Search results for "traje"

Optimization model predictions for postural coordination modes

2003

International audience; This paper examines the ability of the dynamic optimization model to predict changes between in-phase and anti-phase postural modes of coordination and to evaluate influence of two particular environmental and intentional constraints on postural strategy. The task studied was based on an experimental paradigm that consisted in tracking a target motion with the head. An original optimal procedure was developed for cyclic problems to calculate hip and ankle angular trajectories during postural sway with a minimum torque change criterion. Optimization results give a good description of the sudden bifurcation phase between in-phase and anti-phase postural coordination mo…

Trajectory tracking of underactuated underwater vehicles

2003

This paper deals with a control strategies for underactuated underwater vehicles whose target is the tracking of a space trajectory. A cascade control strategy is employed which brings to a control law consisting of: 1) a kinematic control law, derived from the vehicle kinematic model, which forces this model to track the reference trajectory; and 2) a dynamic control law which forces the system to track the reference signals given by the kinematic control law. Conditions for asymptotic tracking of the trajectory are given with reference to the standard dynamical model of the above vehicle. An observer of the marine current is also added in order to process the control law. Simulation tests…

Enabling independent navigation for visually impaired people through a wearable vision-based feedback system

2017

This work introduces a wearable system to provide situational awareness for blind and visually impaired people. The system includes a camera, an embedded computer and a haptic device to provide feedback when an obstacle is detected. The system uses techniques from computer vision and motion planning to (1) identify walkable space; (2) plan step-by-step a safe motion trajectory in the space, and (3) recognize and locate certain types of objects, for example the location of an empty chair. These descriptions are communicated to the person wearing the device through vibrations. We present results from user studies with low- and high-level tasks, including walking through a maze without collisi…

Rendezvous Guidance Trajectories via Multiple-Subarc Sequential Gradient-Restoration Algorithm

2009

We consider the three-dimensional rendezvous between a target spacecraft in a circular orbit and a chaser spacecraft with an initial separation distance and an initial separation velocity. We assume that the chaser spacecraft has variable mass and that its trajectory is governed by three controls, one determining the thrust magnitude and two determining the thrust direction. We employ the Clohessy–Wiltshire equations, describing the relative motion of the chaser vis-a-vis the target, and the multiple-subarc sequential gradient-restoration algorithm to produce first optimal trajectories and then guidance trajectories for the following problems: P1—minimum time, fuel free; P2—minimum fuel, ti…

Time optimal control of a satellite with two rotors

2001

International audience; The aim of this work is to investigate the structure of time-optimal trajectories for a control system modelizing a satellite with two rotors attached along its two fixed axes. Our results extend to the general case those obtained by Sussmann and Tang in an unpublished paper where they treat a particular case described below. We end up finding a sufficient family of four parameters trajectory types. The main tools used are the Pontryagin Maximum Principle, switching functions and envelope theory. © 2001 EUCA.

Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles

2008

Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …

A nonlinear dynamical approach to the path correction of multi-steering articulated vehicles

2020

When designing articulated tractor-trailer systems, engineers should take care to contrast some undesired phenomena associated with the lateral dynamics: the path off-tracking, namely the trajector...

Formation enseignante et trajectoire : le cas des enseignants en seconde carrière

2023

Comprendre la mobilisation des MOOC dans les trajectoires individuelles. Identification de registres d'usages

2017

International audience

Quels usages des MOOC ? Pour quels effets dans les trajectoires professionnelles ?

2017

International audience