Search

Your search keyword '"HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS)"' showing total 106 results
Start Over Author "HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS)"
106 results on '"HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS)"'

1. Evolutionary constraints on polyembryony in parasitic wasps: a simulation model

Author

Eric Wajnberg, Tamar Keasar, University of Haifa [Haifa], HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS), Institut Sophia Agrobiotech [Sophia Antipolis] (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015 - 2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015 - 2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS), Université Côte d'Azur (UCA)-Université Côte d'Azur (UCA)-Centre National de la Recherche Scientifique (CNRS), Inria Sophia Antipolis - Méditerranée ( CRISAM ), Institut National de Recherche en Informatique et en Automatique ( Inria ), HExapode, PHysiologie, AssISTance et Objets de Service ( HEPHAISTOS ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -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 Nice Sophia Antipolis (... - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Institut National de la Recherche Agronomique (INRA)

Subjects
0106 biological sciences, Avian clutch size, media_common.quotation_subject, Polyembryony, Evolutionary biology, 010603 evolutionary biology, 01 natural sciences, Competition (biology), Parasitoid, Braconidae, Encyrtidae, Platygastridae, Monoembryony, ComputingMilieux_MISCELLANEOUS, Ecology, Evolution, Behavior and Systematics, Monte Carlo simulation, media_common, biology, Ecology, Parasitoids, 010604 marine biology & hydrobiology, [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], Evolutionary constraints, biology.organism_classification, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Literature survey, [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], [SDE.BE]Environmental Sciences/Biodiversity and Ecology, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience; Polyembryony involves the production of several genetically identical progeny from a single egg through clonal division. Although polyembryonic development allows highly efficient reproduction, especially in some parasitoid wasps, it is far less common than monoembryony (development of one embryo per egg). To understand what might constrain the evolutionary success of polyembryony in parasitoids, we developed Monte Carlo models that simulate the competition between polyembryonic females and their monoembryonic counterparts. We investigated which simulated life‐history traits of the females allow the monoembryonic mode of development to succeed. Published empirical studies were surveyed to explore whether these traits indeed differ between polyembryonic parasitoids and related monoembryonic species. The simulations predict an advantage to monoembryony in parasitoids whose reproduction is limited by host availability rather than by egg supply, and that parasitize small‐bodied hosts. Comparative data on the parasitoid families Encyrtidae and (to a lesser extent) Braconidae, but not the data from Platygastridae, circumstantially support these predictions. The model also predicts monoembryony to outcompete polyembryony when: 1) hosts vary considerably in quality, 2) polyembryonic development carries high physiological costs, and 3) monoembryonic females make optimal clutch size decisions upon attacking hosts. These multiple constraints may account for the rarity of polyembryony among parasitoid species.

Published
2019

2. Optimal Active Sensing with Process and Measurement Noise

Author

Paolo Robuffo Giordano, Paolo Salaris, Marco Cognetti, Sensor-based and interactive robotics ( RAINBOW ), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE ( IRISA_D5 ), Institut de Recherche en Informatique et Systèmes Aléatoires ( IRISA ), Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -Institut de Recherche en Informatique et Systèmes Aléatoires ( IRISA ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ), HExapode, PHysiologie, AssISTance et Objets de Service ( HEPHAISTOS ), 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 ), Sensor-based and interactive robotics (RAINBOW), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes 1 (UR1), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)

Subjects
0209 industrial biotechnology, Computer science, Covariance matrix, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], 02 engineering and technology, Observability Gramian, Nonlinear system, Extended Kalman filter, Noise, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Riccati equation, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Observability, Gradient descent
Abstract

International audience; The goal of this paper is to increase the estimation performance of an Extended Kalman Filter for a nonlinear differentially flat system by planning trajectories able to maximize the amount of information gathered by onboard sensors in presence of both process and measurement noises. In a previous work, we presented an online gradient descent method for planning optimal trajectories along which the smallest eigenvalue of the Observability Gramian (OG) is maximized. As the smallest eigenvalue of the OG is inversely proportional to the maximum estimation uncertainty, its maximization reduces the maximum estimation uncertainty of any estimation algorithm employed during motion. However, the OG does not consider the process noise that, instead, in several applications is far from being negligible. For this reason, this paper proposes a novel solution able to cope with non-negligible process noise: this is achieved by minimizing the largest eigenvalue of the a posteriori covariance matrix obtained by solving the Continuous Riccati Equation as a measure of the total available information. This minimization is expected to maximize the information gathered by the outputs while, at the same time, limiting as much as possible the negative effects of the process noise. We apply our method to a unicycle robot. The comparison between the novel method and the one of our previous work (which did not consider process noise) shows significant improvements in the obtained estimation accuracy.

Published
2018

3. Advances in the use of neural network for solving the direct kinematics of CDPR with sagging cables

Author

Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), and ANR-18-CE10-0004,CRAFT,Robots Parallèles à Câbles pour des Opérations Industrielles Agiles(2018)

Subjects
direct kinematics, cable-driven parallel robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], neural networks, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract

International audience; Direct kinematics (DK) is one of the most challenging problem for cable-driven parallel robot (CDPR) with sagging cables. Solving the DK in real-time is not an issue provided that a guess of the solution is available. But difficulties arise when all DK solutions have to be determined (e.g. in the design phase of the CDPR). Continuation and interval analysis have been proposed to find the solutions but they are computer intensive. A preliminary investigation on the use of classical neural networks (NN) for the DK has shown that they were performing poorly. We present in this paper several methodological improvements that allows to get on average 99.95% of the exact DK solutions in about 5 seconds. Still this result is not completely satisfactory and we present possible axis to obtain better results in terms of exact results and multiple solutions.

Published
2023

4. Direct Kinematic Singularities and Stability Analysis of Sagging Cable-driven Parallel Robots

Author

Sébastien Briot, Jean-Pierre Merlet, Centre National de la Recherche Scientifique (CNRS), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (LS2N - équipe ARMEN), Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Control and Systems Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Computer Science Applications
Abstract

International audience; Sagging cable-driven parallel robots (CDPRs) are often modeled by using the Irvine's model. We will show that their configurations may be unstable, and moreover, that assessing the stability of the robot with the Irvine's model cannot be done by checking the spectrum of a stiffness matrix associated with the platform motions. In this article, we show that the static configurations of the sagging CDPRs are local extrema of the functional describing the robot potential energy. For assessing the stability, it is then necessary to check two conditions: The Legendre–Clebsch and the Jacobi conditions, both well known in optimal control theory. We will also 1) prove that there is a link between some singularities of the CDPRs and the limits of stability and 2) show that singularities of the platform wrench system are not singularities of the geometric model of the sagging CDPRs, contrary to what happens in rigid-link parallel robotics. The stability prediction results are validated in simulation by cross-validating them by using a lumped model, for which the stability can be assessed by analyzing the spectrum of a reduced Hessian matrix of the potential energy.

Published
2023

5. Dynamic Economic Thresholds for Insecticide Applications Against Agricultural Pests: Importance of Pest and Natural Enemy Migration

Author

Tamar Keasar, Eric Wajnberg, George Heimpel, Ian C W Hardy, Liora Shaltiel Harpaz, Daphna Gottlieb, Saskya van Nouhuys, University of Haifa, Haifa, Israel, Institut Sophia Agrobiotech (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), University of Minnesota [MN, USA], University of Helsinki, Tel-Hai College, Agricultural Research Organisation (ARO), Volcani Center, Indian Institute of Science [Bangalore] (IISc Bangalore), and Israel Institute for Advanced Studies

Subjects
model, Ecology, revenue, Insect Science, General Medicine, tomato, grain storage, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, Tuta absoluta
Abstract

In Integrated Pest Management programs, insecticides are applied to agricultural crops when pest densities exceed a predetermined economic threshold. Under conditions of high natural enemy density, however, the economic threshold can be increased, allowing for fewer insecticide applications. These adjustments, called ‘dynamic thresholds’, allow farmers to exploit existing biological control interactions without economic loss. Further, the ability of natural enemies to disperse from, and subsequently immigrate into, insecticide-sprayed areas can affect their biological control potential. We develop a theoretical approach to incorporate both pest and natural enemy movement across field borders into dynamic thresholds and explore how these affect insecticide applications and farmer incomes. Our model follows a pest and its specialist natural enemy over one growing season. An insecticide that targets the pest also induces mortality of the natural enemy, both via direct toxicity and reduced resource pest densities. Pest and natural enemy populations recover after spraying through within-field reproduction and by immigration from neighboring unsprayed areas. The number of insecticide applications and per-season farmer revenues are calculated for economic thresholds that are either fixed (ignoring natural enemy densities) or dynamic (incorporating them). The model predicts that using dynamic thresholds always leads to reduced insecticide application. The benefit of dynamic thresholds in reducing insecticide use is highest when natural enemies rapidly recolonize sprayed areas, and when insecticide efficacy is low. We discuss real-life situations in which monitoring of natural enemies would substantially reduce insecticide use and other scenarios where the presence of beneficial organisms may lead to threshold modifications.

Published
2023

6. Can sociality facilitate learning of complex tasks? Lessons from bees and flowers

Author

Tamar Keasar, Odile Pourtallier, Eric Wajnberg, University of Haifa, Haifa, Israel, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
pollination, learning, evolutionary transition, [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], flower morphology, eusociality, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, General Agricultural and Biological Sciences, General Biochemistry, Genetics and Molecular Biology
Abstract

The emergence of animal societies is a major evolutionary transition, but its implications for learning-dependent innovations are insufficiently understood. Bees, with lifestyles ranging from solitary to eusocial, are ideal models for exploring social evolution. Here, we ask how and why bees may acquire a new ‘technology’, foraging on morphologically complex flowers, and whether eusociality facilitates this technological shift. We consider ‘complex’ flowers that produce high food rewards but are difficult to access, versus ‘simple’ flowers offering easily accessible yet lower rewards. Complex flowers are less profitable than simple flowers to naive bees but become more rewarding after a learning period. We model how social bees optimally choose between simple and complex flowers over time, to maximize their colony's food balance. The model predicts no effect of colony size on the bees' flower choices. More foraging on complex flowers is predicted as colony longevity, its proportion of foragers, individual longevity and learning ability increase. Of these traits, only long-lived colonies and abundant foragers characterize eusocial bees. Thus, we predict that eusociality supports, but is not mandatory for, learning to exploit complex flowers. A re-analysis of a large published dataset of bee–flower interactions supports these conclusions. We discuss parallels between the evolution of insect sociality and other major transitions that provide scaffolds for learning innovations. This article is part of the theme issue ‘Human socio-cultural evolution in light of evolutionary transitions’.

