0000000000075348
AUTHOR
Eric Busvelle
Observer for a thick layer of solid deuterium-tritium using backlit optical shadowgraphy and interferometry.
Our work is in the context of the French "laser megajoule" project, about fusion by inertial confinement. The project leads to the problem of characterizing the inner surface, of the approximately spherical target, by optical shadowgraphy techniques. Our work is entirely based on the basic idea that optical shadowgraphy produces "caustics" of systems of optical rays, which contain a great deal of 3D information about the surface to be characterized. We develop a method of 3D reconstruction based upon this idea plus a "small perturbations" technique. Although computations are made in the special "spherical" case, the method is in fact general and may be extended to several other situations.
New Results on Identifiability of Nonlinear Systems
Abstract In this paper, we recall definition of identifiability of nonlinear systems. We prove equivalence between identifiability and smooth identifiability. This new result justifies our definition of identifiability. In a previous paper (Busvelle and Gauthier, 2003), we have established that • If the number of observations is three or more, then, systems are generically identifiable. • If the number of observations is 1 or 2, then the situation is reversed. Identifiability is not at all generic. Also, we have completely classified infinitesimally identifiable systems in the second case, and in particular, we gave normal forms for identifiable systems. Here, we will give similar results i…
Observation and identification tools for non-linear systems: application to a fluid catalytic cracker
In this paper we recall general methodologies we developed for observation and identification in non-linear systems theory, and we show how they can be applied to real practical problems. In a previous paper, we introduced a filter which is intermediate between the extended Kalman filter in its standard version and its high-gain version, and we applied it to certain observation problems. But we were missing some important cases. Here, we show how to treat these cases. We also apply the same technique in the context of our identifiability theory. As non-academic illustrations, we treat a problem of observation and a problem of identification, for a fluid catalytic cracker (FCC). This FCC uni…
On determining unknown functions in differential systems, with an application to biological reactors.
In this paper, we consider general nonlinear systems with observations, containing a (single) unknown function φ . We study the possibility to learn about this unknown function via the observations: if it is possible to determine the [values of the] unknown function from any experiment [on the set of states visited during the experiment], and for any arbitrary input function, on any time interval, we say that the system is “identifiable”. For systems without controls, we give a more or less complete picture of what happens for this identifiability property. This picture is very similar to the picture of the “observation theory” in [7]: Contrarily to the case of the observability property, i…
Drivers-Inspired Ants for Solving the Vehicle Routing Problem with Time Windows
International audience; In our study, we develop a method that merges two information sources within ants colony optimization heuristic. Namely artificial ants which occurs for short term optimization and transporter's vehicles that occurs in long term and continuous optimization toward solving the real-world vehicle routing problem. This study is supported by a transporter (Upsilon) of the region of l'Yonne in France and a transport and logistics software development company (Tedies). Our method suits for transporters that use human planners to make decisions about their tours and intending to move to computer planners without drastically upsetting the drivers habits. Hence, the pledge of …
Robotics for weed control: I-Weed Robot for a specific spraying
International audience; To preserve environment for a sustainable agriculture, we explore the development of a new autonomous robot, called I-Weed Robot (Intelligent Weed Robot), which aims at reducing herbicides in crop fields (maize, sunflower...). Using a high precision positioning signal (RTK) to locate the robot in the field, a Kaman filter and a proportional-integral-derivative controller (PID controller) allow adjusting the orientation of the robot depending on a predefined trajectory. As for the spraying system, a camera in front of the mobile platform detects weed plants thanks to an image processing based on a crop/weed discrimination algorithm (Hough Transform). At the back a spr…
Using an Adaptive High-Gain Extended Kalman Filter With a Car Efficiency Model
The authors apply the Adaptive High-Gain Extended Kalman Filter (AEKF) to the problem of estimating engine efficiency with data gathered from normal driving. The AEKF is an extension of the traditional Kalman Filter that allows the filter to be reactive to perturbations without sacrificing noise filtering. An observability normal form of the engine efficiency model is developed for the AEKF. The continuous-discrete AEKF is presented along with strategies for dealing with asynchronous data. Empiric test results are presented and contrasted with EKF-derived results.Copyright © 2010 by ASME
Adaptive-gain extended Kalman filter: Extension to the continuous-discrete case
In the present article we propose a nonlinear observer that merges the behaviors 1) of an extended Kalman filter, mainly designed to smooth off noise , and 2) of high-gain observers devoted to handle large perturbations in the state estimation. We specifically aim at continuous-discrete systems. The strategy consists in letting the high-gain self adapt according to the innovation. We define innovation computed over a time window and justify its usage via an important lemma. We prove the general convergence of the resulting observer.
Spatial Reconstruction Algorithm of DT Layer in Cryogenic Targets Using Optical Techniques
The measurements of the solid DT layer, in terms of thickness and roughness, in the LMJ geometry (i.e. in a hohlraum) are not trivial. The DT layer measurements will be done using a Matsukov-Cassegrain telescope placed 39 cm away from the target. This telescope will be used to acquire shadowgraphy images on equators, and interferometric measurements on pole areas using optical coherence tomography (OCT). Optical coherence tomography allows determining the DT layer thickness on a few points, in the polar regions of the target. By scanning around the poles, several points can be acquired in order to calculate the roughness and the local shape of the DT layer at the pole. Both techniques were …
Adaptive-gain extended Kalman filter: application to a series connected DC motor
International audience
High-gain observers and Kalman filtering in hard real-time
International audience
Adaptive-Gain Observers and Applications
We distinguish two kinds of observers for nonlinear systems which are used by scientists and engineers: empirical observers and converging observers.
Characterization of the Microshell Surface Using Holography
AbstractTo characterize the shape, the quality, and the roughness of microshells, digital holographic microscopy technology is used because it offers an appropriate ability to these studies. It captures holograms to reconstruct a double image, one for the intensity and another one for the phase. Using rotation axis, bump counting for the complete microshell surface is possible with a very high speed. Using image stitching and three-dimensional surface rebuilding software, mapping can be done in a few minutes. Each bump can then be characterized on the map by its position, diameter, and height.
I-Weed Robot : un robot autoguidé pour un désherbage localisé
We present the development of an autonomous robot, called I-Weed Robot (Intelligent Weed Robot), which aims at reducing herbicides in crop fields (maize, sunflower…). Using a high precision positioning signal (RTK) to locate the robot in the field, a Kalman filter and a proportional-integral-derivative controller (PID controller) allows adjusting the orientation and the speed of the robot depending on a predefined trajectory. As for the specific spraying system, a commercial system is used (weedseeker, Trimble) where the plant detection is obtained by an optical sensors just before to spray specifically on them. The performance of the guidance algorithm using numerical simulations (virtual …