ) -Institut national des sciences de l'Univers ( INSU - CNRS ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Pierre et Marie Curie - Paris 6 ( UPMC ) -Institut national des sciences de l'Univers ( INSU - CNRS ) -Centre National de la Recherche Scientifique ( CNRS ) -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 ) -Institut National de la Recherche Agronomique ( INRA ), Analyse, Calcul Scientifique Industriel et Optimisation de Montpellier ( ACSIOM ), Université Montpellier 2 - Sciences et Techniques ( UM2 ) -Centre National de la Recherche Scientifique ( CNRS ), and Tarbouriech, Sophie and Krstic, Miroslav

Subjects
0209 industrial biotechnology, Mathematical optimization, [ MATH.MATH-GM ] Mathematics [math]/General Mathematics [math.GM], Feedback control, [SDV]Life Sciences [q-bio], 02 engineering and technology, 03 medical and health sciences, optimal control, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Maximum principle, [MATH.MATH-GM]Mathematics [math]/General Mathematics [math.GM], Growth function, Fed batch bioreactor, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [ SPI ] Engineering Sciences [physics], Initial value problem, 030304 developmental biology, Mathematics, 0303 health sciences, [ SDV ] Life Sciences [q-bio], Mortality rate, General Medicine, Optimal control, Singular control, time optimal control, chemical process
Abstract

International audience; We address the problem of finding an optimal feedback control for feeding a fed-batchbioreactor with one species and one substrate, from a given initial condition to a given targetvalue in a minimal amount of time. Mortality rate for the biomass and nutrient recycling are taken into account in this work. The optimal synthesis (optimal feeding strategy) has been obtained by Moreno in 1999 when both mortality and recycling are considered negligible, in the case of Monod and Haldane growth function. Our objective is to study the effect of mortalityand recycling on the optimal synthesis. We provide an optimal synthesis of the problem usingPontryagin maximum principle, which extends the result of Moreno in the impulsive frameworkwith mortality and recycling effect.

Published
2013
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112. Algebraic parameter estimation of a multi-sinusoidal waveform signal from noisy data

Author

Michel Fliess, Rosane Ushirobira, Mamadou Mboup, Wilfrid Perruquetti, Non-Asymptotic estimation for online systems ( NON-A ), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 ( CRIStAL ), Ecole Centrale de Lille-Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ) -Ecole Centrale de Lille-Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ), Institut de Mathématiques de Bourgogne [Dijon] ( IMB ), Université de Bourgogne ( UB ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire d'Automatique, Génie Informatique et Signal ( LAGIS ), Université de Lille, Sciences et Technologies-Ecole Centrale de Lille-Centre National de la Recherche Scientifique ( CNRS ), Ecole Centrale de Lille, Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804 ( CRESTIC ), Université de Reims Champagne-Ardenne ( URCA ), Laboratoire d'informatique de l'École polytechnique [Palaiseau] ( LIX ), Centre National de la Recherche Scientifique ( CNRS ) -École polytechnique ( X ), Non-Asymptotic estimation for online systems (NON-A), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Institut de Mathématiques de Bourgogne [Dijon] (IMB), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS), Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS), Centrale Lille, Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804 (CRESTIC), Université de Reims Champagne-Ardenne (URCA), Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université de Bourgogne (UB), Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X), and Ushirobira, Rosane

Subjects
0209 industrial biotechnology, [ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, 02 engineering and technology, [ SPI.SIGNAL ] Engineering Sciences [physics]/Signal and Image processing, Signal, symbols.namesake, 020901 industrial engineering & automation, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Fraction (mathematics), Algebraic number, Noisy data, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing, Mathematics, Estimation theory, 020206 networking & telecommunications, Amplitude, Sinusoidal waveform, Euler's formula, symbols, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Algorithm, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract

International audience; In this paper, we apply an algebraic method to estimate the amplitudes, phases and frequencies of a biased and noisy sum of complex exponential sinusoidal signals. Let us stress that the obtained estimates are integrals of the noisy measured signal: these integrals act as time-varying filters. Compared to usual approaches, our algebraic method provides a more robust estimation of these parameters within a fraction of the signal's period. We provide some computer simulations to demonstrate the efficiency of our method.

Published
2013

113. Safe design method of embedded systems based on COTS

Author

Hajjar, S., Ampère, 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 ), INSA de Lyon, Eric Niel, Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), 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)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-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 de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), FerroCOTS, Bombardier, STAR, ABES, Ampère, Département Méthodes pour l'Ingénierie des Systèmes ( MIS ), Université de Lyon-Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Centre National de la Recherche Scientifique ( CNRS ) -École Centrale de Lyon ( ECL ), and Hajjar, Salam

Subjects
[SPI.OTHER]Engineering Sciences [physics]/Other, Automatics, Model checking, [ SPI.OTHER ] Engineering Sciences [physics]/Other, [SPI.OTHER] Engineering Sciences [physics]/Other, Synthèse du contrôleur discret, Cots, Discrete controller synthesis, Vérification formelle, Système embarqué, simulation, SED, Conception sure, DCS, systèmes embarqués, Safe design, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, SED model, Embedded System, control-command, Synthèse du control discret, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Automatique
Abstract

This PhD dissertation contributes to the safe design of COTS-based control-command embedded systems. Due to design constraints bounding delays, costs and engineering resources, component re-usability has become a key issue in embedded design.The major difficulty in designing these systems is the high number of COTS components, which usually are separately built. The design process amounts to assembling these elementary components; this often establishes a certain amount of interaction between sets components which were not initially intended to interact with each others. Thus, unwanted behaviors may occur, although each component taken separately is considered free of local errors. The challenge that the designer faces is to ensure a safe behavior of the system which is built over the COTS components.Our proposal is a design method which ensures correction of COTS-based designs. This method uses in synergy a number of design techniques and tools. It starts from modeling of the COTS components which are stored in a generic COTS library, and ends with a design of the global control-command system, verified to be free of errors and ready to be implemented over a hardware chip such as an ASIC or an FPGA "Field Programmable Gate Array".The designer starts by modeling the temporal and logical local preconditions and postconditions of each COTS component, then the global pre/post conditions of the assembly which are not necessary a simple combination of local properties. He models also a list of properties that must be satisfied by the assembly. Any violation of these properties is defined as a design error. Then, by using the model checking approach the model of the assembly is verified against the predefined local and global properties. Some design errors can be corrected automatically through the Discrete Controller Synthesis method (DCS), others however must be manually corrected.After the correction step, the controlled control-command system is verified. Finally a global simulation step is proposed in order to perform a system-level verification beyond the capabilities of available formal tools.A human intellectual intervention in this design method appears is the intermediate step between detecting the errors and correcting them automatically. The model checking technique can only discover the errors and provide a counterexample which indicates where and how a property was violated, however, it leaves the correction task to the designer. On the other hand, DCS can correct errors by generating a “correct-by-construction” patch which controls the bugged component by assigning a subset of its inputs, designated as “controllable”. Despite its obvious advantages, the brute force application of this operation is completely unnatural to embedded designers. We propose to use the model-checking counterexample as a hint for guiding the application of DCS.Thus, our study combines three design techniques: the formal verification, the discrete controller synthesis and simulation, in order to provide a system safe by construction with the minimum manual interaction, to avoid making human mistakes in the design. We mention the advantages of each technique and argue its disadvantages and explain how each one is necessary for the others to provide an integrated work. We apply the method on two different systems, one concerns transferring data from senders to receivers through FIFO unit, the other is controlcommand system of a train passengers’ access., RésuméLe travail présenté dans ce mémoire concerne une méthode de conception sûre de systèmes de contrôle-commande matériels embarqués constitués à base des composants sur étager (COTS). Un COTS est un composant matériel ou logiciel générique qui est naturellement conçu pour être réutilisable et cela se traduit par une forme de flexibilité dans la mise en oeuve de sa fonctionnalité : en clair, une même fonction peut être réalisée par un ensemble (potentiellement infini) de scénarios différents, tous réalisables par le COTS.Par ailleurs, comme les COTS sont souvent conçus séparément, leur interconnexion peut engendrer, de par cette flexibilité inhérente, des situations non désirées, liées à la nouvelle exigence fonctionnelle ciblée. Ces situations se traduisent par des états à éviter sous peine d’effectuer des actions de contrôle commande incorrectes voire dangereuses. L’intégration des COTS dans le processus de conception des systèmes matériels réduit le temps de conception et permet d’utiliser des composants génériques existant sur le marché. On assemble des COTS pour obtenir des nouvelles fonctions, plus complexes. La démarche d’assemblage de composants se heurte cependant à un dilemme entre généricité, en vue d’une réutilisation la plus large possible, et spécialisation en lien avec un besoin de contrôle commande particulier.La complexité grandissante des fonctions implémentées fait que ces situations sont très difficiles à anticiper d’une part, et encore plus difficiles à éviter par un codage correct. Réaliser manuellement une fonction composite correcte sur un système de taille industrielle, s’avère être très coûteuse. Elle nécessite une connaissance approfondie du comportement des COTS assemblés.Or cette connaissance est souvent manquante, vu qu’il s’agit de composants acquis, ou développés par un tiers, et dont la documentation porte sur la description de leur fonction et non sur sa mise en IJuvre. Par ailleurs, il arrive souvent que la correction manuelle d’une faute engendre une ou plusieurs autres fautes, provoquant un cercle vicieux difficile à maîtriser. En plus, le fait de modifier le code d’un composant diminue l’avantage lié à sa réutilisation.C’est dans ce contexte que nous proposons l’utilisation de la technique de synthèse du contrôleur discret (SCD) pour générer automatiquement du code de contrôle commande correct par construction. Cette technique produit des composants, nommés contrôleurs, qui agissent en contraignant le comportement d’un (ou d’un assemblage de) COTS afin de garantir si possible la satisfaction d’une exigence fonctionnelle. La méthode que nous proposons possède plusieurs étapes de conception.La première étape concerne la formalisation des COTS et des propriété de sûreté et de vivacité (P) en modèles automate à états et/ou en logique temporelle. L’étape suivante concerne la vérification formelle du modèle d’un(des) COTS pour l’ensemble des propriétés (P). Cette étape découvrir les états de violation des propriétés (P) appelés états d’erreur. La troisième étape concerne la correction automatique des erreurs détectées en utilisant la technique SCD.Dans cette étape génère on génère un composant correcteur qui sera assemblé au(x) COTS original(aux) pour que leur comportement général respecte les propriétés souhaitées. L’étape suivante concerne la vérification du système contrôlé pour un ensemble de propriétés de vivacité pour assurer la passivité du contrôleur et la vivacité du système. En fin, une étape de simulation est proposée pour observer le comportement du système pour quelque scénarios intéressent par rapport à son implémentation finale.Pour montrer l’applicabilité de la méthode proposée, et sa faculté à être utilisée en milieu industriel, nous l’utilisons sur un exemple de système de contrôle-commande de train.