Published
2023

7. The advantage of sex: Reinserting fluctuating selection in the pluralist approach

Author

Jean-Sébastien Pierre, Solenn Stoeckel, Eric Wajnberg, Ecosystèmes, biodiversité, évolution [Rennes] (ECOBIO), Université de Rennes (UR)-Institut Ecologie et Environnement (INEE), Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS)-Observatoire des Sciences de l'Univers de Rennes (OSUR), Université de Rennes (UR)-Institut national des sciences de l'Univers (INSU - CNRS)-Université de Rennes 2 (UR2)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Institut national des sciences de l'Univers (INSU - CNRS)-Université de Rennes 2 (UR2)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Centre National de la Recherche Scientifique (CNRS), Institut de Génétique, Environnement et Protection des Plantes (IGEPP), Université de Rennes (UR)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Institut Agro Rennes Angers, 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), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (1965 - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA)

Subjects
Multidisciplinary, Reproduction, [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], Eukaryota, Sex, Cultural Diversity, Selection, Genetic, Biological Evolution, Ecosystem
Abstract

International audience; The advantage of sex, and its fixation in some clades and species all over the eukaryote tree of life, is considered an evolutionary enigma, especially regarding its assumed twofold cost. Several likely hypotheses have been proposed such as (1) a better response to the negative frequency-dependent selection imposed by the "Red Queen" hypothesis; (2) the competition between siblings induced by the Tangled Bank hypothesis; (3) the existence of genetic and of (4) ecological factors that can diminish the cost of sex to less than the standard assumed twofold ; and (5) a better maintenance of genetic diversity and its resulting phenotypic variation, providing a selective advantage in randomly fluctuating environments. While these hypotheses have mostly been studied separately, they can also act simultaneously. This was advocated by several studies which presented a pluralist point of view. Only three among the five causes cited above were considered yet in such a framework: the Red Queen hypothesis, the Tangled Bank and the genetic factors lowering the cost of sex. We thus simulated the evolution of a finite mutating population undergoing negative frequency-dependent selection on phenotypes and a twofold (or less) cost of sexuality, experiencing randomly fluctuating selection along generations. The individuals inherited their reproductive modes, either clonal or sexual. We found that exclusive sexuality begins to fix in populations exposed to environmental variation that exceeds the width of one ecological niche (twice the standard deviation of a Gaussian response to environment). This threshold was lowered by increasing negative frequency-dependent selection and when reducing the twofold cost of sex. It contributes advocating that the different processes involved in a short-term advantage of sex and recombination can act in combination to favor the fixation of sexual reproduction in populations.

Published
2022

8. A panorama of methods for dealing with sagging cables in cable-driven parallel robots

Author

Merlet, Jean-Pierre, Tissot, Romain, Merlet, Jean-Pierre, 3IA Côte d'Azur - - 3IA@cote d'azur2019 - ANR-19-P3IA-0002 - P3IA - VALID, Usine du futur : Homme, organisation, technologies - Robots Parallèles à Câbles pour des Opérations Industrielles Agiles - - CRAFT2018 - ANR-18-CE10-0004 - AAPG2018 - VALID, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), partly ANR, ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), and ANR-18-CE10-0004,CRAFT,Robots Parallèles à Câbles pour des Opérations Industrielles Agiles(2018)

Subjects
Computer Science::Robotics, cable-driven parallel robot, kinematics, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-NE] Computer Science [cs]/Neural and Evolutionary Computing [cs.NE], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-NE]Computer Science [cs]/Neural and Evolutionary Computing [cs.NE], cable sagging
Abstract

International audience; We are considering cable-driven parallel robot (CDPR), where the legs of the robot are constituted of cables that can be independently coiled/uncoiled. We show that whatever the size of the CDPR is we may have slack cables so that using a sagging cable model that takes into account both the mass and elasticity of the cables will improve the positioning accuracy.Being able to solve the inverse and direct kinematics (IK/DK) with sagging cables is crucial for kinematic analysis while being quite complex as both IK/DK may have multiple solutions. We present a panorama of solving methods for the IK/DK with their advantages and drawbacks.

Published
2022

9. Mixing neural networks and the Newton method for the kinematics of simple cable-driven parallel robots with sagging cables

Author

Ichrak Ben Yahia, Jean-Pierre Merlet, Yves Papegay, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), and ANR-18-CE10-0004,CRAFT,Robots Parallèles à Câbles pour des Opérations Industrielles Agiles(2018)

Subjects
Computer Science::Robotics, Kinematic Analysis, Cable-driven Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Cable-driven parallel manipulators, [INFO.INFO-NE]Computer Science [cs]/Neural and Evolutionary Computing [cs.NE], Neural network
Abstract

International audience; Cable-driven parallel robots (CDPR) use cables to move a platform. These cables can be coiled/uncoiled by winches and are all attached to the platform. We are considering here a specific class of CDPR, called N-1 which has N cables that are all attached to the platform at the same point B. With 2 cables we get a planar 2-dof robot while with N ≥ 3 we get a robot with 3 translational dof. We assume that the cables have elasticity and a mass so that sagging exists. In that case the inverse and direct kinematics (IK, DK) are difficult to solve. As kinematics plays an important role for the robot analysis it is necessary to design fast but exact kinematics procedures. In this paper we consider the 2-1 and 3-1 cases which have a single solution for the kinematic and addresses the use of neural network (NN) to solve the IK and DK. We show that NN provide very approximate results but also that it is possible to design a solving strategy mixing NN and the Newton method to get the exact result in a low computation time. We cannot formally prove that this approach will always work but extensive numerical tests have shown no failure.

Published
2021

10. Mixing AI and deterministic methods for the design of a transfer system for frail people

Author

Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR, ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), ANR-18-CE10-0004,CRAFT,Robots Parallèles à Câbles pour des Opérations Industrielles Agiles(2018), Merlet, Jean-Pierre, 3IA Côte d'Azur - - 3IA@cote d'azur2019 - ANR-19-P3IA-0002 - P3IA - VALID, and Usine du futur : Homme, organisation, technologies - Robots Parallèles à Câbles pour des Opérations Industrielles Agiles - - CRAFT2018 - ANR-18-CE10-0004 - AAPG2018 - VALID

Subjects
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract

International audience

Published
2021

11. Efficient kinematics of a 2-1 and 3-1 CDPR with non-elastic sagging cables

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Physics, direct kinematics, 0209 industrial biotechnology, Single variable, cable-driven parallel robot, sagging cable, Inverse kinematics, Inverse, inverse kinematics, 02 engineering and technology, Mechanics, Kinematics, System of linear equations, Square (algebra), Preliminary analysis, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Point (geometry)
Abstract

International audience; Solving the kinematics of CDPR is complex as soon as cable sagging is taken into account. We are considering here CDPRs having 2 cables whose extremities are attached at the same point on the platform (i.e. CDPRs allowing only translational motion). Regarding the cables we assume that they are nonelastic but have a mass so that they will exhibit sagging. We first show that the inverse and direct kinematics (IK and DK) amount to solve a square system of equations. We then show that these systems of equations may be reduced to solving an equation in a single variable that cannot be solved analytically but can easily be solved numerically. Using this result we show that the sagging will play a role on the result of the IK/FK only if the load mass is lower than a threshold. We then present some preliminary results regarding the case of 3 cables which is much more complex: the IK may be reduced to solving an equation in a single variable but this solving is numerically difficult. Here again it seems that sagging may be neglected if the load mass is high enough. We also present a preliminary analysis of the 3-1 case.

Published
2021

12. Maximal cable tensions of a N-1 cable-driven parallel robot with elastic or ideal cables

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, cable-driven parallel robot, Ideal (set theory), Computer science, Parallel manipulator, 02 engineering and technology, Workspace, Cable tension, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Design phase, Computer Science::Robotics, cable tension, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, static, 0203 mechanical engineering, Control theory, Robot, Cable driven, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Point (geometry), [MATH]Mathematics [math]
Abstract

International audience; Determining what will be the maximal cable tensions of a cabledriven parallel robot (CDPR) when it moves over a given workspace is an important step in the design phase as it will allow to choose the cable diameter and to provide a requested information for tuning the CDPR actuation. In this paper we consider a suspended N-1 CDPR with n cables where all cables are attached at the same point, which leads to a 3-dof robot. We assume a quasi-static behavior of the robot and assume that the cable are either ideal or elastic so that we neglect the sagging effect. Under these assumption we show that the maximum of the cable tensions may be determined in a very fast way by solving a set of secondorder polynomials which will lead to the poses at which the maximum of each cable tension will occur. For example for a four-cables CDPR determining the maximal cable tension requires to solve at most 149 second order polynomials.

Published
2021

13. Appropriate analysis of the four-bar linkage

Author

Jean-Pierre Merlet, Joshua K. Pickard, Juan A. Carretero, Augmenting human comfort in the factory using cobots (AUCTUS), Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Polytechnique de Bordeaux (Bordeaux INP), Department of Mechanical Engineering, University of New Brunswick (UNB), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Mathematical optimization, Design, Linkage, Computer science, Mechanical Engineering, Bioengineering, 02 engineering and technology, Linkage (mechanical), Folding (DSP implementation), [SPI.MECA]Engineering Sciences [physics]/Mechanics [physics.med-ph], Uncertainties, Four-bar linkage, Computer Science Applications, Interval arithmetic, law.invention, Mechanism (engineering), 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Mechanics of Materials, law, Bounded function, Point (geometry), Interval Analysis
Abstract

International audience; Uncertainties are inherent in the fabrication and operation of mechanisms. In terms of the four-bar linkage, uncertainties in the geometric parameters result in non-exact solutions for the coupler point. A design description which accounts for bounded uncertainties is termed an appropriate design. Appropriate analysis routines are analysis routines for guaranteeing that specific requirements will be satisfied, which is applicable to mechanisms described by an appropriate design. These routines rely on interval analysis to provide reliable results and are able to handle the uncertainties present in a mechanism. An appropriate analysis routine which is able to determine the worst-case bounds of the coupler curve resulting from uncertainties is proposed. As well, routines are introduced for evaluating the classification and assembly of mechanisms with uncertainties. Examples are presented to demonstrate the coupler curves of four-bar linkages described by an appropriate design which corresponds to each linkage classification , including folding linkages.

