A New Classification and Aerial Manipulation Q-PRR Design

International audienceThis paper presents a new designation and classification of system with UAV and robot manipulator where a new nomenclature is recognized as being the first contribution in the bibliography of design and systems. Several papers deal a problem of manipulation with a different unmanned aerial vehicle, robot arms and also with different naming of their systems, where the difficulty for locate and finding items and a good paper with its title or even by keywords, multirotor equipped with n-DoF robotic arm is the expression among the most widely used to describe that system. Aerial manipulation formula is presented and proved with a large example in the literature

A novel aerial manipulation design, modelling and control for geometric com compensation

International audienceThis paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach

Vehicle yaw motion control using takagi-sugeno modeling and quadratic boundedness via dynamic output feedback

International audienceThis paper presents the design and the simulation test of a Takagi-Sugeno (TS) fuzzy output feedback for yaw motion control. An integrated steering and differential braking controller based on invariant sets, quadratic boundedness theory and a common Lyapunov function has been developed. The TS fuzzy model is able to handle elegantly the nonlinear behavior the vehicle lateral dynamics. The computation of the control law has been achieved using Linear and Bilinear Matrix Inequalities (LMI-BMI) methods. Simulation test shows the controlled car is able to achieve the ISO3888-2 transient maneuver. Some design parameters can be adjusted to handle the tradeoff between safety constraints and comfort specifications

Low Speed Automation, a French Initiative

Nowadays, vehicle safety is constantly increasing thanks to the improvement of vehicle passive and active safety. However, on a daily usage of the car, traffic jams remains a problem. With limited space for road infrastructure, automation of the driving task on specific situation seems to be a possible solution. The French project ABV, which stands for low speed automation, tries to demonstrate the feasibility of the concept and to prove the benefits. In this article, we describe the scientific background of the project and expected outputs

An Integrated Driver-Vehicle-Environment (I-DVE) Model to Assess Crash Risks

A wide range of driver and vehicle models have been proposed by traffic psychologists, engineers and traffic simulation researchers to assess crash risks. However, existing approaches are often confined within a single discipline and lack concepts that formally express the complexity of interactions between the driver, vehicle and environment as well as the broader scope and the interdisciplinary nature of the driving behaviour modeling. For example, traffic psychologists have defined a driver performance model as the driver's perceptual and motor skills (capabilities), or what the driver can do. In contrast, a driver behavior model refers to what the driver actually does do while driving (Evans, 1991). A driver behaviour model is determined by an infinite and complex number of factors related to the environment, driver and vehicle but is not explicitly modeled in Evans (1991). Existing driver models lack substantive concepts that express the interactions between the Driver, Vehicle and Environment (DVE). A new Integrated Driver-Vehicle-Environment (I-DVE) model is formally presented as a set of concepts and equations representing interactions between the driver, vehicle and environment with the view to assess crash risks. The I-DVE model features realistic and measurable attributes, which ultimately influence the driving performance and associated crash risks. I-DVE model is validated in a simulation. The simulation uses empirical data related to Time To Collision (TTC), Energy Equivalent Speed (EES), injury severity and driver profile to assess crash risks. This paper (i) reviews existing driver modeling approaches and highlights the need for an integrated approach, (ii) defines a novel model capable of expressing risks associated interaction between the driver, environment and vehicle and (iii) provides directions for further research in driver behaviour modeling

Backstepping based approach for the combined longitudinal-lateral vehicle control

International audienceThis paper presents an integrated control method of a light road vehicle driving on a known and high secured itinerary at low speed. A planning module sends a safe and low energy reference trajectory to a control module that permits to manage the trajectory tracking under 50 km/h. A backstepping procedure is presented and formulated to realize a coupled longitudinal and lateral control in lane change or collision avoidance maneuvers

Dynamics modeling of a Two-wheeled vehicle using Jourdain's principle

International audienceThis paper describes a modeling technique for developing the motion equation of a motorcycles vehicle. Based on the Jourdain's principle approach, the derived model presents a nice analytical formulation with recursive Jacobian matrices computation. The synthesized model takes in consideration the main forces and moments affecting the behavior of the motorcycle and allowing the simulation of 11DOF

Experimental vehicle longitudinal control using a second order sliding mode technique

International audienceThis paper presents an experimental implementation of a shared vehicle longitudinal controller at low speed. The main objective is the increase of traffic capacity while improving safety and comfort. The longitudinal control method used is based on a second order sliding mode technique. The central controller is based on the management of inter-vehicular spacing in relation to vehicle speed. Results are presented both by simulation and by use of an experimental process with a vehicle prototype which is equipped with the required sensors and actuators. A number of scenarios are tested under usual traffic conditions such as stop-and-go, stopping at obstacles and car-following with merging/overtaking. Finally, the positive impact of such a system is given in terms of traffic capacity enhancement and collision gravity reduction

Robinia pseudo-acacia

https://thekeep.eiu.edu/herbarium_specimens_byname/12183/thumbnail.jp

Fuel consumption optimization for a city bus

International audienceThis paper deals with the optimization of the fuel consumption for a city bus of the city of Rouen, in France. This work takes part from the ANGO project, a french PREDIT-ANR project. The aim consists in modelling the bus and its fuel consumption in order to formulate a problem of optimmization of the consumption (criterium definition, constraints, initialized variables, ...). Some simulation results are shown under an advisory system to the bus driver and experimental works are presented