Published
2013

114. Influence of a new discrete-time LQR-based motion cueing on driving simulator

Author

AYKENT, Baris, MERIENNE, Frédéric, PAILLOT, Damien, KEMENY, Andras, Laboratoire Electronique, Informatique et Image ( Le2i ), Université de Bourgogne ( UB ) -AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Centre National de la Recherche Scientifique ( CNRS ), Technocentre Renault [Guyancourt], RENAULT, Arts et Metiers ParisTech built up the SAAM driving simulator with the partnership of Renault and Grand Chalon. This research was realized in the framework of the geDRIVER project., Laboratoire Electronique, Informatique et Image [UMR6306] (Le2i), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, and HESAM Université (HESAM)-HESAM Université (HESAM)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement

Subjects
[ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], [ SPI.MECA.GEME ] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], motion cueing, washout, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Mécanique: Vibrations [Sciences de l'ingénieur], optimal control, Mécanique: Génie mécanique [Sciences de l'ingénieur], Automatique [Informatique], [ INFO.INFO-HC ] Computer Science [cs]/Human-Computer Interaction [cs.HC], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], [PHYS.MECA.VIBR]Physics [physics]/Mechanics [physics]/Vibrations [physics.class-ph], driving simulator, [SPI.MECA.VIBR]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Vibrations [physics.class-ph], Optimisation et contrôle [Mathématique], linear quadratic regulator (LQR), Automatique / Robotique [Sciences de l'ingénieur], [ SPI.MECA.VIBR ] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Vibrations [physics.class-ph], [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Interface homme-machine [Informatique], [ PHYS.MECA.VIBR ] Physics [physics]/Mechanics [physics]/Vibrations [physics.class-ph], [ PHYS.MECA.GEME ] Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], discrete-time control
Abstract

La version editeur de cet article est disponible à l'adresse suivante : http://onlinelibrary.wiley.com/doi/10.1002/oca.2081/abstract; International audience; This study proposes a method and an experimental validation to analyze dynamics response of the simulator's cabin and platform with respect to the type of the control used in the hexapod driving simulator. In this article, two different forms of motion platform tracking control are performed as a classical motion cueing algorithm and a discrete-time linear quadratic regulator (LQR) motion cueing algorithm. For each situation, vehicle dynamics and motion platform level data are registered from the driving simulation software. In addition, the natural frequencies of the roll accelerations are obtained in real-time by using FFT. The data are denoised by using wavelet 1D transformation. The results show that by using discrete-time LQR algorithm, the roll acceleration amplitudes that correspond to the natural frequencies and the total roll jerk have decreased at the motion platform level. Also, the natural frequencies have increased reasonably by using the discrete LQR motion cueing (1.5-2.2 Hz) compared with using the classical algorithm (0.4-1.5 Hz) at the motion platform, which is an indicator of motion sickness incidence avoidance. The literature shows that lateral motion (roll, yaw, etc.) in the frequency range of 0.1-0.5 Hz induces motion sickness. Furthermore, using discrete-time LQR motion cueing algorithm has decreased the sensation error (motion platform-vehicle (cabin) levels) two times in terms of total roll jerk. In conclusion, discrete-time LQR motion cueing has reduced the simulator sickness more than the classical motion cueing algorithm depending on sensory cue conflict theory.Copyright © 2013 John Wiley & Sons, Ltd.

Published
2013
Full Text
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115. The contribution of closed loop tracking control of motion platform on laterally induced postural instability of the drivers at SAAM dynamic simulator

Author

AYKENT, Baris, MERIENNE, Frédéric, PAILLOT, Damien, KEMENY, Andras, Laboratoire Electronique, Informatique et Image [UMR6306] (Le2i), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement, Technocentre Renault [Guyancourt], RENAULT, Laboratoire Electronique, Informatique et Image ( Le2i ), and Université de Bourgogne ( UB ) -AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Centre National de la Recherche Scientifique ( CNRS )

Subjects
[ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Base de données [Informatique], [ INFO.INFO-MO ] Computer Science [cs]/Modeling and Simulation, [ INFO.INFO-NA ] Computer Science [cs]/Numerical Analysis [cs.NA], Modélisation et simulation [Informatique], dynamic driving simulator, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Automatique [Informatique], [ INFO.INFO-HC ] Computer Science [cs]/Human-Computer Interaction [cs.HC], [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], Mécanique: Biomécanique [Sciences de l'ingénieur], [ PHYS.MECA.BIOM ] Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], [INFO.INFO-DB]Computer Science [cs]/Databases [cs.DB], Analyse numérique [Informatique], [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Optimisation et contrôle [Mathématique], [INFO.INFO-NA]Computer Science [cs]/Numerical Analysis [cs.NA], Automatique / Robotique [Sciences de l'ingénieur], [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, [ INFO.INFO-DB ] Computer Science [cs]/Databases [cs.DB], Interface homme-machine [Informatique], postural stability, virtual reality, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [ SPI.MECA.BIOM ] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], closed loop control, hexapod platform
Abstract

International audience; This paper explains the effect of a motion platform closed loop control comparing to the static condition for driving simulators on postural instability. The postural instabilities of the participants (N=18, 15 male and 3 female subjects) were measured as lateral displacements of subject body centre of pressure (YCP ) just before and after each driving session via a balance platform. After having completed the experiments, the two-tailed Mann-Whitney U test was applied to analyze the objective data for merely the post-exposure cases. The objective data analysis revealed that the YCP for the dynamic case indicated a significant lower value than the static situation (U(18), p < 0,0001). It can be concluded that the closed loop tracking control of the hexapod platform of the driving simulator (dynamic platform condition) decreased significantly the lateral postural stability compared to the static operation condition. However the two-tailed Mann-Whitney U test showed that no significant difference was obtained between the two conditions in terms of psychophysical perception.

Published
2013

116. Relief map of the upper cortical subarachnoid space

Author

Lebret , A., Kenmochi , Y., Hodel , J., Rahmouni , A., Decq , P., Petit , E., Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire d'Informatique Gaspard-Monge (LIGM), Centre National de la Recherche Scientifique (CNRS)-Fédération de Recherche Bézout-ESIEE Paris-École des Ponts ParisTech (ENPC)-Université Paris-Est Marne-la-Vallée (UPEM), Service d'imagerie médicale, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-CHU Henri Mondor-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Service de neuro-chirurgie, Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpital Henri Mondor-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Hôpital Saint-Joseph, Laboratory of Thermodynamics [Mohammed V University], Université Mohammed V de Rabat [Agdal], Biomécanique et génie biomédical (BIM), Centre National de la Recherche Scientifique (CNRS), SIMO, Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Lebret, Alain, Amirat, Yacine, Laboratory of Thermodynamics, Faculty of Science, Mohammed V University, P.O. Box 1014, Rabat, Morocco., Biomécanique et génie biomédical ( BIM ), Centre National de la Recherche Scientifique ( CNRS ), 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 ), and Université Mohammed V de Rabat [Agdal] (UM5)

Subjects
volume, patient monitoring, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, CSF, cerebrospinal fluid, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, relief map, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, computer-aided diagnosis, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, visualization
Abstract

International audience; This paper proposes a method to retrieve a two-dimensional relief map of the cerebrospinal fluid distribution in the upper cortical subarachnoid space from three-dimensional magnetic resonance images. This new representation provides both qualitative and quantitative information on the fluid distribution that surrounds the brain. Relief maps can efficiently be used for the diagnosis and the monitoring of hydrocephalus patients.