Published
2019

14. Some properties of the Irvine cable model and their use for the kinematic analysis of cable-driven parallel robots

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-18-CE10-0004,CRAFT,Robots Parallèles à Câbles pour des Opérations Industrielles Agiles(2018), and Merlet, Jean-Pierre

Subjects
0209 industrial biotechnology, Computer science, Mechanical Engineering, Computation, Parallel manipulator, Bioengineering, 02 engineering and technology, Kinematics, Mechanics, Deformation (meteorology), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, Computer Science::Robotics, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Mechanics of Materials, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Cable driven, Algebraic number, Elasticity (economics), ComputingMilieux_MISCELLANEOUS
Abstract

International audience; Cable model has a strong influence on the complexity of the kinematic analysis of cable-driven parallel robots (CDPR). The most complete elasto-static model relies on Irvine equation that takes into account both the elasticity and the deformation of the cable due to its own mass and has been shown to be very realistic. This model is complex, non algebraic and numerically ill-conditioned, thereby leading to difficulties when using it in a kinematic analysis involving several cables. We exhibit some properties of this model that may drastically improve the analysis computation time when used in kinematic studies.

Published
2019

15. Genetic variation in the behavioural mechanisms involved in the response of the egg parasitoid Trissolcus brochymenae to contact chemical cues left by the pest Murgantia histrionica

Author

Ezio Peri, Milos Sevarika, Maria Cristina Foti, Stefano Colazza, Eric Wajnberg, Dept. of Pharmaceutical Sciences, University of Perugia, Centre International de Hautes Etudes Agronomiques Méditerranéennes - Institut Agronomique Méditerranéen de Bari (CIHEAM-IAMB), Centre International de Hautes Études Agronomiques Méditerranéennes (CIHEAM), Università degli studi di Palermo - University of Palermo, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), Marie Skłodowska-Curie Research, European Project: 691135,H2020,H2020-MSCA-RISE-2015,RISEN(2016), European Project: 690952,H2020,H2020-MSCA-RISE-2015,INVASIoN(2016), Université Nice Sophia Antipolis (... - 2019) (UNS), Sevarika M., Foti M.C., Peri E., Colazza S., and Wajnberg E.

Subjects
0106 biological sciences, response tokairomone, insect egg parasitoid, isofemale line, walking behaviour, Zoology, Hymenoptera, video tracking, 010603 evolutionary biology, 01 natural sciences, Parasitoid, response to kairomone, insect egg parasitoids, Genetic variation, Scelionidae, Natural selection, Ecology, biology, Host (biology), [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], Heteroptera, Pentatomidae, biology.organism_classification, isofemale lines, 010602 entomology, Settore AGR/11 - Entomologia Generale E Applicata, Insect Science, PEST analysis, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience; 1. The ability of parasitoid females to perceive chemical traces left by theirhosts is of utmost importance in the host location process. The behaviours involved insuch ability have thus most likely been promoted by natural selection in the course ofthe evolutionary time. For this to happen, however, there must be signicant geneticvariation in natural populations on which natural selection could act.2. Using the isofemale line method and motion analysis, we detected signicantintra-population genetic variation for several walking behaviour traits of the eggparasitoid Trissolcus brochymenae (Hymenoptera: Scelionidae) females responding tochemical traces left by its host Murgantia histrionica (Heteroptera: Pentatomidae).3. Besides opening new avenues of research on the reproductive strategies, behaviour,and biological control potential of parasitoid wasps, these results also have implicationsfor understanding their life-history evolution in general

Published
2021

16. Biological control of invasive stink bugs: review of global state and future prospects

Author

Gonzalo A. Avila, Guillaume Martel, Raul Alberto Laumann, Gabriele Rondoni, Cesar Rodriguez-Saona, Barbara I. P. Barratt, Michael Rostás, Fernanda Cingolani, Eric Conti, Kim A. Hoelmer, Stefano Colazza, René Sforza, Eric Wajnberg, Luciana Tavella, Salvatore Guarino, Lara Maistrello, Ezio Peri, Pio Federico Roversi, Conti E., Avila G., Barratt B., Cingolani F., Colazza S., Guarino S., Hoelmer K., Laumann R.A., Maistrello L., Martel G., Peri E., Rodriguez-Saona C., Rondoni G., Rostas M., Roversi P.F., Sforza R.F.H., Tavella L., Wajnberg E., Dept. of Pharmaceutical Sciences, University of Perugia, The New Zealand Institute for Plant & Food Research Limited [Auckland] (Plant & Food Research), Better Border Biosecurity (B3), Partenaires INRAE, Centro de Estudios Parasitologicos y de Vectores [La Plata] (CEPAVE), Consejo Nacional de Investigaciones Científicas y Técnicas [Buenos Aires] (CONICET)-Universidad Nacional de la Plata [Argentine] (UNLP)-Comisión de Investigaciones Científicas [Buenos Aires] (CIC), Università degli studi di Palermo - University of Palermo, Istituto di Bioscienze e BioRisorse [Palermo] (IBBR), Consiglio Nazionale delle Ricerche (CNR), USDA-ARS : Agricultural Research Service, Embrapa Recursos Genéticos e Biotecnologia [Brasília], Università degli Studi di Modena e Reggio Emilia (UNIMORE), 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), European Biological Control Laboratory (EBCL), United States Department of Agriculture (USDA), Rutgers University System (Rutgers), Georg-August-University [Göttingen], Consiglio per la Ricerca in Agricoltura e l’analisi dell’economia agraria (CREA), Università degli studi di Torino (UNITO), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), National Research Council of Italy | Consiglio Nazionale delle Ricerche (CNR), Università degli Studi di Modena e Reggio Emilia = University of Modena and Reggio Emilia (UNIMORE), Georg-August-University = Georg-August-Universität Göttingen, Consiglio per la Ricerca in Agricoltura e l’analisi dell’economia agraria = Council for Agricultural Research and Economics (CREA), Università degli studi di Torino = University of Turin (UNITO), and Université Nice Sophia Antipolis (1965 - 2019) (UNS)

Subjects
0106 biological sciences, Integrated pest management, Biological pest control, Tachinidae, pre-emptive classical biological control, landscape management, 010603 evolutionary biology, 01 natural sciences, invasive species, Hemiptera, Encyrtidae, invasive specie, Pentatomidae, biocontrol, biocontrol chemical ecology Hemiptera invasive species landscape management pre‐emptive classical biological control semiochemicals parasitoid Pentatomidae risk assessment Tachinidae Scelionidae, parasitoid, Ecology, Evolution, Behavior and Systematics, Bagrada hilaris, biology, semiochemicals, business.industry, Ecology, Pest control, chemical ecology, preemptive classical biological control, risk assessment, semiochemical, biocontrol, chemical ecology, Hemiptera, invasive species, landscape management, preemptive classical biological control, semiochemicals, parasitoid, Pentatomidae, risk assessment, Tachinidae, Scelionidae, biology.organism_classification, 010602 entomology, Settore AGR/11 - Entomologia Generale E Applicata, 13. Climate action, Insect Science, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, business, Scelionidae, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience; Invasive stink bugs (Hemiptera: Pentatomidae) are responsible for high economic losses to agricul-ture on a global scale. The most important species, dating from recent to old invasions, includeBagrada hilaris (Burmeister), Halyomorpha halys (Stal), Piezodorus guildinii (Westwood), Nezara vir-idula (L.), and Murgantia histrionica (Hahn). Bagrada hilaris, H. halys,andN. viridula are nowalmost globally distributed. Biological control of these pests faces a complex set of challenges thatmust be addressed to maintain pest populations below the economic injury level. Several case studiesof classical and conservation biological control of invasive stink bugs are reported here. The mostcommon parasitoids in their geographical area of origin are egg parasitoids (Hymenoptera: Scelion-idae, Encyrtidae, and Eupelmidae). Additionally, native parasitoids of adult stink bugs (Diptera:Tachinidae) have in some cases adapted to the novel hosts in the invaded area and native predatorsare known to prey on the various instars. Improving the efficacy of biocontrol agents is possiblethrough conservation biological control techniques and exploitation of their chemical ecology.Moreover, integration of biological control with other techniques, such as behavioural manipulationof adult stink bugs and plant resistance, may be a sustainable pest control method within organicfarming and integrated pest management programs. However, additional field studies are needed toverify the efficacy of these novel methods and transfer them from research to application.

