Search results for "Parallel"
showing 10 items of 667 documents
Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators
2017
Motion generation systems are becoming increasingly important in certain Virtual Reality (VR) applications, such as vehicle simulators. This paper deals with the analysis of the Inverse Kinematics (IK) and the reachable workspace of a three-degrees-of-freedom (3-DOF) parallel manipulator, proposing different transformations and optimizations in order to simplify its use with Motion Cueing Algorithms (MCA) for self-motion generation in VR simulators. The proposed analysis and improvements are performed on a 3-DOF heave-pitch-roll manipulator with rotational motors, commonly used for low-cost motion-based commercial simulators. The analysis has been empirically validated against a real 3-DOF …
Rotation estimation and vanishing point extraction by omnidirectional vision in urban environment
2012
International audience; Rotation estimation is a fundamental step for various robotic applications such as automatic control of ground/aerial vehicles, motion estimation and 3D reconstruction. However it is now well established that traditional navigation equipments, such as global positioning systems (GPSs) or inertial measurement units (IMUs), suffer from several disadvantages. Hence, some vision-based works have been proposed recently. Whereas interesting results can be obtained, the existing methods have non-negligible limitations such as a difficult feature matching (e.g. repeated textures, blur or illumination changes) and a high computational cost (e.g. analyze in the frequency domai…
Towards a Reference Architecture for Archival Systems: Use Case With Product Data
2014
Long-term preservation of product data is imperative for many organizations. A product data archive should be designed to ensure information accessibility and understanding over time. Approaches, such as the Open Archival Information System Reference Model (OAIS RM) and the Audit and Certification of Trustworthy Digital Repositories (ACTDR), provide a framework for conceptually describing and evaluating archives. These approaches are generic and do not focus on particular contexts or content types such as product data. Moreover, these approaches offer no guidance on how to formally and comprehensively describe archival systems. Such descriptions should include the business activities that a…
High quality conservative surface mesh generation for swept volumes
2012
We present a novel, efficient and flexible scheme to generate a high quality mesh that approximates the outer boundary of a swept volume. Our approach comes with two guarantees. First, the approximation is conservative, i.e., the swept volume is enclosed by the generated mesh. Second, the one-sided Hausdorff distance of the generated mesh to the swept volume is upper bounded by a user defined tolerance. Exploiting this tolerance the algorithm generates a mesh that is adapted to the local complexity of the swept volume boundary, keeping the overall output complexity remarkably low. The algorithm is two-phased: the actual sweep and the mesh generation. In the sweeping phase we introduce a gen…
Reliable diagnostics using wireless sensor networks
2019
International audience; Monitoring activities in industry may require the use of wireless sensor networks, for instance due to difficult access or hostile environment. But it is well known that this type of networks has various limitations like the amount of disposable energy. Indeed, once a sensor node exhausts its resources, it will be dropped from the network, stopping so to forward information about maybe relevant features towards the sink. This will result in broken links and data loss which impacts the diagnostic accuracy at the sink level. It is therefore important to keep the network's monitoring service as long as possible by preserving the energy held by the nodes. As packet trans…
Globally Optimal Line Clustering and Vanishing Point Estimation in Manhattan World
2012
The projections of world parallel lines in an image intersect at a single point called the vanishing point (VP). VPs are a key ingredient for various vision tasks including rotation estimation and 3D reconstruction. Urban environments generally exhibit some dominant orthogonal VPs. Given a set of lines extracted from a calibrated image, this paper aims to (1) determine the line clustering, i.e. find which line belongs to which VP, and (2) estimate the associated orthogonal VPs. None of the existing methods is fully satisfactory because of the inherent difficulties of the problem, such as the local minima and the chicken-and-egg aspect. In this paper, we present a new algorithm that solves t…
Parallel distributed compensation for voltage controlled active magnetic bearing system using integral fuzzy model
2018
Parallel Distributed Compensation (PDC) for current-controlled Active Magnetic Bearing System (AMBS) has been quite effective in recent years. However, this method does not take into account the dynamics associated with the electromagnet. This limits the method to smaller scale applications where the electromagnet dynamics can be neglected. Voltage-controlled AMBS is used to overcome this limitation but this comes with serious challenges such as complex mathematical modelling and higher order system control. In this work, a PDC with integral part is proposed for position and input tracking control of voltage-controlled AMBS. PDC method is based on nonlinear Takagi-Sugeno (T-S) fuzzy model. …
On stability of linear dynamic systems with hysteresis feedback
2020
The stability of linear dynamic systems with hysteresis in feedback is considered. While the absolute stability for memoryless nonlinearities (known as Lure's problem) can be proved by the well-known circle criterion, the multivalued rate-independent hysteresis poses significant challenges for feedback systems, especially for proof of convergence to an equilibrium state correspondingly set. The dissipative behavior of clockwise input-output hysteresis is considered with two boundary cases of energy losses at reversal cycles. For upper boundary cases of maximal (parallelogram shape) hysteresis loop, an equivalent transformation of the closed-loop system is provided. This allows for the appli…
Analyzing Cascading Effects in Interdependent Critical Infrastructures
2018
International audience; Critical Infrastructures (CIs) are resources that are essential for the performance of society, including its economy and its security. Large-scale disasters, whether natural or man-made, can have devastating primary (direct) effects on some CI and significant indirect effects (cascading effects) on other CIs, because CIs are interconnected and depend on each other’s services. Recent work by Laugé et al. expressed the dependency values among CIs as dependency matrices for various durations of the primary CI failure. For better preparedness and mitigation of CI failures knowledge of the weak points in CI interdependencies is crucial. To this effect, we have developed …
Ensuring the Reliability of an Autonomous Vehicle
2017
International audience; In automotive applications, several components, offering different services, can be composed in order to handle one specific task (autonomous driving for example). Nevertheless, component composition is not straightforward and is subject to the occurrence ofbugs resulting from components or services incompatibilities for instance. Hence, bugs detection in component-based systems at thedesign level is very important, particularly, when the developed system concerns automotive applications supporting critical services.In this paper, we propose a formal approach for modeling and verifying the reliability of an autonomous vehicle system, communicatingcontinuously with of…