Published
2013

117. Étude des systèmes de lois de conservation à interfaces mobiles : application à un procédé d'extrusion

Author

Diagne , Mamadou Lamine, Laboratoire d'automatique et de génie des procédés (LAGEP), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique (CNRS), Université Claude Bernard - Lyon I, Françoise Couenne, Bernhard Maschke, Laboratoire d'automatique et de génie des procédés ( LAGEP ), Université Claude Bernard Lyon 1 ( UCBL ), and Université de Lyon-Université de Lyon-École Supérieure Chimie Physique Électronique de Lyon-Centre National de la Recherche Scientifique ( CNRS )

Subjects
Cauchy problem, Systèmes de lois de conservation, Problème de Cauchy, Systèmes hamiltoniens à ports, Interface mobile, Systèmes à retard, Extrusion process, Systems of conservation laws, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Procédé d’extrusion, Port-Hamiltonian systems, Moving interface, Delay systems
Abstract

This thesis is devoted to the analysis of Partial Differential Equations (PDEs) which are coupled through a moving interface. The motion of the interface obeys to an Ordinary Differential Equation (ODE) which arises from a conservation law. The first part of this thesis concerns the modelling of an extrusion process based on mass, moisture content and energy balances. These balances laws express heat and homogeneous material transport in an extruder by hyperbolic PDEs which are defined in complementary time-varying domains. The evolution of the coupled domains is given by an ODE which is derived from the conservation of mass in an extruder. In the second part of the manuscript, a mathematical analysis has been performed in order to prove the existence and the uniqueness of solution for such class of systems by mean of contraction mapping principle. The third part of the thesis concerns the transformation of an extrusion process mass balance equations into a particular input delay system framework using characteristics method. Then, the stabilization of the moving interface by a predictor-based controller has been proposed. Finally, an extension of the analysis of moving interface problems to a particular class of systems of conservations laws has been developed. Port-Hamiltonian formulation of systems of two conservation laws defined on two complementary time-varying intervals has been studied. It has been shown that the coupled system is a port-Hamiltonian system augmented with two variables being the characteristic functions of the two spatial domains; Cette thèse porte sur l’étude des systèmes de lois de conservation couplés par une interface mobile. Un modèle dynamique d’un procédé d’extrusion obtenu à partir des bilans de masse, de taux d’humidité et d’énergie est proposé. Ce modèle exprime le transport de la matière et de la chaleur dans une extrudeuse par des systèmes d’équations hyperboliques définis sur deux domaines complémentaires variant dans le temps. L’évolution des domaines est dictée par une Equation aux Dérivées Ordinaires (EDO) issue du bilan de masse total dans une extrudeuse. Par le principe des applications contractantes l’existence et l’unicité de la solution pour cette classe de système sont prouvées. Le problème de stabilisation de l’interface mobile est aussi abordé en utilisation le formalisme des systèmes à retard. La méthode des caractéristiques permet de représenter le système composé des équations issues du bilan de masse par un système à retard sur l’entrée. Au moyen d’un contrôleur prédictif la position de l’interface est stabilisée autour d’un point équilibre. La dernière partie de ce travail est dédiée à l’étude des systèmes Hamiltoniens à ports frontière couplés par une interface mobile. Ces systèmes augmentés de variables couleur qui sont des fonctions caractéristiques du domaine peuvent s’exprimer comme des systèmes Hamiltoniens à ports frontière

Published
2013

118. Autonomic Management of Reconfigurable Embedded Systems using Discrete Control: Application to FPGA

Author

An, Xin, Rutten, Eric, Diguet, Jean-Philippe, Le Griguer, Nicolas, Gamatié, Abdoulaye, System architecture for reflective distributed computing environments (SARDES), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Lab-STICC_UBS_CACS_MOCS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), INRIA, 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 ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance ( Lab-STICC ), École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ) -École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ( LIRMM ), Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ), Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [ INFO.INFO-ES ] Computer Science [cs]/Embedded Systems
Abstract

This paper targets the autonomic management of dynamically partially reconfigurable hardware architectures based on FPGAs. Such hardware-level autonomic computing has been less often studied than at software-level. We consider control techniques to model the considered behaviours of the computing system and derive a controller for the control objective enforcement. Discrete Control modelled with Labelled Transition Systems is employed in this paper. Such models are amenable to Discrete Controller Synthesis algorithms that can automatically generate a controller enforcing the correct behaviours of a controlled system. A general modelling framework is proposed for the control of FPGA based computing systems. We consider system application described as task graphs and FPGA as a set of reconfigurable areas that can be dynamically partially reconfigured to execute tasks. We encode the computation of an autonomic manager as a DCS problem w.r.t. multiple constraints and objectives e.g., mutual exclusion of resource uses, power cost minimization. We validate our models and manager computations by using the BZR language and an experimental demonstrator implemented on a Xilinx FPGA platform.; Nous traitons de la gestion autonomique des architectures matérielles dynamique- ment et partiellement reconfigurables á base de FPGAs. Cette forme d'informatique autonomique au niveau matériel a été moins souvent étudié qu'au niveau logiciel. Nous considérons des tech- niques de contrôle pour modéliser les comportements du système de calcul et pour dériver un contrôleur pour le maintien de l'objectif de contrôle. Nous utilisons des techniques de contrôle discret modélisé avec des systèmes de transition étiquetés. Ces modèles se prêtent à une algorith- mique de synthèse de contrôleurs discrets (SCD) qui peut générer automatiquement un contrôleur qui force les comportements corrects d'un système contrôlé. Un cadre général de modélisation est proposé pour le contrôle des systèmes informatiques à base de FPGA. Nous considérons que l'application est décrite par un graphes de tâches, et le FPGA comme un ensemble de zones reconfigurables, qui peuvent être dynamiquement et partiellement reconfigurées pour exécuter des tâches. Nous formulons le calcul d'un gestionnaire autonomique comme un problème de SCD concernant des contraintes et objectifs multiples, par exemple, l'exclusion mutuelle de l'utilisation des ressources, la minimisation du coût en énergie. Nous validons nos modèles et les calculs du gestionnaire en utilisant le langage BZR et un démonstrateur expérimental mis en œuvre sur une plate-forme FPGA Xilinx.

Published
2013

119. Novel Levy based Particle Swarm Optimization algorithm for electrical power grid

Author

Ismail, Brahim, Nakib, Amir, Heliodore, F., SIMO, 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), Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
[SPI.AUTO] Engineering Sciences [physics]/Automatic, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; no abstract

Published
2013

120. Special section on modeling of reactive systems

Author

Abdoulaye Gamatié, Etienne Craye, Centrale Lille, Conception et Test de Systèmes MICroélectroniques (SysMIC), 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), Ecole Centrale de Lille, Conception et Test de Systèmes MICroélectroniques ( SysMIC ), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ( LIRMM ), and Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS )

Subjects
030213 general clinical medicine, 0209 industrial biotechnology, Engineering drawing, Engineering, Automatic control, business.industry, SIGNAL (programming language), 02 engineering and technology, [ INFO.INFO-SE ] Computer Science [cs]/Software Engineering [cs.SE], [INFO.INFO-SE]Computer Science [cs]/Software Engineering [cs.SE], 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Control and Systems Engineering, Modeling and Simulation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Special section, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [ INFO.INFO-SY ] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [ INFO.INFO-ES ] Computer Science [cs]/Embedded Systems, Electrical and Electronic Engineering, business, Reactive system
Abstract

International audience; This Special Section of J-DEDS on Modeling of Reactive Systems was inspired by the eighth edition of the French-speaking conference “Modélisation des Systèmes Réactifs—MSR 2011.” MSR 2011 was organized by the LAGIS (Laboratoire d’Automatique, Génie Informatique et Signal) and LIFL (Laboratoire d’Informatique Fondamentale de Lille) laboratories, and held at École Centrale de Lille, France, on November 16–18, 2011. MSR is a conference that traditionally gathers French-speaking researchers from both the Computer Science and the Automatic Control communities, and that are involved in the modeling, analysis and control of reactive systems.[...]

Published
2013
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121. Y-a-t-il un robot pilote dans l'avion ?

Author

Gentil, Sylviane, Jutten, Christian, GIPSA - Signal et Automatique pour la surveillance, le diagnostic et la biomécanique (GIPSA-SAIGA), 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 Images et Signal (GIPSA-DIS), 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 - Vision and Brain Signal Processing (GIPSA-VIBS), Département Images et Signal (GIPSA-DIS), SAIGA ( GIPSA-SAIGA ), 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-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 ) -Département Images et Signal ( GIPSA-DIS ), 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 ), VIBS ( GIPSA-VIBS ), Département Images et Signal ( GIPSA-DIS ), and Jutten, Christian

Subjects
traitement des images, [ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, automatique, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, traitement du signal, [ SPI.SIGNAL ] Engineering Sciences [physics]/Signal and Image processing, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing
Abstract

DocSciences est une revue de médiation scientifique; National audience; Des systèmes complexes tels un engin spatial ou un avion, tout comme des objets usuels, une voiture, un téléphone, un appareil photo, un lecteur MP3, doivent leur précision et leur fiabilité aux méthodes de traitement du signal et de l'automatique.