Published
2021

17. Preface of Special Issue: 6th International Entomophagous Insects Conference

Author

Conti, Eric, Wajnberg, Eric, Beukeboom, Leo, Department of Agricultural, Food and Environmental Sciences, University of Perugia (DSA3), Università degli Studi di Perugia (UNIPG), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), Groningen Institute for Evolutionary Life Sciences [Groningen] (GELIFES), University of Groningen [Groningen], Università degli Studi di Perugia = University of Perugia (UNIPG), and Université Nice Sophia Antipolis (1965 - 2019) (UNS)

Subjects
[SDE.BE]Environmental Sciences/Biodiversity and Ecology, ComputingMilieux_MISCELLANEOUS, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience

Published
2021

18. Entomophagous insects – an introduction

Author

Leo W. Beukeboom, Eric Wajnberg, Eric Conti, Università degli Studi di Perugia = University of Perugia (UNIPG), Institut Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Groningen Institute for Evolutionary Life Sciences [Groningen] (GELIFES), University of Groningen [Groningen], Università degli Studi di Perugia (UNIPG), Université Nice Sophia Antipolis (... - 2019) (UNS), and Beukeboom lab

Subjects
0106 biological sciences, predators, biological control, Biology, 010603 evolutionary biology, 01 natural sciences, Predation, functionalmorphology, biocontrol agents, trophic networks, International congress, Functional morphology, behavioral manipulation, Ecology, Evolution, Behavior and Systematics, 2. Zero hunger, functional morphology, Ecology, chemical ecology, BIOCAT database, parasitoids, biological control, biocontrol agents, Chemical ecology, mass rearing, 010602 entomology, 13. Climate action, international congress, Insect Science, ecosystem functioning, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, Intraguild predation, exploitation, behavioralmanipulation, intraguild predation, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience; SPECIAL ISSUE: 6TH INTERNATIONAL ENTOMOPHAGOUS INSECTSCONFERENCEEntomophag ous insects – an introductionEric Conti1* , Eric Wajnberg2,3& Leo W. Beukeboom41Department of Agricultural, Food and Environmental Sciences, University of Perugia, Borgo XX Giugno, Perugia 06121,Italy,2INRAE, 400 Route des Chappes, BP 167, Sophia Antipolis Cedex 06903, France,3INRIA, Sophia Antipolis, ProjetHephaistos, 2004 Route des Lucioles, BP 93, Sophia Antipolis Cedex 06902, France, and4Groningen Institute forEvolutionary Life Sciences, University of Groningen, PO Box 11103, Groningen 9700 CC, The NetherlandsAccepted: 31 July 2020Key words: international congress, parasitoids, predators, trophic networks, ecosystem functioning,BIOCAT database, exploitation, behavioral manipulation, mass rearing, intraguild predation,chemical ecology, functional morphology, biological control, biocontrol agentsAbstract

Published
2021

19. Appropriate synthesis of the four-bar linkage

Author

Joshua K. Pickard, Juan A. Carretero, Jean-Pierre Merlet, Augmenting human comfort in the factory using cobots (AUCTUS), Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Polytechnique de Bordeaux (Bordeaux INP), Department of Mechanical Engineering, University of New Brunswick (UNB), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC). We also acknowledge the support of the Mitacs Globalink Research Award – Inria, as well as the Harrison McCain Foundation Visitorship Grant.

Subjects
0209 industrial biotechnology, Design, Computer science, Bioengineering, 02 engineering and technology, Linkage (mechanical), Continuous design, Four-bar linkage, Interval arithmetic, law.invention, Synthesis, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, law, Point (geometry), Interval Analysis, Linkage, Mechanical Engineering, Uncertainties, Computer Science Applications, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Mechanism (engineering), 020303 mechanical engineering & transports, Mechanics of Materials, Bounded function, Trajectory
Abstract

International audience; The uncertainties arising from the fabrication and operation of mechanisms, specifically the four-bar linkage, significantly affect the expected performance of the mechanism. To accommodate uncertainties during the dimensional synthesis of the four-bar linkage, the desired coupler curve response is described by any number of precision point elements and trajectory elements, where each element is specified with an allowable error. A design description which accounts for bounded uncertainties is termed an appropriate design. An appropriate synthesis method is developed to synthesize the entire set of appropriate design solutions corresponding to the desired response. This method is able to completely explore the continuous design space and each synthesized appropriate design guarantees that the resulting four-bar linkage has a corresponding coupler point which lies inside each precision point response element, and a corresponding set of continuous coupler points which remain inside the trajectory response elements from start to finish.

Published
2020

20. Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot

Author

Jean-Pierre Merlet, Stéphane Caro, Robots and Machines for Manufacturing, Society and Services (LS2N - équipe RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Centre National de la Recherche Scientifique (CNRS), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-18-CE10-0004, ANR CRAFT Project, Springer, ANR-18-CE10-0004,CRAFT,Robots Parallèles à Câbles pour des Opérations Industrielles Agiles(2018), Université de Nantes - Faculté des Sciences et des Techniques, Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Robots and Machines for Manufacturing, Society and Services (RoMas), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - Faculté des Sciences et des Techniques, IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
safety, 0209 industrial biotechnology, cable-driven parallel robot, Ideal (set theory), Computer science, Work (physics), Parallel manipulator, Control engineering, 02 engineering and technology, 021001 nanoscience & nanotechnology, failure, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Cable driven, 0210 nano-technology, cable sagging, collaborative
Abstract

Caro, S. and Merlet, J.P., “Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot”, Proceedings of the 8th European Conference on Mechanism Science (EuCoMeS2020), Cluj-Napoca, Romania, September 7–10, 2020; International audience; Cable-Driven Parallel Robots (CDPRs) have been little used so far for collaborative tasks with humans. One reason is the lack of solutions to guarantee the safety of the operators in case of failure. Therefore, this paper aims to determine the possible failures of CDPRs when they are used for collaborative work with humans and to provide technical solutions to ensure the safety of the operators. A translational three degrees-of-freedom CDPR composed of four cables connected to a point-mass end-effector is considered as an illustrative example. The cables are supposed to be ideal, namely, they are not elastic and do not exhibit sagging.

Published
2020

21. The combined effect of host and food availability on optimized parasitoid life‐history traits based on a three‐dimensional trade‐off surface

Author

Eric Wajnberg, Michal Segoli, Ben-Gurion University of the Negev (BGU), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), and Université Nice Sophia Antipolis (1965 - 2019) (UNS)

Subjects
0106 biological sciences, 0301 basic medicine, Insecta, media_common.quotation_subject, egg load, Trade-off, Models, Biological, 010603 evolutionary biology, 01 natural sciences, Host-Parasite Interactions, Parasitoid, Life history theory, 03 medical and health sciences, longevity, Statistics, Animals, Life History Traits, parasitoid, Ecology, Evolution, Behavior and Systematics, Ovum, media_common, egg size, host density, [SDV.EE]Life Sciences [q-bio]/Ecology, environment, biology, Reproductive success, Host (biology), Food availability, [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], Longevity, food availability, Feeding Behavior, Investment (macroeconomics), biology.organism_classification, 030104 developmental biology, Female, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, Monte Carlo Method
Abstract

International audience; The reproductive success of many insects is considered to be limited by two main factors: the availability of mature eggs to lay (termed egg limitation) and the time to locate suitable hosts (termed time limitation). High host density in the environment is likely to enhance oviposition opportunities, thereby selecting for higher investment in egg supply. In contrast, a shortage of food (e.g. sugar sources) is likely to increase the risk of time limitation, thereby selecting for higher allocation to initial energy reserves. To our knowledge, the combined effect of host and food availability on these optimal life-history allocations has never been investigated. We thus modelled their simultaneous effects on a three-dimensional trade-off between initial investment in energy reserves, egg number and egg size, while focusing on insect parasitoids. The model was based on Monte Carlo simulations coupled with genetic algorithms, in order to identify the optimal life-history traits of a single simulated parasitoid female in an environment in which both hosts and food are present in varying densities. Our results reproduced the simple predictions described above. However, some novel predictions were also obtained, especially when specific interactions between the different factors were examined and their effects on the three-dimensional life-history surface were considered. The work sheds light on long-lasting debates regarding the relative importance of time versus egg limitation in determining insect life-history traits and highlights the complexity of life-history evolution, where several environmental factors act simultaneously on multiple traits.

Published
2020

22. The Prince's tears, a large cable-driven parallel robot for an artistic exhibition

Author

Merlet, Jean-Pierre, Papegay, Yves, Gasc, Anne-Valérie, Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and École nationale supérieure d'architecture de Marseille-Luminy (ENSA-M)

Subjects
cable-driven parallel robot, kinematics, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], art
Abstract

International audience; This paper presents the development and results of a large 3 d.o.f cable-driven parallel robot (CDPR) that has been extensively used between June and August 2019 for an artistic exhibition. The purpose of the exhibition was to 3D print a wall of glass powder, which will slowly collapse after the deposit of each layer. Positioning control on the assigned trajectory was an issue because of the CDPR geometry imposed by the specific configuration of the exhibition place. We describe how this problem was solved using a combination of cable length estimation based on the winch rotation measured by encoder, together with 3 on-board lidars that were used to provide a measure of the robot position. To the best of our knowledge this is the first time that such method was used for controlling a large CDPR. This CDPR has run for 174 hours since 6/18/2019, averaging a run time of 4h15mn per day. The 3D printing of the wall started on 7/18/2019 and stops on 8/31/2019. During this period the robot was used for 32 days with an average of 2h18mn run-time per day. The robot has traveled on a total distance of 4757 meters, of which 3893 meters on the assigned trajectory. During the period 76 layers have been deposited, representing a mass of 1.5 tons of glass powder.

Published
2020

23. Sugar feeding of parasitoids in an agroecosystem: effects of community composition, habitat and vegetation

Author

Kishinevsky, Miriam, Cohen, Nitzan, Chiel, Elad, Wajnberg, Eric, Keasar, Tamar, Schonrogge, Karsten, Brady, Seán, University of Haifa [Haifa], Agricultural Research Organisation (ARO), Volcani Center, Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre for Ecology and Hydrology [Wallingford] (CEH), Natural Environment Research Council (NERC), Rockefeller University [New York], and Israeli Ministry of Agriculture and Rural Development

Subjects
0106 biological sciences, Agroecosystem, Honeydew, sugar feeding, Ecology, fungi, Foraging, Encarsia inaron, nectar, Biology, biology.organism_classification, 010603 evolutionary biology, 01 natural sciences, Parasitoid, 010602 entomology, Aphelinidae, Agronomy, Insect Science, Nectar, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, Cold anthrone test, Sugar, Ecology, Evolution, Behavior and Systematics, honeydew
Abstract

International audience; Sugar from nectar or from honeydew can prolong parasitoids’ lifespan, enhance their fecundity and foraging ability, and thereby increase their pest suppression efficiency. Sugar sources within crop monocultures are considered to be limiting for parasitoids. Nevertheless, only few studies have measured the sugar feeding of parasitoid assemblages in agricultural areas or in surrounding non-crop habitats. We used cold anthrone tests to compare the frequency of sugar feeding in parasitoid communities, inside pomegranate orchards and in adjacent natural areas, over two consecutive years. Overall, 40% of the 1610 sampled individuals belonging to 135 species scored positive for sugar. Sugar-feeding frequency was lower within the orchards than in the neighbouring natural areas. The proportion of sugar-fed wasps increased with herbaceous vegetation cover, both within and outside the orchards, suggesting that herbs are a sugar-rich habitat. Parasitoids sampled from trees and from herbs within the orchards had similar frequencies of sugar feeding, despite differences in wasp species composition. Our results probably overestimate sugar-feeding frequencies in the field because sugar-fed individuals have higher longevity and hence are more likely to be sampled. We propose a simple model to approximate this over-sampling bias and apply it to Encarsia inaron (Aphelinidae), one of the most abundant parasitoids in the samples. We conclude that sugar availability potentially limits parasitoid fitness in this agro-ecosystem. This may be due to the low density of plants in natural areas during the Mediterranean summer, and to herbicide applications within the orchards that further suppress non-crop herbs.

