State estimation of a dehydration process by interval analysis

This article presents a general methodology of state estimation by interval analysis in a dynamic system modeled by difference equations. The methodology is applied to a pineapple osmotic dehydration process, in order to predict the behavior of the process within a range of allowed perturbation. The paper presents simulations and validations

Nonlinear Blind Parameter Estimation

This note deals with parameter estimation of nonlinear continuous-time models when the input signals of the corresponding system are not measured. The contribution of the note is to show that, with simple priors about the unknown input signals and using derivatives of the output signals, one can perform the estimation procedure. As an illustration, we consider situations where the simple priors, e.g., independence or Gaussianity of the unknown inputs, is assumed

When Interval Analysis Helps Inter-Block Backtracking

International audienceInter-block backtracking (IBB) computes all the solutions of sparse systems of non-linear equations over the reals. This algorithm, introduced in 1998 by Bliek et al., handles a system of equations previously decomposed into a set of (small) k × k sub-systems, called blocks. Partial solutions are computed in the different blocks and combined together to obtain the set of global solutions. When solutions inside blocks are computed with interval-based techniques, IBB can be viewed as a new interval-based algorithm for solving decomposed equation systems. Previous implementations used Ilog Solver and its IlcInterval library. The fact that this interval-based solver was more or less a black box implied several strong limitations. The new results described in this paper come from the integration of IBB with the interval-based library developed by the second author. This new library allows IBB to become reliable (no solution is lost) while still gaining several orders of magnitude w.r.t. solving the whole system. We compare several variants of IBB on a sample of benchmarks, which allows us to better understand the behavior of IBB. The main conclusion is that the use of an interval Newton operator inside blocks has the most positive impact on the robustness and performance of IBB. This modifies the influence of other features, such as intelligent backtracking and filtering strategies

Platooning Control for Sailboats Using a Tack Strategy

International audienceThis paper addresses the problem of platooning control for a fleet of sailboats. A quadrilateral path is proposed to avoid going into the wind. A tack strategy is defined to go front the wind, stay in a short corridor and regulate the sailboat acceleration, which is a challenging task in comparison to autonomous underwater vehicles (AUVs) or surface vehicles that can use motors for such regulation. Desired acceleration which guarantees to reach the platooning has been derived and validated. A method of regulating the sail angle using a proportional command is proposed to control the sailboat acceleration. Simulation results demonstrate the effectiveness of the proposed approach

Genetic algorithm-based multiple moving target reaching using a fleet of sailboats

International audienceThis study addresses the problem of Dynamic Travelling Salesman Problem for a multi-agent system using a fleet of sailboats. A genetic algorithm (GA) is proposed, which attributes to each agent a varying number of targets to be collected. GA allows obtaining a suboptimal solution in the shortest time possible. Moreover, this study adapts it to the specific problem involving a fleet of sailboats, which is a challenging task with comparison to autonomous underwater vehicles or motorised vehicles in terms of the propulsion. Therein motors can be flexibly controlled while sailboat movements are constrained by available wind direction and speed. Thus the method takes into account wind conditions at various locations of the sailboat. Simulation results demonstrate the effectiveness of the proposed approach

Platooning Control for Heterogeneous Sailboats Based on Constant Time Headway

International audienceThis paper addresses the problem of platooning control for a fleet of heterogeneous sailboats. The platooning maintains a constant time headway (CTH) between sailboats following a circular path, a complex problem for sailboats due to the influence of wind direction. First, the desired acceleration based on the CTH and the sailboat velocity needed to converge to the platooning is defined. Second, a control of sailboat orientation to manage the sailboat acceleration is proposed. The proposed platooning strategy adapts to the specific characteristics of sailboats, which are different from other motorized marine vehicles. Two tack strategies can be used for the method: the first is to regulate the sailboat velocity; the second is to go front of the wind while staying in a short corridor. The desired acceleration for fulfilling the platooning has been derived and validated. The simulation results demonstrate the effectiveness of the proposed approach in comparison with an optimal receding horizon control algorithm

Estimating Probability of Failure of a Complex System Based on Inexact Information about Subsystems and Components, with Potential Applications to Aircraft Maintenance

In many real-life applications (e.g., in aircraft maintenance), we need to estimate the probability of failure of a complex system (such as an aircraft as a whole or one of its subsystems). Complex systems are usually built with redundancy allowing them to withstand the failure of a small number of components. In this paper, we assume that we know the structure of the system, and, as a result, for each possible set of failed components, we can tell whether this set will lead to a system failure. For each component A, we know the probability P(A) of its failure with some uncertainty: e.g., we know the lower and upper bounds P(A) and P(A) for this probability. Usually, it is assumed that failures of different components are independent events. Our objective is to use all this information to estimate the probability of failure of the entire the complex system. In this paper, we describe several methods for solving this problem, including a new efficient method for such estimation based on Cauchy deviates

Restricted Orientation Dubins Path with Application to Sailboats

International audienceThis paper develops a geometrical construction of a shortest Dubins path in a discontinuous orientation restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward. Finally, an application to autonomous sailboats is then provided to validate the feasibility of the planned shortest path in a position keeping scenario

Determination of set-membership identifiability sets

International audienceThis paper concerns the concept of set-membership identifiability introduced in \cite{jauberthie}. Given a model, a set-membership identifiable set is a connected set in the parameter domain of the model such that its corresponding trajectories are distinct to trajectories arising from its complementary. For obtaining the so-called set-membership identifiable sets, we propose an algorithm based on interval analysis tools. The proposed algorithm is decomposed into three parts namely {\it mincing}, {\it evaluating} and {\it regularization} (\cite{jaulin2}). The latter step has been modified in order to obtain guaranteed set-membership identifiable sets. Our algorithm will be tested on two examples