Published
2013

122. Level feature fusion of multispectral palm print recognition using the ridgelet transform and OAO multi-class classifier

Author

Bouchemha , A., Doghmane , N., Nait-Ali , A., SYNAPSE, 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 ), 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), and Amirat, Yacine

Subjects
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Ridgelet transform, Multispectral palmprint, palmprint recognition, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, ComputingMethodologies_PATTERNRECOGNITION, Biometrics, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, SVM classifier, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; The performance of a biometric system is based primarily on the quality of physical or behavioral biometric used for a robust and an accurate authentication/identification of an individual. To improve the performance and the robustness of the system, multispectral palmprint images were employed to acquire more discriminative information. In this paper, we introduce a novel multispectral recognition method. In this context, we propose the fusion of palmprint and palm vein features to increase the accuracy of the biometric person recognition. The proposed approach is based on statistical study and energy distribution analysis of Finite Ridgelet transform coefficients, involving so low computation complexity. For multispectral palmprint images recognition, we tested the performance of three classifiers: K nearest neighbor (KNN), Support Vector Machine (SVM) and `One-Against-One' multi-class SVM (OAO-SVM) with RBF kernel using 6-folders cross-validation to assess the generalization capability of the proposed biometric system. The validation of our results is performed on multispectral palmprint images of CASIA database.

Published
2013

123. 3D Geometric Human Face Modeling

Author

Ben Mansour, H., Fournier, Richard, Nait-Ali, A., Slimane, A. Ben, SYNAPSE, 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 ), Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
scanning process, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Euclidian distances, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, 3D human face, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, features points, Geometric model, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; In this paper we propose a new geometric model of 3D human face; this method relies on the analysis of a set of 3D facial data which are obtained by using 3D laser scanner. Our analysis of the different features points coordinates reveals that the 3D Euclidian distances in 3D scanned face are proportional to the horizontal distance between two eyes. The proposed approach has been obtained after being tested in more than 14 face scans. The set of faces scans which are used for experimental experience have different ages, different sex and also they are from different regions. Experimental results show that the proposed enhancement of such geometric model will later be used to improve not only the 3D face scanning process by knowing the location of the most features from eyebrows, nose and lips, then it is not necessary to scan all the face for recognition, but also involves to perform the extraction and the regeneration of significant facial features. Therefore, it has been found that this model can be used in biometric applications, virtual reality applications, facial expression simulation and computer based plastic surgery application.

Published
2013

124. Influence of Inertial Stimulus on Visuo-Vestibular Cues Conflict for Lateral Dynamics at Driving Simulators

Author

Frédéric Merienne, Baris Aykent, Damien Paillot, Andras Kemeny, Laboratoire Electronique, Informatique et Image ( Le2i ), Université de Bourgogne ( UB ) -AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Centre National de la Recherche Scientifique ( CNRS ), Technocentre Renault [Guyancourt], RENAULT, Laboratoire Electronique, Informatique et Image [UMR6306] (Le2i), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, and HESAM Université (HESAM)-HESAM Université (HESAM)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement

Subjects
[ INFO.INFO-MO ] Computer Science [cs]/Modeling and Simulation, Visuo-vestibular interaction, [ INFO.INFO-NA ] Computer Science [cs]/Numerical Analysis [cs.NA], Computer science, Sensory cues conflict, 02 engineering and technology, Driving simulator, Modélisation et simulation [Informatique], Lateral dynamics, Virtual reality, Mécanique: Vibrations [Sciences de l'ingénieur], Correlation, 03 medical and health sciences, 0302 clinical medicine, Automatique [Informatique], Match moving, [ INFO.INFO-HC ] Computer Science [cs]/Human-Computer Interaction [cs.HC], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Statistics, Linear regression, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, medicine, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Simulation, Vestibular system, Analyse numérique [Informatique], [INFO.INFO-NA]Computer Science [cs]/Numerical Analysis [cs.NA], medicine.disease, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Confidence interval, Motion sickness, Interface homme-machine [Informatique], Mann–Whitney U test, 020201 artificial intelligence & image processing, 030217 neurology & neurosurgery
Abstract

Version éditeur de cet article : Aykent B, Merienne F, Paillot D, Kemeny A (2013) Influence of Inertial Stimulus on Visuo-Vestibular Cues Conflict for Lateral Dynamics at Driving Simulators. J Ergonomics 3: 113. doi:10.4172/2165-7556.1000113 This paper explains the effect of having an inertial stimulus (motion platform) for driving simulators on proximity to the reality for the sensed lateral dynamics with respect to the measurements and the perceptual fidelity using a questionnaire technique. To assess this objectively, the vestibular and vehicle level lateral accelerations (ay,sensed=ay_ vest, ayv =ay_veh ) were saved by using a motion tracking sensor and SCANeR studio software respectively. A confidence interval of 95% was chosen to test the correlations (Pearson’s correlation) and to fit models for the distributions of the visual-vestibular lateral accelerations with the multiple linear regression between the conditions of static (N=16) and dynamic (N=21) platform cases in terms of visuo-vestibular level lateral accelerations for the group of subjects (N=37). The results showed that the dynamic platform provides a higher lateral dynamics reality (positive correlation with an incidence of 90.48% for N=21) compared to the static configuration (negative correlation with an incidence of 50% for N=16) from Pearson’s correlation and a better fitted model and a lower visuo-vestibular cues’ conflict for the dynamic (R2 =0.429, the model is positive sloped, N=21) condition comparing to the static one (R2 =0.072, the model is negative sloped, N=16) from the multiple linear regression models. A two-tailed Mann Whitney U test yielded that the Ucomputed (2139)>Uexpected (1300.5) as p

Published
2013
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125. Ubiquitous Robotics: Recent Challenges and Future Trends

Author

Chibani, A., Amirat, Yacine, Mohammed, Samer, Matson, E., Hagita, N., Baretto, M., 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), Purdue University [West Lafayette], ATR Intelligent Robotics and Communication Laboratories, Universidade Federal da Bahia (UFBA), Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
Networked robots, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Ambient intelligence, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Cloud robotic, Ubiquitous robots
Abstract

International audience; Ambient intelligence, ubiquitous and networked robots, and cloud robotics are new research hot topics that have started to gain popularity among the robotics community. They enable robots to acquire richer functionalities and open the way for the composition of a variety of robotic services with three functions: semantic perception, reasoning and actuation. Ubiquitous robots (ubirobots) overcome the limitations of stand-alone robots by integrating them with web services and ambient intelligence technologies. The overlap that exists now between ubirobots and ambient intelligence makes their integration worthwhile. It targets to create a hybrid physical-digital space rich with a myriad of proactive intelligent services that enhance the quality and the way of our living and working. Furthermore, the emergence of cloud computing initiates the massive use of a new generation of ubirobots that enrich their cognitive capabilities and share their knowledge by connecting themselves to cloud infrastructures. The future of ubirobots will certainly be open to an unlimited space of applications such as physical and virtual companions assisting people in their daily living, ubirobots that are able to co-work alongside people and cooperate with them in the same environment, and physical and virtual autonomic guards that are able to protect people, monitor their security and safety, and rescue them in indoor and outdoor spaces. This paper introduces the recent challenges and future trends on these topics.

Published
2013

126. Nonlinear Disturbance Observer Based Sliding Mode Control of a Human-Driven Knee Joint Orthosis

Author

Mohammed , Samer, Huang , J., Rifai , H., Amirat , Yacine, 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 ), Geodetic Survey Division, Natural Resources Canada, Ottawa, Université du Québec, 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), School of Automation [HUST], Huazhong University of Science and Technology [Wuhan] (HUST), and Amirat, Yacine

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2013

127. Métaheuristiques pour l'ordonnancement multicritère et les problèmes de transport

Author

Jarboui , B., Siarry , P., Teghem , J., Chercheur indépendant, SIMO, 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), 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 ), and Amirat, Yacine

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2013

128. Frequency-Dependent Peak-Over-Threshold algorithm for fault detection in the spectral domain

Author

Hazan, Aurélien, Madani, Kurosh, SYNAPSE, 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), Hazan, Aurélien, 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 ), and Amirat, Yacine

Subjects
[INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, extreme, detection, [SPI.MECA]Engineering Sciences [physics]/Mechanics [physics.med-ph], [SPI.MECA] Engineering Sciences [physics]/Mechanics [physics.med-ph], [STAT.ML] Statistics [stat]/Machine Learning [stat.ML], spectrum, novelty, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, vibration, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, ComputingMilieux_MISCELLANEOUS, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing
Abstract

International audience; An original novelty detection algorithm in the Fourier domain, using extreme value theory (EVT) is considered in this article. Periodograms may be considered as frequency-dependent random vari- ables, and this can be taken into account when designing statistical tests. Frequency-Dependent Peak-Over-Threshold (FDPOT) puts special em- phasis on the frequency dependence of extreme value statistics, thanks to Vector Generalized Additive Models (VGAM) estimation. An application is discussed in the field of mechanical vibrations. It is first shown that performance increases compared to POT detection. Then FDPOT is compared to state-of-the-art algorithms such as KPCA.