Published
2017

24. Influence of uncertainties on the positioning of cable-driven parallel robots

Author

Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), Merlet, Jean-Pierre, and 3IA Côte d'Azur - - 3IA@cote d'azur2019 - ANR-19-P3IA-0002 - P3IA - VALID

Subjects
Index terms: parallel robot cable-driven parallel robot, accuracy, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], uncertainties
Abstract

International audience; Positioning accuracy of cable-driven parallel robots is influenced by many factors such as geometry, actuator sensor accuracy and disturbances in the applied wrench. Another uncertainty source is the elasticity of the cables. While the influence of many factors may be decreased by calibration and/or sensor fusion, elasticity parameters are difficult to estimate and their effect on the positioning errors has yet to be determined. In this paper we consider a generic cable model that include cable elasticity and the effect of cable weight and we propose a generic algorithm that allows one to safely calculate the minimum and maximum of the positioning error at a given pose when the elasticity parameters are constrained to lie within some given bounds. The algorithm is designed for being able to manage the effect of different uncertainties sources and we compare the influence of elasticity versus the effect of uncertainties in the cable lengths.

Published
2019

25. Pollinator Behavior Drives Sexual Specializations in the Hermaphrodite Flowers of a Heterodichogamous Tree

Author

Tamar Keasar, Udi Zurgil, Eric Wajnberg, Orna Reisman-Berman, Yochai Lebber, Simcha Lev-Yadun, Idan Shapira, Noemi Tel-Zur, Institut Sophia Agrobiotech [Sophia Antipolis] (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (... - 2019) (UNS), Université Côte d'Azur (UCA)-Université Côte d'Azur (UCA)-Centre National de la Recherche Scientifique (CNRS), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Ben-Gurion University of the Negev (BGU), University of Haifa [Haifa], Open University of Israël, Institut Sophia Agrobiotech (ISA), Centre National de la Recherche Scientifique (CNRS)-Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Institut National de la Recherche Agronomique (INRA), United States Agency for International Development (USAID)United States Agency for International Development (USAID) TA-MOU-12-M32-021, Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0106 biological sciences, genetic structures, Dioecy, Zoology, Plant Science, Biology, heterodichogamy, lcsh:Plant culture, medicine.disease_cause, 010603 evolutionary biology, 01 natural sciences, insect pollination, 03 medical and health sciences, probabilistic model, Hermaphrodite, Pollinator, Pollen, Ziziphus spina-christi, medicine, Nectar, lcsh:SB1-1110, Reproductive system, reproductive and urinary physiology, 030304 developmental biology, Original Research, 0303 health sciences, [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], fungi, food and beverages, Mating system, dioecy, Sympatric speciation, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, psychological phenomena and processes, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience; Dioecy, the specialization of individuals into either male-only or female-only sexual function, has multiple evolutionary origins in plants. One proposed ancestral mating system is heterodichogamy, two morphs of cross-fertilizing hermaphrodite flowers that differ in their timing of flowering. Previous research suggested that small specializations in these morphs’ functional genders could facilitate their evolution into separate sexes. We tested the possible role of pollinators in driving such specializations. Ziziphus spina-christi is an insect-pollinated heterodichogamous tree with self-incompatible flowers and two sympatric flowering morphs. We compared the flower development patterns, floral food rewards, pollinator visits, and fruit production between the two morphs. Male-phase flowers of Z. spina-christi’s “Early” and “Late” morphs open before dawn and around noon, respectively, and transition into female-phase 7–8 h later. Flowers of both morphs contain similar nectar and pollen rewards, and receive visits by flies (their ancestral pollinators) at similar rates, mostly during the morning. Consequently, the Early morph functions largely as pollen donor. The Late morph, functioning as female in the morning, produces more fruit. We developed an evolutionary probabilistic model, inspired by Z. spina-christi’s reproductive system, to test whether pollinator visit patterns could potentially play a role in an evolutionary transition from heterodichogamy towards dioecy. The model predicts that reproductive incompatibility within flowering morphs promotes their evolution into different sexes. Furthermore, the pollinators’ morning activity drives the Early and Late morphs’ specialization into male and female functions, respectively. Thus, while not required for transitioning from heterodichogamy to dioecy, pollinator-mediated selection is expected to influence which sexual specialization evolves in each of the flowering morphs.

Published
2019

26. Non-Intrusive Sensors for Activity Analysis of Elderly People

Author

Pourtallier, Odile, Papegay, Yves, Melnyk, Artem, Coulbois, Alain, Jiménez, Tania, Wajnberg, Eric, Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 arc électrique et plasmas thermiques (LAEPT), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS), Laboratoire Informatique d'Avignon (LIA), Avignon Université (AU)-Centre d'Enseignement et de Recherche en Informatique - CERI, Institut Sophia Agrobiotech (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université Blaise Pascal - Clermont-Ferrand 2 (UBP), Institut Sophia Agrobiotech [Sophia Antipolis] (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (... - 2019) (UNS), Université Côte d'Azur (UCA)-Université Côte d'Azur (UCA)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université Nice Sophia Antipolis (... - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Institut National de la Recherche Agronomique (INRA)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract

In this paper, we describe ongoing research conducted in our Laboratory concerning activity analysis of elderly or frail people with non-intrusive sensors. Activity is evaluated regarding autonomous mobility inferred from indoor tracking of many people. Non-intrusive photoelectric beam barrier sensors have been installed in our lab, in a nursing home and a medical care and research unit for respectively more than one year and 6 months. Incremental design, sensor fusion, data processing and acceptance concerns are discussed in the paper.

Published
2019

27. Minimal information sensor system for indoor tracking of several persons

Author

Amri, Mohamed-Hédi, Jiménez, Tania, Papegay, Yves, Pourtallier, Odile, Roy, Valérie, 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), Laboratoire Informatique d'Avignon (LIA), Centre d'Enseignement et de Recherche en Informatique - CERI-Avignon Université (AU), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Centre de Mathématiques Appliquées (CMA), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), Avignon Université (AU)-Centre d'Enseignement et de Recherche en Informatique - CERI, and Mines Paris - PSL (École nationale supérieure des mines de Paris)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract

In this paper, we introduce an ongoing experimentation in our laboratory for indoor tracking of several persons with a minimal set of informations, based on photoelectric beam barrier sensors. Incremental design, data analysis and acceptance concerns are discussed.

Published
2019

28. Reliable motion planning for parallel manipulators

Author

Hiparco Lins Vieira, André Teófilo Beck, Eric Wajnberg, Maíra Martins da Silva, Université de Sao Paulo, Institut Sophia Agrobiotech (ISA), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Université Côte d'Azur (UCA), Fundacao de Amparo a Pesquisa do Estado de Sao Paulo (FAPESP) 2018 / 21336-0 2014 / 01809-0, Conseil national du développement scientifique et technologique (CNPq) 405569 / 2016-5, Conseil national du développement scientifique et technologique (CNPq), Escola de Engenharia de São Carlos (EESC-USP), Universidade de São Paulo (USP), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech [Sophia Antipolis] (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (... - 2019) (UNS), Université Côte d'Azur (UCA)-Université Côte d'Azur (UCA)-Centre National de la Recherche Scientifique (CNRS), and This research is supported by FAPESP 2014/01809-0, FAPESP 2018/21336-0 and CNPq 405596/2016-5. Moreover, H.L. Vieira, M.M da Silva and A.T Beck are grateful for their CNPq grants.

Subjects
0209 industrial biotechnology, Probability of failure, Computer science, Monte Carlo method, Bioengineering, 02 engineering and technology, Probabilité d'échec, Metamodeling, ESTRUTURAS, Computer Science::Robotics, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Motion planning, Simulation de Monte Carlo, Artificial neural networks, Artificial neural network, business.industry, Mechanical Engineering, Failure probability, Monte Carlo Simulation, Genetic operators, [PHYS.MECA]Physics [physics]/Mechanics [physics], Modular design, Iterative strategy, Opérateurs génétiques, Computer Science Applications, Manipulator workspace, 020303 mechanical engineering & transports, Mechanics of Materials, Réseaux de neurones artificiels, business
Abstract

International audience; Geometric uncertainties may jeopardize the performance of parallel manipulators, especially during motion planning. Recent research demonstrated that, during motion planning and due to uncertainties, manipulators may accidentally assume low performance or singular configurations. Thus, reliable motion planning algorithms are required. Very few algorithms were proposed to avoid such problem in parallel manipulators. This paper presents a reliable motion planning technique. First, failure modes are defined. Then, a Monte Carlo simulation is used to provide information on how the manipulator’s uncertainties affect its conditioning. Based on this simulation, probabilities of failure are computed for several manipulator workspace configurations. After that, an artificial neural network metamodel is trained to overcome Monte Carlo’s computational inefficiency on the failure probability estimation. This metamodel is assessed by an iterative strategy that exploits genetic operators to compute optimal trajectories avoiding regions that are considerably affected by uncertainties. Due to its modular methodology, the technique can be easily adapted for different applications. A 3RRR manipulator is used as a case study.

