Multi-hypothesis Map-Matching using Particle Filtering

8 pagesInternational audienceThis paper describes a new Map-Matching method relying on the use of Particle Filtering. Since this method implements a multi-hypothesis road-tracking strategy, it is able to handle ambiguous situations arising at junctions or when positioning accuracy is low. In this Bayesian framework, map-matching integrity can be monitored using normalized innovation residuals. An interesting characteristic of this method is its efficient implementation since particles are constraint to the road network; the complexity is reduced to one dimension. Experimental tests carried out with real data are finally reported to illustrate the performance of the method in comparison with a ground truth. The current real-time implementation allows map-matching at 100 Hz with confidence indicators which is relevant for many map-aided ADAS applications

Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

International audienceAdditive manufacturing is an automated process for producing layer-by-layer material deposition. Recently this technology has been introduced in the industrial construction in order to print houses or smaller piece structures for on-site assembly, with complex geometry. In Additive manufacturing processes, the material deposition step is generally followed by a printing quality inspection step. However, the geometry of printed structures with minimal surfaces is sometimes complex, where rigid structure robots cannot reach certain zones to scan their surfaces. In this paper, a continuum-hyper-redundant manipulator equipped with a camera is attached to the end-effector of a mobile-manipulator robot for the quality inspection process. Indeed, Continuum manipulators can bend along structures with complex geometry; and this inherent flexibility makes them suitable for navigation and operation in congested environments. The number of controlled actuators being greater than the dimension of task space, this work is summarized in a trajectory tracking of hyper-redundant robots. This issue lies in the resolution of strongly nonlinear equations with a real-time computation. Thus, a hybrid methodology which combines the advantages of quantitative and qualitative approaches is used for modeling and resolution of the hyper-redundant robot kinematics. A kinematic controller was designed and a set of experiments was carried out to evaluate the level of efficiency of the proposed approach

Biological and radiological exploration and management of non-functioning pituitary adenoma

AbstractNon-functioning pituitary adenoma may be totally asymptomatic and discovered “incidentally” during radiological examination for some other indication, or else induce tumoral signs with compression of the optic chiasm and pituitary dysfunction. Non-functioning adenomas are mainly gonadotroph, but may also be “silent”. Treatment strategy depends on initial clinical, biological, ophthalmological and radiological findings. The present French Society of Endocrinology Consensus work-group sought to update the pitfalls associated with hormone assay and outline a hormonal exploration strategy for diagnosis and follow-up, without overlooking the particularities of silent adenoma. We also drew up basic rules for initial exploration and radiological follow-up of both operated and non-operated pituitary adenomas

Three Nested Kalman Filters-Based Algorithm for Real-Time Estimation of Optical Flow, UAV Motion and Obstacles Detection

Abstract-We aim at developing a vision-based autopilot for autonomous small aerial vehicle applications. This paper presents a new approach for the estimation of optical flow, aircraft motion and scene structure (range map), using monocular vision and inertial data. The proposed algorithm is based on 3 Nested Kalman Filters (3NKF) and results in an efficient and robust estimation process. The 3NKF-based algorithm was tested extensively in simulation using synthetic images, and in real-time experiments. Index Terms-Small flying robots, optical flow computation, structure from motion, vision-based autopilot

Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

International audienceAdditive manufacturing is an automated process for producing layer-by-layer material deposition. Recently this technology has been introduced in the industrial construction in order to print houses or smaller piece structures for on-site assembly, with complex geometry. In Additive manufacturing processes, the material deposition step is generally followed by a printing quality inspection step. However, the geometry of printed structures with minimal surfaces is sometimes complex, where rigid structure robots cannot reach certain zones to scan their surfaces. In this paper, a continuum-hyper-redundant manipulator equipped with a camera is attached to the end-effector of a mobile-manipulator robot for the quality inspection process. Indeed, Continuum manipulators can bend along structures with complex geometry; and this inherent flexibility makes them suitable for navigation and operation in congested environments. The number of controlled actuators being greater than the dimension of task space, this work is summarized in a trajectory tracking of hyper-redundant robots. This issue lies in the resolution of strongly nonlinear equations with a real-time computation. Thus, a hybrid methodology which combines the advantages of quantitative and qualitative approaches is used for modeling and resolution of the hyper-redundant robot kinematics. A kinematic controller was designed and a set of experiments was carried out to evaluate the level of efficiency of the proposed approach

Robotisation de la fabrication additive de formes architecturales funiculaires à partir de matériaux de construction

International audienceAdditive manufacturing (AM) technology has been identified as one of the major digital innovations that has revolutionized not only the field of the industry but also the construction. From a research side, AM is a multi-disciplinary domain, combining between materials science, mechatronics engineering and architectural design. The AM concept needs to consider the geometry and the shape of printed objects in regards of material properties and robot kinematics which are adaptable to the object size. In this paper, we present an integrated design and control of an omnidirectional Mobile Manipulator Robot (MMR), capable of extruding concrete and clay materials, to print complex and funicular architectural geometries. The studied robot allows printing building pieces with different shapes and sizes by additive deposit which can later be assembled on-site. The main issue concerns the control of continuous material deposit, with specified accuracy and respecting the desired shape. This problem involves to solve, in real-time, the non-linear kinematic model of a 10 Degrees of Freedom (DoF) heterogeneous robot. The kinematic model and the control of utilized MMR are discussed, and an optimization method based on quadratic programming is used for handling the robot redundancy. Finally, we present the experimental results to illustrate the efficiency of AM on the developed concept

System Architecture of a Driverless Electric Car in the Grand Cooperative Driving Challenge

International audienceThis paper presents the complete system architecture of a connected driverless electric car designed to participate in the Grand Cooperative Driving Challenge 2016. One of the main goals of this challenge was to demonstrate the feasibility of multiple autonomous vehicles cooperating via wireless communications on public roads. Several complex cooperative scenarios were considered, including the merging of two lanes and cooperation at an intersection. We describe in some detail an implementation using the open-source PACPUS framework that successfully completed the different tasks in the challenge. Our description covers localization, mapping, perception, control, communication and the human-machine interface. Some experimental results recorded in real-time during the challenge are reported

An informational approach for sensor and actuator fault diagnosis for autonomous mobile robots

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