Published
2013

129. Stabilité des systèmes non linéaires sous échantillonnage apériodique

Author

Hassan Omran, Laurentiu Hetel, Jean-Pierre Richard, Françoise Lamnabhi-Lagarrigue, Systèmes Non Linéaires et à Retards (SyNeR), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Non-Asymptotic estimation for online systems (NON-A), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Systèmes Non Linéaires et à Retards ( SyNeR ), Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 ( CRIStAL ), Ecole Centrale de Lille-Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ) -Ecole Centrale de Lille-Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ), Laboratoire des signaux et systèmes ( L2S ), Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ), Inria Lille - Nord Europe, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL)

Subjects
Physics, 0209 industrial biotechnology, système non linéaire, Lyapunov, 02 engineering and technology, stability, Industrial and Manufacturing Engineering, Computer Science Applications, dissipativité, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, sampled-data control, Control and Systems Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, contrôleur échantillonné, Electrical and Electronic Engineering, nonlinear systems, stabilité, Humanities, ComputingMilieux_MISCELLANEOUS, dissipativity
Abstract

International audience; This paper concerns the stability analysis of nonlinear sampled-data systems. Assuming the existence of a stabilizing continuous-time controller, we intend to provide sufficient asymptotic/exponential stability conditions for the digital implementation with asynchronous sampled-data. An allowable upper bound of the sampling interval is provided. The stability analysis problem is formulated both globally and locally. The main idea is to address the problem in the framework of dissipativity theory. Furthermore, the result is particularized for the class of polynomial sampled-data systems, where stability may be tested numerically using sum of squares decomposition and semidefinite programming.; Cet article est dédié à l’analyse de la stabilité de systèmes non linéaires commandés par un contrôleur échantillonné non nécessairement périodique. Nous supposons qu’il existe une commande stabilisante en temps continu. Lors de l’implantation numérique de cette commande, il s’agit de trouver des conditions préservant la stabilité asymptotique/exponentielle sous échantillonnage. Les conditions sont formulées à la fois pour la stabilité globale et la stabilité locale. Nous estimons une borne supérieure des pas d’échantillonnage dans le cas asynchrone (non périodique). L’idée principale est d’aborder le problème dans le cadre de la dissipativité. Le résultat est ensuite repris dans le cas spécifique des systèmes non linéaires polynomiaux, où les conditions de stabilité sont vérifiées numériquement en utilisant la décomposition en somme des carrés (SOS) et la programmation semi-définie.

Published
2013

130. Markov-History Based Modeling for Realistic Mobility of Vehicles in VANETs

Author

Abdelhamid Mellouk, Salim Bitam, Amirat, Yacine, CIR, LISSI, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), CIR, Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Benaouda, Farida, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
Mobility model, Computer science, Real-time computing, Markov chain, Initialization, Markov process, 02 engineering and technology, [INFO] Computer Science [cs], [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL], [SPI.AUTO]Engineering Sciences [physics]/Automatic, symbols.namesake, Waypoint, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Vehicular ad-hoc network, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, [INFO]Computer Science [cs], Simulation, ComputingMilieux_MISCELLANEOUS, Vehicular ad hoc network, Realistic mobility model, Network packet, Ns-2, Node (networking), 020206 networking & telecommunications, History-based model, [SPI.AUTO] Engineering Sciences [physics]/Automatic, [INFO.INFO-CL] Computer Science [cs]/Computation and Language [cs.CL], symbols, 020201 artificial intelligence & image processing, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

International audience; Vehicular ad-hoc networks (VANETs) can be considered as complex dynamic systems where simulation modeling plays a crucial role in conducting research due to the difficulties in the realization of such a network, like high costs, risks and dangers. During the last decade, the results of VANET simulations were considered successful and acceptable however, most prior VANET simulators were based on non realistic mobility when describing node positions, distribution, frequency and movement, model paths, traffic signals etc. To deal with this challenge, we propose in this paper a Markov-History based modeling for realistic mobility of vehicles in VANETs. It starts with a geographic area digitization, followed by a vehicle positions initialization. The proposed model predicts directions of the vehicles using a Markov chain, as well as it predicts the vehicle velocities using a History-based sub-model. Moreover, the density of the network is updated according to the peak or off-peak hours. The emerged model can be used as mobility model to simulate VANET scenarios. To validate our proposal, a concrete mobility model has been designed using the proposed model that represents the downtown of Biskra City located in Algeria. The performances of the resulting network have been proved against the others obtained using Random Waypoint as a standard mobility model in terms of packet delivery ratio, network overhead, average end-to-end delay, and dropped packets.

Published
2013

131. A Cognitive Approach for Robots’ Autonomous Learning

Author

Christophe Sabourin, Dominik M. Ramík, Kurosh Madani, Amirat, Yacine, Madani, Kurosh, SYNAPSE, 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), 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 ), I. Rojas and G. Joya and J. Gabestany Eds, and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
Visual saliency, [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], Learning by interaction, Computer science, [SCCO.COMP]Cognitive science/Computer science, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Robot learning, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Human–computer interaction, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Autonomous learning, ComputingMilieux_MISCELLANEOUS, Intelligent system, business.industry, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Cognition, [SPI.AUTO] Engineering Sciences [physics]/Automatic, [ SCCO.COMP ] Cognitive science/Computer science, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, 030217 neurology & neurosurgery, Humanoid robot
Abstract

International audience; In this work we contribute to development of a real-time intelligent system allowing to discover and to learn autonomously new knowledge about the surrounding world by semantically interacting with human. The learning is accomplished by observation and by interaction with a human tutor. We provide experimental results as well using simulated environment as implementing the approach on a humanoid robot in a real-world environment including every-day objects. We show, that our approach allows a humanoid robot to learn without negative input and from small number of samples.

Published
2013
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132. Advances in Heuristic Signal Processing and Applications

Author

Amitava Chatterjee, Patrick Siarry, Hadi Nobahari, Chercheur indépendant, SIMO, 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), Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
Computer science, Heuristic (computer science), [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, Computational intelligence, 02 engineering and technology, Machine learning, computer.software_genre, Swarm intelligence, Multidimensional signal processing, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, 0202 electrical engineering, electronic engineering, information engineering, ComputingMilieux_MISCELLANEOUS, Signal processing, business.industry, 020206 networking & telecommunications, Video processing, Computer engineering, 020201 artificial intelligence & image processing, Artificial intelligence, Heuristics, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Wireless sensor network, computer
Abstract

There have been significant developments in the design and application of algorithms for both one-dimensional signal processing and multidimensional signal processing, namely image and video processing, with the recent focus changing from a step-by-step procedure of designing the algorithm first and following up with in-depth analysis and performance improvement to instead applying heuristic-based methods to solve signal-processing problems. In this book the contributing authors demonstrate both general-purpose algorithms and those aimed at solving specialized application problems, with a special emphasis on heuristic iterative optimization methods employing modern evolutionary and swarm intelligence based techniques. The applications considered are in domains such as communications engineering, estimation and tracking, digital filter design, wireless sensor networks, bioelectric signal classification, image denoising, and image feature tracking. The book presents interesting, state-of-the-art methodologies for solving real-world problems and it is a suitable reference for researchers and engineers in the areas of heuristics and signal processing.

Published
2013

133. Metaheuristics for Production Scheduling

Author

Bassem Jarboui, Jacques Teghem, Patrick Siarry, Chercheur indépendant, SIMO, 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), 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 ), and Amirat, Yacine

Subjects
0209 industrial biotechnology, Mathematical optimization, 021103 operations research, 020901 industrial engineering & automation, Computer science, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0211 other engineering and technologies, 02 engineering and technology, Metaheuristic, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2013

134. Safeplatoon: surete de convois de vehicules autonomes

Author

Adouane , Lounis, Aufrère , Romuald, Avanzini , Pierre, Bresson , Guillaume, Roland , Chapuis, Derutin , Jean-Pierre, Royer , Eric, Thuilot , Benoît, Vilca Ventura , José Miguel, Dafflon , Baudouin, El-Zaher , Madeleine, Gechter , Franck, Guériau , Maxime, Gruer , Pablo, Koukam , Abderrafiaa, Debain , Christophe, Lenain , Roland, BENCHOAIB , Monir, Institut Pascal - Clermont Auvergne (IP), Sigma CLERMONT (Sigma CLERMONT)-Université Clermont Auvergne (UCA)-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS), VEhicule DEcarboné et COmmuniquant et sa Mobilité (VeDeCom), Institut Pascal (IP), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Sigma CLERMONT (Sigma CLERMONT)-Centre National de la Recherche Scientifique (CNRS), Décision et Information pour les Systèmes de Production (DISP), Université Lumière - Lyon 2 (UL2)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-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), Université Bourgogne Franche-Comté [COMUE] (UBFC), Laboratoire Systèmes et Transports (SET), Université de Technologie de Belfort-Montbeliard (UTBM)-Institut de Recherche sur les Transports, l'Energie et la Société - IRTES, Université de Technologie de Belfort-Montbeliard (UTBM), Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA), Technologies et systèmes d'information pour les agrosystèmes (UR TSCF), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS), Adouane, Lounis, Institut Pascal - Clermont Auvergne ( IP ), Sigma CLERMONT ( Sigma CLERMONT ) -Université Clermont Auvergne ( UCA ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire des sciences et matériaux pour l'électronique et d'automatique ( LASMEA ), Université Blaise Pascal - Clermont-Ferrand 2 ( UBP ) -Centre National de la Recherche Scientifique ( CNRS ), VEhicule DEcarboné et COmmuniquant et sa Mobilité ( VeDeCom ), Institut Pascal ( IP ), Université Blaise Pascal - Clermont-Ferrand 2 ( UBP ) -Sigma CLERMONT ( Sigma CLERMONT ) -Centre National de la Recherche Scientifique ( CNRS ), Décision et Information pour les Systèmes de Production ( DISP ), Université Lumière - Lyon 2 ( UL2 ) -Université Claude Bernard Lyon 1 ( UCBL ), Université de Lyon-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 ), Université Bourgogne Franche-Comté ( UBFC ), Laboratoire Systèmes et Transports ( SET ), Université de Technologie de Belfort-Montbeliard ( UTBM ) -Institut de Recherche sur les Transports, l'Energie et la Société - IRTES, Université de Technologie de Belfort-Montbeliard ( UTBM ), Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture ( IRSTEA ), and Technologies et systèmes d'information pour les agrosystèmes ( UR TSCF )