Published
2019

29. Next generation biological control – an introduction

Author

Leo W. Beukeboom, Erica Ras, Sophie Le Hesran, Eric Wajnberg, Koppert Biological Systems, Laboratory of Entomology [Wageningen], Wageningen University and Research [Wageningen] (WUR), Chercheur indépendant, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Sophia Agrobiotech (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS), Groningen Institute for Evolutionary Life Sciences [Groningen] (GELIFES), University of Groningen [Groningen], European Project: 641456,H2020,H2020-MSCA-ITN-2014,BINGO(2015), Wageningen University and Research Centre [Wageningen] (WUR), Institut Sophia Agrobiotech [Sophia Antipolis] (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (... - 2019) (UNS), Université Côte d'Azur (UCA)-Université Côte d'Azur (UCA)-Centre National de la Recherche Scientifique (CNRS), Beukeboom lab, Centre National de la Recherche Scientifique (CNRS)-Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015 - 2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015 - 2019) (COMUE UCA)-Institut National de la Recherche Agronomique (INRA), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Institut National de la Recherche Agronomique (INRA)

Subjects
0106 biological sciences, predators, Molecular tools, [SDV]Life Sciences [q-bio], efficacy, Biological pest control, natural enemies, 01 natural sciences, Predation, Natural enemies, Laboratory of Entomology, ComputingMilieux_MISCELLANEOUS, Experimental evolution, induced plant resistance, Parasitoids, efficacy improvement, Ecology, Artificial selection, [SDE]Environmental Sciences, Pathogens, artificial selection, Biology, molecular tools, 010603 evolutionary biology, Efficacy improvement, Induced plant defence, Genetic variation, Antagonistic microorganisms, biocontrol, experimental evolution, Ecology, Evolution, Behavior and Systematics, SEX DETERMINATION, [SDV.GEN.GPO]Life Sciences [q-bio]/Genetics/Populations and Evolution [q-bio.PE], Biocontrol, pathogens, Laboratorium voor Entomologie, parasitoids, antagonistic micro-organisms, GENETIC-IMPROVEMENT, Predators, 010602 entomology, Insect Science, genetic variation, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, RESISTANCE, [SDV.EE.IEO]Life Sciences [q-bio]/Ecology, environment/Symbiosis
Abstract

International audience

Published
2019

30. Improving cable length measurements for large CDPR using the Vernier principle

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), Merlet, Jean-Pierre, and 3IA Côte d'Azur - - 3IA@cote d'azur2019 - ANR-19-P3IA-0002 - P3IA - VALID

Subjects
0209 industrial biotechnology, Accurate estimation, Computer science, Vernier scale, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Cable-driven parallel robot, Initialization, 02 engineering and technology, Drum, law.invention, Length measurement, 020901 industrial engineering & automation, Cable length, Control theory, law, Calibration, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Accuracy
Abstract

International audience; Cable lengths is an important input for determining the state of a CDPR. Using drum with helical guide may be appropriate for small or medium-sized CDPR but are problematic for large one. Another issue is the initialization of the cable length as measurements based on drum rotation are incremental. We propose to address automatic initialization and improvement of cable length measurements by using regularly spaced color marks on the cable combined with color sensors in the mast of the CDPR. We show that this disposition allows one to automate the initialization issue and then how it allows to get regularly accurate estimation of the cable length by using the Vernier principle.

Published
2019

31. Certified Kinematics Solution of 2-DOF Planar Parallel Continuum Mechanisms

Author

Jean-Pierre Merlet, Oscar Altuzarra, University of the Basque Country/Euskal Herriko Unibertsitatea (UPV/EHU), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), and University of the Basque Country [Bizkaia] (UPV/EHU)

Subjects
0209 industrial biotechnology, Continuum (topology), 010102 general mathematics, Mathematical analysis, 02 engineering and technology, Kinematics, 01 natural sciences, Interval arithmetic, Nonlinear system, 020901 industrial engineering & automation, Planar, Position (vector), Elliptic integral, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 0101 mathematics, Mathematics, Resolution (algebra)
Abstract

Kinematics position problems in planar parallel continuum mechanisms, whose elements are elastic rods undergoing nonlinear large deformations, are ruled by a system of nonlinear differential equations. Under some conditions, those rods can be modelled as Kirchhoff rods whose equations can be solved using elliptic integrals. The resolution has to be numerical, and two approaches for that goal are shown in this paper. On the one hand, a method based in residuals evaluation finds multiple solutions at good computational rates but with no formal guarantee on the solving of all solutions. On the other hand, a procedure based on Interval Analysis constitutes a certified solution at a higher computational cost that can be improved with a Newton scheme.

Published
2019

32. Automatic Self-Calibration of Suspended Under-Actuated Cable-Driven Parallel Robot using Incremental Measurements

Author

Jean-Pierre Merlet, Marco Carricato, Edoardo Idà, Dipartimento di Scienze dell'Informazione [Bologna] (DISI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Dipartimento di Informatica - Scienza e Ingegneria [Bologna] (DISI), ANR-19-P3IA-0002,3IA@cote d'azur,3IA Côte d'Azur(2019), Andreas Pott, Tobias Bruckmann, Ida E., Merlet J.-P., Carricato M., Merlet, Jean-Pierre, and 3IA Côte d'Azur - - 3IA@cote d'azur2019 - ANR-19-P3IA-0002 - P3IA - VALID

Subjects
0209 industrial biotechnology, Forward kinematics, business.product_category, Optimization problem, Computer science, Homing, 02 engineering and technology, Underconstrained robots, Pulley, Computer Science::Robotics, 020901 industrial engineering & automation, Data acquisition, 0203 mechanical engineering, Control theory, Initial value problem, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Pose, Underactuated robots, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Cable-driven parallel robot, Underactuated robot, Parallel manipulator, Cable-driven parallel robots, 020303 mechanical engineering & transports, Robot, Self-calibration, business
Abstract

International audience; This paper focuses on the problem of the initial-pose estimation by means of proprioceptive sensors (self-calibration) of suspended under-actuated Cable-Driven Parallel Robots (CDPRs). For this class of manipulators, the initial-pose estimation cannot be carried out by means of forward kinematics only, but mechanical equilibrium conditions must be considered as well. In addition , forward kinematics solution is based on cable-length measurements, but if the robot is equipped with incremental sensors cables' initial values are unknown. In this paper, the self-calibration problem is formulated as a non-linear least square optimization problem (NLLS), based on the direct geometrico-static problem, where only incremental measurements on cable lengths and on swivel pulley angles are required. In addition, a data acquisition algorithm and an initial value selection procedure for the NLLS are proposed, aiming at automatizing the self-calibration procedure. Simulations and experimental results on a 3-cable 6-degree-of-freedom robot are provided so as to prove the effectiveness of the proposed methodology.

Published
2019

33. Contrasting olfactory responses of two egg parasitoids to buckwheat floral scent are reflected in field parasitism rates

Author

Ezio Peri, Stefano Colazza, Maria Cristina Foti, Michael Rostás, Eric Wajnberg, Università degli studi di Palermo - University of Palermo, Lincoln University, New Zealand, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), The authors thank Edgardo Foti for providing fields and for assistance in the management of the crop and flowering plants. We thank Janine Johnson for copyediting the manuscript. This research was partially supported by the Marie Skłodowska-Curie Research and Innovation Staff Exchange (RISE) H2020-MSCA-RISE-2015 of the European Union with the project Impact of invasive alien true bug species in native trophic webs—INVASIoN (GA 690952)., European Project: 691135,H2020,H2020-MSCA-RISE-2015,RISEN(2016), Foti, Maria Cristina, Peri, Ezio, Wajnberg, Eric, Colazza, Stefano, and Rostás, Michael

Subjects
0106 biological sciences, media_common.quotation_subject, Biological pest control, Parasitism, 010603 evolutionary biology, 01 natural sciences, Competition (biology), Parasitoid, Nectar, Ecosystem services, Buckwheat, Trissolcus basalis, media_common, Buckwheat Conservation biological control Ecosystem services Nezara viridula Ooencyrtus telenomicida Trissolcus basalis, biology, fungi, Nezara viridula, food and beverages, biology.organism_classification, Fecundity, Attraction, 010602 entomology, Horticulture, Settore AGR/11 - Entomologia Generale E Applicata, Ooencyrtus telenomicida, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, Conservation biological control, Agronomy and Crop Science
Abstract

International audience; Conservation biological control programs advocate the planting of flower strips alongside crops to improve the survival and effectiveness of parasitoids. Ideally, the provided food plants are highly attractive and benefit the targeted biocontrol agents without promoting pests or intraguild competition. Previous laboratory studies showed that Trissolcus basalis, an egg parasitoid of the stink bug Nezara viridula, is highly attracted to floral odors of buckwheat and that its nectar increases the wasp’s fecundity. In the field, T. basalis competes with the co-occurring parasitoid Ooencyrtus telenomicida for host eggs. Therefore, in the present study, we explored whether O. telenomicida shows similar attraction to buckwheat volatiles. We then carried out a 2-year field experiment to assess whether the laboratory-observed olfactory behaviors of both species are reflected in changed parasitism rates of stink bug eggs. Parasitism by naturally occurring egg parasitoids was measured in tomato plots with and without a margin of flowering buckwheat. Our results showed that, unlike T. basalis, O. telenomicida was repelled by the odor of buckwheat flowers. In both years, T. basalis found more egg batches and parasitized more stinkbug eggs when flower margins were present. Egg parasitism correlated positively with proximity to the buckwheat margin. In accordance with our prediction, egg parasitism by O. telenomicida occurred almost exclusively in the control plots and for a shorter period during the season. We conclude that buckwheat strips can influence intraguild competition and hypothesize that the effect was mediated by floral volatiles.