Subjects
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], [SPI.AUTO] Engineering Sciences [physics]/Automatic, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [ INFO.INFO-SY ] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AI ] Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2013

135. Path planning for redundant manipulators using metaheuristic for bilevel optimization and maximum of manipulability

Author

Riad Menasri, Patrick Siarry, Amir Nakib, Gaetan Hains, Hamouche Oulhadj, Boubaker Daachi, Amirat, Yacine, 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 ), SIMO, 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), Laboratoire d'Algorithmique Complexité et Logique (LACL), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
0209 industrial biotechnology, Mathematical optimization, 02 engineering and technology, Bilevel optimization, law.invention, Computer Science::Robotics, 020901 industrial engineering & automation, law, Position (vector), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Genetic algorithm, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Redundancy (engineering), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Motion planning, Metaheuristic, ComputingMilieux_MISCELLANEOUS, Mathematics, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Robot end effector, Path (graph theory), 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

International audience; In this paper, we propose a novel path planning method for a robot manipulator in the case of several obstacles. The path is generated by steps. At each step, a new position of the end effector is found in the Cartesian space. The redundancy of the manipulator, imposes that this position can be found by an infinity of configurations in the joint space. Thus, we search the best configuration which allows to avoid obstacles and singularities of the robot. This method is based on using the bilevel genetic algorithm to solve this problem. Simulation results showed the effectiveness of the proposed approach.

Published
2013

136. MO-TRIBES for the optimal design of analog filters

Author

Patrick Siarry, Mourad Fakhfakh, Amirat, Yacine, G. Fornarelli and L. Mescia, Chercheur indépendant, SIMO, 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), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )

Subjects
Optimal design, Computer science, 020208 electrical & electronic engineering, 02 engineering and technology, Analog multiplier, Analogue filter, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Hardware_INTEGRATEDCIRCUITS, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, 020201 artificial intelligence & image processing, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

The authors present the use of swarm intelligence in the analog design field. MO-TRIBES, which is an adaptive user-parameter less version of the multi-objective particle swarm optimization technique, is applied for the optimal design of a versatile building block, namely a CMOS current conveyor transconductance amplifier (CCTA). The optimized CCTA is used for the design of a universal filter. Good reached results are highlighted via SPICE simulations, and are compared to the theoretical ones. The use of such adaptive optimization algorithm is of great interest in the analog circuit design, as it is highlighted in this chapter.

Published
2013

137. Smart GSM Based Home Automation System

Author

Kok Wai Chan, Mok Vee Hoong, Salah Addin Ahmed, Rozita Teymourzadeh, Teymourzadeh, Rozita, and UCSI University

Subjects
Signal Processing (eess.SP), [INFO.INFO-AR] Computer Science [cs]/Hardware Architecture [cs.AR], Short Message Service, [ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, Serial communication, Computer science, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-SE] Computer Science [cs]/Software Engineering [cs.SE], [ INFO.INFO-SE ] Computer Science [cs]/Software Engineering [cs.SE], RS232 standard, [ INFO.INFO-AO ] Computer Science [cs]/Computer Arithmetic, GSM, Home automation, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, FOS: Electrical engineering, electronic engineering, information engineering, [ INFO.INFO-ES ] Computer Science [cs]/Embedded Systems, Electrical Engineering and Systems Science - Signal Processing, Protocol (object-oriented programming), business.industry, [INFO.INFO-ES] Computer Science [cs]/Embedded Systems, Microcontroller, [ INFO.INFO-CC ] Computer Science [cs]/Computational Complexity [cs.CC], Embedded system, Global System for Mobile Communication (GSM), Short Message Service (SMS), [INFO.INFO-AO] Computer Science [cs]/Computer Arithmetic, [INFO.INFO-CC] Computer Science [cs]/Computational Complexity [cs.CC], Mobile telephony, [ INFO.INFO-AR ] Computer Science [cs]/Hardware Architecture [cs.AR], PIC microcontroller, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

This research work investigates the potential of Full Home Control, which is the aim of the Home Automation Systems in near future. The analysis and implementation of the home automation technology using Global System for Mobile Communication (GSM) modem to control home appliances such as light, conditional system, and security system via Short Message Service (SMS) text messages is presented in this paper. The proposed research work is focused on the functionality of the GSM protocol, which allows the user to control the target system away from residential using the frequency bandwidths. The concept of serial communication and AT-commands has been applied towards the development of the smart GSM-based home automation system. Homeowners will be able to receive feedback status of any home appliances under control whether switched on or off remotely from their mobile phones. PIC16F887 microcontroller with the integration of GSM provides the smart automated house system with the desired baud rate of 9600 bps. The proposed prototype of GSM based home automation system was implemented and tested with a maximum of four loads and shows the accuracy of greater or equal 98%., Comment: Conference on Systems Process and Control (ICSPC 2013) Page 306 _ 309

Published
2013
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138. Evidence Combination Based on CSP Modeling

Author

Sebbak , F., Benhammadi , F., Mokhtari , A., Chibani , A., Amirat , Yacine, 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 ), 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), Laboratoire de Recherche en Intelligence Artificielle [Alger] (LRIA), Université des Sciences et de la Technologie Houari Boumediene [Alger] (USTHB), Ecole Militaire Polytechnique [Alger] (EMP), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie], Amirat, Yacine, and Université des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (USTHB)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract

International audience; The evidence theory and its variants are mathematical formalisms used to represent uncertain as well as ambiguous data. The evidence combination rules proposed in these formalisms agree with Bayesian probability calculus in special cases but not in general. To get more reconcilement between the belief functions theory with the Bayesian probability calculus, this work proposes a new way of combining beliefs to estimate combined evidence. This approach is based on the Constraint Satisfaction Problem modeling. Thereafter, we combine all solutions of these constraint problems using Dempster's rule. This mathematical formalism is tested using information system security risk simulations. The results show that our model produces intuitive results and agrees with the Bayesian probability calculus.

Published
2013

139. Towards Movement Restoration of Knee Joint Using Robust Control of Powered Orthosis

Author

Mefoued, S., Mohammed, Samer, Amirat, Yacine, 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), 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 ), and Amirat, Yacine

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Powered orthosis/exoskeleton, Second-order sliding mode control, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Dynamic modeling
Abstract

International audience; Powered orthoses are external mechanical devices used to stabilize human limbs, to restore or to reinforce lost or weak functions of people with reduced mobility. The embodied actuators produce the necessary joint torques to compensate gravity and passive effort as well as to generate the intended human movements. Nonlinearities due to human orthosis coupling, as well as modeling errors, parameter uncertainties, and external disturbances, necessitate the use of a robust closed-loop controller in order to guarantee precise movement generation. This paper aims to present a new prototype of an actuated knee joint orthosis using a robust controller. This orthosis is designed to restore or to assist knee-joint movements of dependent people. Dynamic modeling of the lower limb/orthosis is presented, and its parameters are estimated using different techniques. Control strategies based on second-order sliding mode are applied, which show satisfactory performance compared to classical controllers in terms of tracking errors and robustness with respect to parameter uncertainties and external disturbances. Real-time experiments are conducted on healthy subjects to illustrate the efficiency of the proposed approach.

Published
2013

140. Global exponential sampled-data observers for nonlinear systems with delayed measurements

Author

Françoise Lamnabhi-Lagarrigue, Iasson Karafyllis, Tarek Ahmed-Ali, Equipe Automatique - Laboratoire GREYC - UMR6072, Groupe de Recherche en Informatique, Image, Automatique et Instrumentation de Caen ( GREYC ), Université de Caen Normandie ( UNICAEN ), Normandie Université ( NU ) -Normandie Université ( NU ) -Ecole Nationale Supérieure d'Ingénieurs de Caen ( ENSICAEN ), Normandie Université ( NU ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Caen Normandie ( UNICAEN ), Normandie Université ( NU ) -Centre National de la Recherche Scientifique ( CNRS ), Department of Environmental Engineering - Grèce, Technical University of Crete [Chania], Division Systèmes - L2S, Laboratoire des signaux et systèmes ( L2S ), Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ), Groupe de Recherche en Informatique, Image et Instrumentation de Caen (GREYC), Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Ingénieurs de Caen (ENSICAEN), Normandie Université (NU)-Normandie Université (NU)-Université de Caen Normandie (UNICAEN), Normandie Université (NU)-Centre National de la Recherche Scientifique (CNRS)-École Nationale Supérieure d'Ingénieurs de Caen (ENSICAEN), Normandie Université (NU), Laboratoire des signaux et systèmes (L2S), and Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, General Computer Science, Observer (quantum physics), 02 engineering and technology, Systems and Control (eess.SY), Exponential observers, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, Nonlinear sampled-data systems, State predictors, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, FOS: Mathematics, FOS: Electrical engineering, electronic engineering, information engineering, Observer design, Electrical and Electronic Engineering, Mathematics - Optimization and Control, Mathematics, Observational error, Exponential convergence, Mechanical Engineering, Sampling schedule, Exponential function, Nonlinear system, Control and Systems Engineering, Optimization and Control (math.OC), State predictor, Computer Science - Systems and Control, 020201 artificial intelligence & image processing, System error
Abstract

This paper presents new results concerning the observer design for wide classes of nonlinear systems with both sampled and delayed measurements. By using a small gain approach we provide sufficient conditions, which involve both the delay and the sampling period, ensuring exponential convergence of the observer system error. The proposed observer is robust with respect to measurement errors and perturbations of the sampling schedule. Moreover, new results on the robust global exponential state predictor design problem are provided, for wide classes of nonlinear systems., 17 pages, submitted for possible publication to Systems and Control Letters

Published
2013
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141. Joint segmentation of multivariate time series with hidden process regression for human activity recognition

Author

Yacine Amirat, Samer Mohammed, Faicel Chamroukhi, Dorra Trabelsi, Latifa Oukhellou, Laboratoire des Sciences de l'Information et des Systèmes (LSIS), Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Université de Toulon (UTLN)-Aix Marseille Université (AMU), 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), Génie des Réseaux de Transport Terrestres et Informatique Avancée (IFSTTAR/COSYS/GRETTIA), Communauté Université Paris-Est-Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR), Laboratoire des Sciences de l'Information et des Systèmes ( LSIS ), Aix Marseille Université ( AMU ) -Université de Toulon ( UTLN ) -Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique ( CNRS ), 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 ), Génie des Réseaux de Transport Terrestres et Informatique Avancée ( IFSTTAR/COSYS/GRETTIA ), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux ( IFSTTAR ) -Communauté Université Paris-Est, Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique (CNRS), and Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-Communauté Université Paris-Est

Subjects
FOS: Computer and information sciences, 0209 industrial biotechnology, Multivariate statistics, Computer science, Cognitive Neuroscience, Feature extraction, Machine Learning (stat.ML), Context (language use), 02 engineering and technology, Machine learning, computer.software_genre, Machine Learning (cs.LG), Activity recognition, 020901 industrial engineering & automation, Statistics - Machine Learning, Artificial Intelligence, Expectation–maximization algorithm, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Segmentation, Hidden Markov model, RECONNAISSANCE, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Pattern recognition, Computer Science Applications, Computer Science - Learning, Unsupervised learning, 020201 artificial intelligence & image processing, Artificial intelligence, business, computer
Abstract

International audience; The problem of human activity recognition is central for understanding and predicting the human behavior, in particular in a prospective of assistive services to humans, such as health monitoring, well being, security, etc. There is therefore a growing need to build accurate models which can take into account the variability of the human activities over time (dynamic models) rather than static ones which can have some limitations in such a dynamic context. In this paper, the problem of activity recognition is analyzed through the segmentation of the multidimensional time series of the acceleration data measured in the 3-d space using body-worn accelerometers. The proposed model for automatic temporal segmentation is a specific statistical latent process model which assumes that the observed acceleration sequence is governed by sequence of hidden (unobserved) activities. More specifically, the proposed approach is based on a specific multiple regression model incorporating a hidden discrete logistic process which governs the switching from one activity to another over time. The model is learned in an unsupervised context by maximizing the observed-data log-likelihood via a dedicated expectation-maximization (EM) algorithm. We applied it on a real-world automatic human activity recognition problem and its performance was assessed by performing comparisons with alternative approaches, including well-known supervised static classifiers and the standard hidden Markov model (HMM). The obtained results are very encouraging and show that the proposed approach is quite competitive even it works in an entirely unsupervised way and does not requires a feature extraction preprocessing step.

Published
2013
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142. Variation of the ultrasonic response of a dental implant embedded in tricalcium silicate-based cement under cyclic loading

Author

Adrien Michel, Romain Vayron, Gilles Richard, Vincent Mathieu, Patrick Karasinski, Gregory Lambert, Guillaume Haiat, Domitille Loriot, Laboratoire de Modélisation et Simulation Multi Echelle (MSME), Université Paris-Est Marne-la-Vallée (UPEM)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Septodont, Laboratoire de Modélisation et Simulation Multi Echelle ( MSME ), Université Paris-Est Marne-la-Vallée ( UPEM ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), and Centre National de la Recherche Scientifique (CNRS)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Marne-la-Vallée (UPEM)

Subjects
Dental Stress Analysis, [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Materials science, medicine.medical_treatment, 0206 medical engineering, Biomedical Engineering, Biophysics, Context (language use), 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Stress (mechanics), 03 medical and health sciences, 0302 clinical medicine, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, medicine, Orthopedics and Sports Medicine, Dental implant, ComputingMilieux_MISCELLANEOUS, Dental Implants, Cement, Silicates, Rehabilitation, Bone Cements, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Acoustics, 030206 dentistry, Calcium Compounds, 020601 biomedical engineering, Ultrasonic sensor, Stress, Mechanical, Implant, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Material properties, Biomedical engineering, Tricalcium silicate
Abstract

The use of tricalcium silicate-based cement (TSBC) as bone substitute material for implant stabilization is promising. However, its mechanical behavior under fatigue loading in presence of a dental implant was not reported so far because of the difficulty of measuring TSBC properties around a dental implant in a nondestructive manner. The aim of this study is to investigate the evolution of the 10 MHz ultrasonic response of a dental implant embedded in TSBC versus fatigue time. Seven implants were embedded in TSBC following the same experimental protocol used in clinical situations. One implant was left without any mechanical solicitation after its insertion in TSBC. The ultrasonic response of all implants was measured during 24 h using a dedicated device deriving from previous studies. An indicator I based on the temporal variation of the signal amplitude was derived and its variation as a function of fatigue time was determined. The results show no significant variation of I as a function of time without mechanical solicitation, while the indicator significantly increases (p

Published
2013
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143. An Unsupervised Approach for Automatic Activity Recognition based on Hidden Markov Model Regression

Author

Latifa Oukhellou, Faicel Chamroukhi, Samer Mohammed, Dorra Trabelsi, Yacine Amirat, 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 ), Laboratoire des Sciences de l'Information et des Systèmes ( LSIS ), Aix Marseille Université ( AMU ) -Université de Toulon ( UTLN ) -Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique ( CNRS ), Génie des Réseaux de Transport Terrestres et Informatique Avancée ( IFSTTAR/COSYS/GRETTIA ), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux ( IFSTTAR ) -Communauté Université Paris-Est, 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), Laboratoire des Sciences de l'Information et des Systèmes (LSIS), Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Université de Toulon (UTLN)-Aix Marseille Université (AMU), Génie des Réseaux de Transport Terrestres et Informatique Avancée (IFSTTAR/COSYS/GRETTIA), Communauté Université Paris-Est-Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Aix Marseille Université (AMU)-Université de Toulon (UTLN)-Arts et Métiers Paristech ENSAM Aix-en-Provence-Centre National de la Recherche Scientifique (CNRS), and Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-Communauté Université Paris-Est

Subjects
FOS: Computer and information sciences, Computer science, Computer Vision and Pattern Recognition (cs.CV), Computer Science - Computer Vision and Pattern Recognition, Context (language use), Machine Learning (stat.ML), 02 engineering and technology, 01 natural sciences, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Machine Learning (cs.LG), Activity recognition, Statistics - Machine Learning, REGRESSION, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Segmentation, Electrical and Electronic Engineering, Hidden Markov model, RECONNAISSANCE, Ground truth, business.industry, 010401 analytical chemistry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Pattern recognition, 0104 chemical sciences, Computer Science - Learning, ComputingMethodologies_PATTERNRECOGNITION, Control and Systems Engineering, 020201 artificial intelligence & image processing, Artificial intelligence, business
Abstract

International audience; Using supervised machine learning approaches to recognize human activities from on-body wearable accelerometers generally requires a large amount of labeled data. When ground truth information is not available, too expensive, time consuming or difficult to collect, one has to rely on unsupervised approaches. This paper presents a new unsupervised approach for human activity recognition from raw acceleration data measured using inertial wearable sensors. The proposed method is based upon joint segmentation of multidimensional time series using a Hidden Markov Model (HMM) in a multiple regression context. The model is learned in an unsupervised framework using the Expectation-Maximization (EM) algorithm where no activity labels are needed. The proposed method takes into account the sequential appearance of the data. It is therefore adapted for the temporal acceleration data to accurately detect the activities. It allows both segmentation and classification of the human activities. Experimental results are provided to demonstrate the efficiency of the proposed approach with respect to standard supervised and unsupervised classification approaches.