Published
2019

34. Physical Analysis of Handshaking Between Humans: Mutual Synchronisation and Social Context

Author

Artem Melnyk, Patrick Henaff, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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 Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Analysis and modeling of neural systems by a system neuroscience approach (NEUROSYS), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, General Computer Science, Social Psychology, Handshake, Computer science, Wearable computer, Context (language use), 02 engineering and technology, Motion (physics), 020901 industrial engineering & automation, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 0501 psychology and cognitive sciences, Electrical and Electronic Engineering, 050107 human factors, business.industry, [SCCO.NEUR]Cognitive science/Neuroscience, 05 social sciences, Social environment, Robotics, Human-Computer Interaction, Philosophy, Handshaking, Control and Systems Engineering, Duration (music), [SCCO.PSYC]Cognitive science/Psychology, Artificial intelligence, business, Cognitive psychology
Abstract

International audience; One very popular form of interpersonal interaction used in various situations is the handshake (HS), which is an act that is both physical and social. This article aims to demonstrate that the paradigm of synchrony that refers to the psychology of individuals' temporal movement coordination could also be considered in handshaking. For this purpose, the physical features of the human HS are investigated in two different social situations: greeting and consolation. The duration and frequency of the HS and the force of the grip have been measured and compared using a prototype of a wearable system equipped with several sensors. The results show that an HS can be decomposed into four phases, and after a short physical contact, a synchrony emerges between the two persons who are shaking hands. A statistical analysis conducted on 31 persons showed that, in the two different contexts, there is a significant difference in the duration of HS, but the frequency of motion and time needed to synchronize were not impacted by the context of an interaction.

Published
2019

35. Editorial overview: Behavioural ecology: Behavioural ecology of insects: current research and potential applications

Author

Emmanuel Desouhant, Eric Wajnberg, Institut Sophia Agrobiotech [Sophia Antipolis] (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (... - 2019) (UNS), Université Côte d'Azur (UCA)-Université Côte d'Azur (UCA)-Centre National de la Recherche Scientifique (CNRS), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Evolution, adaptation et comportement, Département écologie évolutive [LBBE], Laboratoire de Biométrie et Biologie Evolutive - UMR 5558 (LBBE), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire de Biométrie et Biologie Evolutive - UMR 5558 (LBBE), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-VetAgro Sup - Institut national d'enseignement supérieur et de recherche en alimentation, santé animale, sciences agronomiques et de l'environnement (VAS)-Centre National de la Recherche Scientifique (CNRS), Institut Sophia Agrobiotech (ISA), Institut National de la Recherche Agronomique (INRA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université Nice Sophia Antipolis (... - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Institut National de la Recherche Agronomique (INRA)

Subjects
0301 basic medicine, education.field_of_study, Insecta, Adaptive value, Ecology, Reproductive success, Research, Ecology (disciplines), Population, Foraging, Ethology, 15. Life on land, Biology, Insect ecology, 03 medical and health sciences, 030104 developmental biology, [SDV.EE.ECO]Life Sciences [q-bio]/Ecology, environment/Ecosystems, Insect Science, Sexual selection, Animals, Identification (biology), education, Ecology, Evolution, Behavior and Systematics
Abstract

International audience; Why has the use of insects as biological models in behavioural ecology been so successful? The first reason is, without question, their diversity. Class Insecta contains the largest number of species in Animalia [1]. They have colonized all terrestrial ecosystems and present a huge diversity of life history traits and behaviours that makes them fascinating organisms to answer the key historical question in behavioural ecology, that is, what is the adaptive value of observed behaviours in different environments? The second reason is their size. Thanks to their small size, and thus to our ability to rear them easily in many cases, insects always were — and still are — wonderful biological models for running laboratory experiments. Over the years, this has enabled us to address important questions related to animal behavioural ecology, leading us both to verify experimentally existing model predictions and to foster further theoretical developments. Such a strong dialogue between theoretical and experimental work on insects has greatly contributed to the development of our current knowledge of behavioural ecology in general. Since the 70s, studies on the behavioural ecology of insects have tried to understand the adaptive value of decision-making processes adopted by individuals in different environmental contexts. One striking example concerns the optimal decisions adopted by reproductive animals. This is the case, for example, for the optimal clutch size and the optimal sex ratio females should lay, or the optimal time foraging animals should remain on patches of resources. In this respect, insect parasitoids are one the most studied guilds of insects, leading to a large number of important findings (see e.g. [2–4]). This classical approach is always fruitful, and determining the adaptive value of behaviour is always at the core of this scientific field [5]. In the Special Issue, three papers illustrate such a classical approach, and develop new ideas and concepts on nutritional ecology, mate choice and polyem-bryony. Raubenheimer and Simpson present an integrative approach — nutritional geometry — that brings together two historical disciplines: foraging and feeding. Nutritional geometry allows us to model graphically and elegantly the interactions between different diet components and their effects across several levels, including physiology and ecology, on individual behaviour and reproductive success. Such a promising approach, which has yet to be used in the field in insects, should allow us to integrate all facets of nutritional activity in animals. Another classical question in behavioural ecology is sexual selection and particularly mate choice. Kelly presents recent research on the identification of factors — both intrinsic and extrinsic — of the females explaining variation in their mate preference for sexually selected traits in males. Eric Wajnberg is a population biologist, specialized in population genetics, behavioural ecology, statistical modelling and biological control. For over thirty years, he developed several scientific programmes leading to better understand what are the most important behavioural traits involved in the efficacy of insect parasitoids to control crop pests in biological control programmes. Theoretical approaches are developed — mainly using Monte Carlo simulations and Genetic Algorithms — and experiments are conducted in order to verify the predictions obtained. The main traits studied are (1) those involved in progeny and sex allocation (sex ratio), (2) locomotory mechanisms involved in discovering hosts (video tracking), (3) patch exploitation strategies, etc. He is the editor-in-chief of the international journal BioControl and has published more than 10 books on insect ecology and biological control.

Published
2018

36. Topological optimization design for additive manufacturing, taking into account flexion and vibrations during machining post processing operations

Author

Vincent Benoist, Lionel Arnaud, Maher BAILI, Jean-Pierre Faye, Institut National Polytechnique de Toulouse - INPT (FRANCE), Héphaïstos-Cousso (FRANCE), Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE), Laboratoire Génie de Production (LGP), Ecole Nationale d'Ingénieurs de Tarbes (ENIT), Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université de Toulouse (UT), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Topological optimization, Additive manufacturing, [SPI.MECA.MEMA]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanics of materials [physics.class-ph], Vibrations, [SPI.MECA.VIBR]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Vibrations [physics.class-ph], Mécanique des matériaux, Machining
Abstract

International audience; This article focuses on including into the topological optimization method, all the mechanical stresses applied during the part lifetime and especially during machining phase. Thus, in addition to the part technical specifications, we consider static and vibratory forces during machining, and also forces during mounting and unmounting in the machine tool and then in the aircraft. Results show that taking into account handling and machining forces, static and vibratory, strongly impact topological optimization, thus shapes and weight, and should be considered during the early stage of the design in order to optimize the additive manufactured parts costs.

Published
2018

37. Robust Design of Parameter Identification

Author

Yves Papegay, Aurélien Massein, David Daney, Augmenting human comfort in the factory using cobots (AUCTUS), Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Polytechnique de Bordeaux (Bordeaux INP), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Jadran Lenarčič, Jean-Pierre Merlet, Papegay, Yves, and Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Optimal design, Observability index, 0209 industrial biotechnology, Mathematical optimization, Parameter identification, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], 02 engineering and technology, Localisation, Quality of results, Uncertainties, 03 medical and health sciences, Robust design, 020901 industrial engineering & automation, 0302 clinical medicine, Control theory, Robustness (computer science), 030220 oncology & carcinogenesis, Identifiability, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], uncer- tainties, Uncertainty analysis, Drawback, Mathematics
Abstract

International audience; Quality of results computed during parameter identification problems relies on the selection of system's states while performing measurements. This choice usually does not take into account the uncertainty of states and of measures. For identifiability, classical methods focus only on the contribution of model errors on the uncertainty of parameters. We present an alternative approach that tackles this drawback: taking into account influence of all uncertainty sources in order to improve parameter identification robustness to uncertainties. A robotic application example that showcases the differences between approaches is developed as well.

Published
2018

38. An experimental investigation of extra measurements for solving the direct kinematics of cable-driven parallel robots

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and Merlet, Jean-Pierre

Subjects
0209 industrial biotechnology, Orientation (computer vision), Computer science, Parallel manipulator, 02 engineering and technology, Kinematics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Robot, Simulation, ComputingMilieux_MISCELLANEOUS
Abstract

Solving the direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on the cable length measurements is a demanding problem that is still not well mastered, especially for robots having sagging cables. A model-based approach may be used to solve this problem but the model parameters and measurements are uncertain, thereby leading to positioning inaccuracy. A possible way to improve the accuracy and speed up the solving is to add extra measurements. For that purpose a preliminary step is to determine what type of measurements are possible and then to estimate how accurate they are. For that purpose we have used a CDPR with 4 cables that has been instrumented with various types of extra measurements: cable tensions and orientations, platform orientation. Ground truth has been established and we have compared the data provided by the extra sensors with their real values. This work shows that cable tensions sensors and platform orientation sensors are not good candidates to be used for the DK while cable orientations may be obtained with a good accuracy both in static poses or during a quasi-static motion.

Published
2018

39. Using interval analysis in robotics problems

Author

Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and Merlet, Jean-Pierre

Subjects
TheoryofComputation_MISCELLANEOUS, [SPI.AUTO] Engineering Sciences [physics]/Automatic, GeneralLiterature_MISCELLANEOUS, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

Invited talk; International audience

Published
2018

40. Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking

Author

Salvador Dominguez Quijada, Philippe Martinet, David Perez Morales, Olivier Kermorgant, École Centrale de Nantes (ECN), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Scheme (programming language), 050210 logistics & transportation, 0209 industrial biotechnology, Computer science, Computation, 05 social sciences, Control (management), Real-time computing, Work (physics), Feature extraction, 02 engineering and technology, 020901 industrial engineering & automation, Control theory, 0502 economics and business, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], computer, Collision avoidance, Parallel parking, computer.programming_language
Abstract

International audience; This paper addresses the perpendicular and parallel parking problems of car-like vehicles for both forward and reverse maneuvers in one trial by extending the work presented in [1] using a multi sensor based controller with a weighted control scheme. The perception problem is discussed briefly considering a Velodyne VLP-16 and a SICK LMS151 as the sensors providing the required exteroceptive information. The results obtained from simulations and real experimentation for different parking scenarios show the validity and potential of the proposed approach. Furthermore, it is shown that, despite the need of handling several constraints for collision avoidance, the required computation time of the proposed approach is small enough to be used online.

Published
2018

41. Computing cross-sections of the workspace of a cable-driven parallel robot with 6 sagging cables having limited lengths

Author

Jean-Pierre Merlet, Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Altitude (triangle), Inverse kinematics, business.industry, Computer science, Parallel manipulator, 02 engineering and technology, Structural engineering, Workspace, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, Singularity, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 0203 mechanical engineering, Orientation (geometry), Cable driven, business, ComputingMilieux_MISCELLANEOUS
Abstract

Although workspace is essential for the design and control of cable-driven parallel robots very few works have been devoted to this topic when sagging cables are considered, most probably because of the complexity of the cable model. In this paper we consider a CDPR with 6 sagging cables whose lengths have a limited maximal value. We propose an algorithm to compute the border of horizontal cross-section of the workspace for a given altitude and orientation of the platform. We show that the singularity of the inverse kinematics equations have to be taken into account for a proper determination of the border.

Published
2018

42. Computing cross-sections of the workspace of suspended cable-driven parallel robot with sagging cables having tension limitations

Author

Jean-Pierre Merlet, Merlet, Jean-Pierre, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Robot kinematics, Inverse kinematics, Tension (physics), Computer science, business.industry, 0211 other engineering and technologies, Parallel manipulator, 02 engineering and technology, Workspace, Structural engineering, Kinematics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Kinematics equations, Robot, business, 021106 design practice & management
Abstract

International audience; Although workspace is essential for the design and control of cable-driven parallel robots (CDPR) very few works have been devoted to this topic when sagging cables are considered , most probably because of the complexity of the cable model. In this paper we consider suspended CDPR with sagging cables that can support only a limited tension. We propose an algorithm to compute the border of horizontal cross-sections of the workspace for a given altitude and orientation of the platform. We show that singularities of the kinematics equations have to be taken into account for a proper determination of the border and that the workspace can be separated in several components according to the branch of the inverse kinematics on which the robot is evolving. We also compare the workspace obtained for ideal and sagging cables.

Published
2018

43. Les avancées en robotique d'assistance à la personne sous le prisme du droit et de l'éthique

Author

Nevejans, Nathalie, Pourtallier, Odile, Icart, Sylvie, Merlet, Jean-Pierre, Centre de Recherche en Droit Ethique et Procédures (CDEP), Université d'Artois (UA), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SIGNAL, Signal, Images et Systèmes (Laboratoire I3S - SIS), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (1965 - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), Université Nice Sophia Antipolis (... - 2019) (UNS), and COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (... - 2019) (UNS)

Subjects
[SHS.DROIT]Humanities and Social Sciences/Law, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2017

44. Improving pest control efficiency: a modelling approach

Author

Plouvier, Wouter, Wajnberg, Eric, Institut National de la Recherche Agronomique (INRA), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and Wajnberg, Eric

Subjects
[INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], [SDV.BID.EVO]Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], [SDV.BID.EVO] Life Sciences [q-bio]/Biodiversity/Populations and Evolution [q-bio.PE], [INFO.INFO-MA] Computer Science [cs]/Multiagent Systems [cs.MA], [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2017

45. Direct kinematics of CDPR with extra cable orientation sensors: the 2 and 3 cables case with perfect measurement and sagging cables

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and Merlet, Jean-Pierre

Subjects
0209 industrial biotechnology, business.industry, Computer science, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Parallel manipulator, 02 engineering and technology, Structural engineering, Kinematics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 0203 mechanical engineering, Orientation (geometry), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], business
Abstract

International audience; Direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on cable lengths measurements is a complex issue even with ideal cables and consequently even harder for more realistic cable models such as sagging cable. A natural way to simplify the DK solving is to add sensors. We consider here sensors that give a partial or complete measurement of the cable direction at the anchor points and/or measure the orientation of the platform of CDPR with 2 or 3 cables and we assume that the measurements are exact. We provide a solving procedure and maximal number of DK solutions for an extensive combination of sensors for CDPR with sagging cables. We show that at least two measurements are necessary for the planar 2 cables case while six are necessary for the spatial 3 cables case. For spatial CDPR with n cables we prove that at least 2n additional sensors will be required to get a closed-form solution of the DK.

Published
2017

46. Direct kinematics of CDPR with extra cable orientation sensors: the 2 and 3 cables case with perfect measurement and ideal or elastic cables

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and Merlet, Jean-Pierre

Subjects
Engineering, Ideal (set theory), Deformation (mechanics), business.industry, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Electrical engineering, Parallel manipulator, 02 engineering and technology, Kinematics, Topology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020303 mechanical engineering & transports, 0302 clinical medicine, 0203 mechanical engineering, 030220 oncology & carcinogenesis, Orientation (geometry), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], business
Abstract

International audience; Direct kinematics (DK) of cable-driven parallel robots (CDPR) based only on cable lengths measurements is a complex issue even with ideal cables and consequently even harder for more realistic cable models. A natural way to simplify the DK solving is to add sensors. We consider here sensors that give a partial or complete measurement of the cable direction at the anchor points and spatial CDPR with 2/3 cables and we assume that these measurements are exact. We provide a solving procedure and maximal number of DK solutions for an extensive combination of sensors while considering two different cables models: ideal and linearly elastic without deformation.

Published
2017

47. Variable structure robot control systems: The RAPP approach

Author

George T. Karagiannis, Teresa Zielinska, Aristeidis G. Thallas, Wojciech Szynkiewicz, Manuel Serrano, Lazaros Penteridis, Jean-Pierre Merlet, David Daney, Pericles A. Mitkas, Maksym Figat, Tomasz Kornuta, Jan Figat, Emmanouil Tsardoulias, Stratos Arampatzis, Fotis Psomopoulos, Maciej Stefańczyk, Konrad Banachowicz, Cezary Zieliński, Włodzimierz Kasprzak, Andreas L. Symeonidis, Athanassios M. Kintsakis, Vincent Prunet, Ilias Trochidis, Wojciech Dudek, Alexandros Giokas, Tomasz Winiarski, Marcin Szlenk, Konstantinos Panayiotou, Miren Iturburu, Sofia E. Reppou, Warsaw University of Technology [Warsaw], Informatics & Telematics Institute (ITI), CERTH, Department of Electrical & Computer Engineering [Thessaloniki], Aristotle University of Thessaloniki, Ormylia Foundation [Ormylia], Secure Diffuse Programming (INDES), 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), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Coventry University, Augmenting human comfort in the factory using cobots (AUCTUS), Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Polytechnique de Bordeaux (Bordeaux INP), and Instituto Gerontologico Matia [San Sebastián]

Subjects
RAPP, 0209 industrial biotechnology, Personal robot, Computer science, General Mathematics, ACM: D.: Software/D.1: PROGRAMMING TECHNIQUES/D.1.3: Concurrent Programming/D.1.3.0: Distributed programming, Arm solution, Variable structure controllers, ACM: D.: Software/D.3: PROGRAMMING LANGUAGES/D.3.2: Language Classifications/D.3.2.0: Applicative (functional) languages, 02 engineering and technology, Robot learning, [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL], 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Social robot, business.industry, Control engineering, Mobile robot, Mobile robot navigation, Computer Science Applications, Robot control, Cloud robotics, Control and Systems Engineering, Control system, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, Robot controllers, business, Software
Abstract

International audience; This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services. "

Published
2017

48. Simulation of Discrete-Time Controlled Cable-Driven Parallel Robots on a Trajectory

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
0209 industrial biotechnology, Engineering, Systems simulation, 02 engineering and technology, Interval (mathematics), Kinematics, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, 0103 physical sciences, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, 010301 acoustics, Simulation, Robot kinematics, systems simulation, business.industry, Interval, Parallel manipulator, parallel robots, Computer Science Applications, robot kinematics, Discrete time and continuous time, Control and Systems Engineering, Trajectory, State (computer science), business
Abstract

International audience; This paper addresses the simulation of the state of a discrete-time controlled cable-driven parallel robot (CDPR) with nondeformable or elastic cables over a given trajectory. Being given a CDPR, an arbitrary model for the coiling system and for the control strategy, we exhibit a simulation algorithm that allows one to determine, in a guaranteed way, the platform pose and the cable tensions at any time. We show that such a simulation may require a computing accuracy that imposes to use extended arithmetic and that discrete-time control may lead to drastic differences in the cable tensions as compared to usual continuous time simulation. Hence, the proposed simulation tool allows for a better estimation of the positioning accuracy together with safer estimation of the maximum of the cable tensions.

Published
2017

49. Computing cross-sections of the workspace of cable-driven parallel robots with 6 sagging cables

Author

Jean-Pierre Merlet, HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), 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), and Merlet, Jean-Pierre

Subjects
0209 industrial biotechnology, Inverse kinematics, Computer science, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], 010102 general mathematics, Constraint (computer-aided design), Parallel manipulator, workspace, 02 engineering and technology, Workspace, Kinematics, Topology, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, cable-driven parallel robots, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, kinematics, Cable driven, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 0101 mathematics, Algebraic number, Simulation
Abstract

International audience; Finding the workspace of cable driven parallel robots (CDPR) with sagging cables (i.e. elastic and deformable cables) is a problem that has never been fully addressed in the literature as this is a complex issue: the inverse kinematics may have multiple solutions and the equations that describe the problem are non-linear and non algebraic. We address here the problem of determining an approximation of the border of horizontal cross-sections of the workspace for CDPR with 6 cables. We present an algorithm that give an outline of this border but also rises several theoretical issues. We then propose another algorithm that allow to determine a polygonal approximation of the workspace border induced by a specific constraint. All these algorithms are illustrated on a very large CDPR.

Published
2017

50. Risks involved in the introduction of biological control agents in Europe: A point of view involving ecology and regulation

Author

Wajnberg, Eric, Wajnberg, Eric, Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria), HExapode, PHysiologie, AssISTance et Objets de Service (HEPHAISTOS), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
[SDE.BE] Environmental Sciences/Biodiversity and Ecology, [SDE.ES] Environmental Sciences/Environmental and Society, [SDE.BE]Environmental Sciences/Biodiversity and Ecology, [SDE.ES]Environmental Sciences/Environmental and Society, ComputingMilieux_MISCELLANEOUS
Abstract

International audience

Published
2017

Catalog

Books, media, physical & digital resources
See catalog results