Published
2013
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144. Mathematical Maintenance Model for Medical Equipment

Author

Khalaf, A., Hamam, Y., Djouani, Karim, 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 ), Amirat, Yacine, Tshwane University of Technology/F'SATI, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], ComputingMilieux_MISCELLANEOUS, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract

International audience; Although medical equipment maintenance has been well planned and executed for more than 30 years, very few studies have been conducted to measure and evaluate its effectiveness in terms of reliability and availability for service delivery. The ongoing unresolved debate in clinical engineering is whether preventive maintenance (PM) is actually necessary and, if so, how often and which tasks need to be performed. A mathematical maintenance modelling approach is used to analyse the survival probability of various medical equipment. This approach allows exploring the impact of PM, CM and combined PM/CM on the availability of equipment and will contribute to the intensified debate regarding PM. Maintenance strategies is analysed and a new failure-cost model was developed, which allows adopting appropriate PM intervals for various types of medical equipment. The analytical model to calculate the number of failures and costs associated with PM and CM is a significant contribution. The optimisation problem related to preventive maintenance scheduling using a Mixed-Integer Mathematical Programming solver was solved and compared to a proposed Greedy Algorithm.

Published
2013

145. Nested Saturation Based Control of an Actuated Knee Joint Orthosis

Author

Hala Rifai, Samer Mohammed, Walid Hassani, Yacine Amirat, 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 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
0209 industrial biotechnology, Engineering, Inertial frame of reference, Asymptotic stability, Stability (learning theory), 02 engineering and technology, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Exponential stability, Control theory, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Bounded control, business.industry, Mechanical Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Control engineering, Computer Science Applications, Nonlinear system, Knee joint orthosis, Control and Systems Engineering, Bounded function, Robot, Robust control, business, 030217 neurology & neurosurgery
Abstract

International audience; Wearable robots have opened a new horizon for assistance and rehabilitation of dependent/elderly persons. The present study deals with the control of an actuated lower limb orthosis at the knee joint level. The dynamics of the shank-foot-orthosis system are expressed through a nonlinear second order model taking into account viscous, inertial and gravitational properties. Shank-foot-orthosis system parameters are identified experimentally. Since the underlying dynamic model is nonlinear, a robust control strategy is needed to guarantee an accurate and precise movement generation. The proposed control strategy ensures, at the same time, the stability of the closed-loop system. A bounded control torque is applied to guarantee the asymptotic stability of the shank-foot-orthosis. The generated control respects the physical constraints imposed by the system. The effectiveness of the proposed control strategy is shown in real-time in terms of stability, position tracking performances and robustness with respect to identification errors and external disturbances.

Published
2013
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146. New Evidence Combination Rules for Activity Recognition in Smart Home

Author

Sebbak, F., Benhammadi, F., Chibani, A., Amirat, Yacine, Mokhtari, A., Amirat, Yacine, 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 ), 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), Laboratoire de Recherche en Intelligence Artificielle [Alger] (LRIA), Université des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (USTHB), Ecole Militaire Polytechnique [Alger] (EMP), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie], Université des Sciences et de la Technologie Houari Boumediene [Alger] (USTHB), and École Militaire Polytechnique [Alger] (EMP)

Subjects
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.INFO-ET] Computer Science [cs]/Emerging Technologies [cs.ET], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract

International audience; The evidence theory and its propositional conflict redistribution variant rules are mathematical formalisms used to represent uncertain as well as ambiguous data. The evidence combination rules proposed in these formalisms do not satisfy the idempotence property. However, in a variety of applications, it is desirable that the evidence combination rules satisfy this property. In response to this challenge, the present work proposes a new formalism for reasoning under uncertainty based on new consensus and conflicting of evidence concepts. This mathematical formalism is evaluated using a real world activity recognition problem in smart home environment. The results show that one rule of our formalism respects the idempotence property and improves the accuracy of activity recognition.

Published
2013

147. A two-step optimisation method for Dynamic Weapon Target Assignment problem

Author

Hyo-Sang Shin, Rachid Chelouah, Antonios Tsourdos, Stéphane Le Ménec, Cédric Leboucher, Patrick Siarry, SIMO, 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 ), J. Del Ser Lorente, Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)

Subjects
Mathematical optimization, 021103 operations research, Computer science, Two step, 0211 other engineering and technologies, 02 engineering and technology, 16. Peace & justice, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Weapon target assignment problem, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2013

148. Recognition of Daily-life Motions Based on a Wearable Body Sensor Network

Author

Choi , H., Kong , K., Mohammed , Samer, Jeon , D., Amirat , Yacine, 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), Institut de Microélectronique, Electromagnétisme et Photonique - Laboratoire d'Hyperfréquences et Caractérisation (IMEP-LAHC), Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry])-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), 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 ), Composants Micro Nano Electroniques ( CMNE ), Institut de Microélectronique, Electromagnétisme et Photonique - Laboratoire d'Hyperfréquences et Caractérisation ( IMEP-LAHC ), Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut polytechnique de Grenoble - Grenoble Institute of Technology ( Grenoble INP ) -Institut National Polytechnique de Grenoble ( INPG ) -Université Savoie Mont Blanc ( USMB [Université de Savoie] [Université de Chambéry] ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut polytechnique de Grenoble - Grenoble Institute of Technology ( Grenoble INP ) -Institut National Polytechnique de Grenoble ( INPG ) -Université Savoie Mont Blanc ( USMB [Université de Savoie] [Université de Chambéry] ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), and Amirat, Yacine

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2013

149. Towards the design of intelligent assistive services by integrating NKRL and the HARMS model

Author

Ayari, N., Chibani, A., Amirat, Yacine, Matson, E-T., 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 ), 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), and Amirat, Yacine

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract

International audience; no abstract

Published
2013

150. Towards a core ontology for robotics and automation

Author

Paulo J. S. Gonçalves, Maki K. Habib, Mara Abel, Sébastien Gérard, Marcos Barreto, Edson Prestes, Sandro Rama Fiorini, Raj Madhavan, Angela Locoro, Abdelghani Chibani, Joel Luis Carbonera, Craig Schlenoff, Vitor A. M. Jorge, Yacine Amirat, Instituto de Informática da UFRGS (UFRGS), Universidade Federal do Rio Grande do Sul [Porto Alegre] (UFRGS), Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi [Genova] (DIBRIS), Università degli studi di Genova = University of Genoa (UniGe), Universidade Federal da Bahia (UFBA), American University in Cairo, 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), Département Ingénierie Logiciels et Systèmes (DILS), Laboratoire d'Intégration des Systèmes et des Technologies (LIST (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)-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)-Université Paris-Saclay, Computer Security Division (NIST), National Institute of Standards and Technology [Gaithersburg] (NIST), Prestes, E, Carbonera, J, Rama Fiorini, S, Vitor A., M, Abel, M, Madhavan, R, Locoro, A, Goncalves, P, Marcos, E, Habib, M, Chibani, A, Gérard, S, Amirat, Y, Schlenoff, C, Department of Physics and Astronomy [Potsdam], Universität Potsdam, Laboratoire Chrono-environnement ( LCE ), Université Bourgogne Franche-Comté ( UBFC ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Franche-Comté ( UFC ), 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 ), Laboratoire d'étude des transferts en hydrologie et environnement, Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut national des sciences de l'Univers ( INSU - CNRS ) -Observatoire des Sciences de l'Univers de Grenoble-Institut National Polytechnique de Grenoble (INPG)-Institut de recherche pour le développement IRD-Centre National de la Recherche Scientifique ( CNRS ), Universita degli studi di Genova, and Laboratoire d'Intégration des Systèmes et des Technologies (LIST)

Subjects
0209 industrial biotechnology, Knowledge management, Knowledge representation and reasoning, Computer science, General Mathematics, Process ontology, Semantic interoperability, Ontologies for robotics and automation, 02 engineering and technology, Ontology (information science), computer.software_genre, Ontology-based standard, 020901 industrial engineering & automation, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Upper ontology, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Mathematics (all), Ontology engineering, business.industry, Ontology-based data integration, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Suggested Upper Merged Ontology, Core ontology, Robotics, Computer Science Applications1707 Computer Vision and Pattern Recognition, Ontology-based standards, Knowledge representation, Computer Science Applications, Control and Systems Engineering, Ontology, Robot, 020201 artificial intelligence & image processing, Software, Artificial intelligence, Software engineering, business, Ontology alignment, computer
Abstract

International audience; In this paper, we present the current results of the newly formed IEEE-RAS Working Group, named Ontologies for Robotics and Automation. In particular, we introduce a core ontology that encompasses a set of terms commonly used in Robotics and Automation along with the methodology we have adopted. Our work uses ISO/FDIS 8373 standard developed by the ISO/TC184/SC2 Working Group as a reference. This standard defines, in natural language, some generic terms which are common in Robotics and Automation such as robot, robotic device, etc. Furthermore, we discuss the ontology development process employed along with the problems and decisions taken.

Published
2013
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