Publicaciones

• Article dans une revue

Optimal Model-Free Finite-Time Control Based on Terminal Sliding Mode for a Coaxial Rotor

Hossam Eddine Glida, Chouki Sentouh, Jagat Jyoti Rath

This study focuses on addressing the tracking control problem for a coaxial unmanned aerial vehicle (UAV) without any prior knowledge of its dynamic model. To overcome the limitations of model-based control, a model-free approach based on terminal sliding mode control is proposed for achieving...

Drones, 2023, 7 (12), pp.706. ⟨10.3390/drones7120706⟩. ⟨hal-04390408⟩

• Communication dans un congrès

Towards Continuous Identification of Passive Human Joint Impedance Using Physical Human-Robot Interaction System

Bilal Tout, Jason Chevrie, Antoine Dequidt, Laurent Vermeiren

The identification of human joint impedance is necessary for various applications, such as improving rehabilitation efficiency or monitoring the human operator's state (fatigue, stress). To this end, in this paper we combine robot's payload identification methods with sliding window...

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit (MI), United States. pp.4129-4134, ⟨10.1109/IROS55552.2023.10341372⟩. ⟨hal-04350680⟩

• Thèse

Approche couplée discrète - continue adaptative pour la mise en forme des métaux, Adaptive coupled discrete-continuous approach for the forming of materials

Farouk Yahya

La mise au point des procédés de mise en forme passe généralement par la simulation numérique, et en particulier par la Méthode des Eléments Finis, afin de détecter, entre autres, d'éventuels risques de fissuration et leur propagation, à la fois dans la pièce forgée et les outillages.La..., The development of forming processes generally involves numerical simulation, particularly using the Finite Element Method, to detect, among other things, potential risks of cracking and their propagation, both in the forged piece and in the tooling.The classical Finite Element Method, as well as...

Mécanique [physics.med-ph]. Université Polytechnique Hauts-de-France, 2023. Français. ⟨NNT : 2023UPHF0042⟩. ⟨tel-04428089⟩

• Article dans une revue

La mobilité quotidienne des personnes présentant une déficience intellectuelle vue par les professionnels du secteur médico-social., Viewpoint of support staff about Independent travel for People with intellectual disabilities

Hursula Mengue-Topio, Laurie Letalle, Philippe Pudlo, Yannick Courbois

Cette enquête réalisée à l’aide d’un questionnaire évalue les perceptions de 115 professionnels au sujet de la mobilité des personnes présentant une déficience intellectuelle. Les résultats indiquent des stratégies efficaces axée sur la mémorisation des points de repère et des routes mais une..., The aim of this survey of 115 professionals was to study independent travel by people with Intellectual Disabilities (ID). The results show that they have effective strategies for remembering landmarks and routes, but have great difficulty planning new routes independently. In addition, people with...

La Nouvelle revue – Éducation et société inclusives, 2023, N° 97 (1), pp.177-202. ⟨10.3917/nresi.097.0177⟩. ⟨hal-04353949⟩

• HDR

Pilotage des systèmes complexes soumis à des perturbations, Control of complex systems under distruptions

Sondes Chaabane

Les systèmes complexes évoluent dans un contexte perturbé impliquant diverses ressources et entités qui interagissent les unes avec les autres. Les systèmes sociotechniques répondent à ces mêmes caractéristiques. Ils doivent être capables de faire face à des différentes perturbations, qu'elles..., Complex systems evolve in a disrupted context involving different resources and entities that interact with each other. Sociotechnical systems have the same features. They require the ability to cope with disruptions, both foreseen and unforeseen. These disruptions have becoming the norm, and can...

Automatique / Robotique. Université Polytechnique Hauts-de-France, 2023. ⟨tel-04523159⟩

• Communication dans un congrès

In-vivo tomographic imaging and shear wave elastography using a single-shot off-axis FF-OCT (SO-FF-OCT) approach

Emmanuel Martins Seromenho, Nina Dufour, Maud Legrand, Jesse Schiffler, Vincent Maioli, Sybille Facca, Nadia Bahlouli, Amir Nahas

ITI HealthTech day 2023, Dec 2023, Strasbourg, France. ⟨hal-04872696⟩

• Article dans une revue

Optimizing additive manufacturing path pattern for Ti-6Al-4V thin rods using a combinatorial radial basis function surrogate-assisted genetic algorithm

Ruqing Bai, Guan Liang, Hao Cheng, Hakim Naceur, Daniel Coutellier, Jinglei Zhao, Jun Luo, Huayan Pu, Jin Yi

Materials & Design, 2023, 236, pp.112447. ⟨10.1016/j.matdes.2023.112447⟩. ⟨hal-05667244⟩

• Article dans une revue

Social Robotics and Synthetic Ethics: A Methodological Proposal for Research

Bako Rajaonah, Enrico Zio

This paper outlines a methodology to analyze the coconstruction of ethical interactions between humans and social robots. Indeed, in view of the aging populations of many societies worldwide, such robots could be useful for helping caregivers in many ways. Nevertheless, ethical robots are a...

International Journal of Social Robotics, 2023, 15 (12), pp.2075 - 2085. ⟨10.1007/s12369-022-00874-1⟩. ⟨hal-03786708⟩

• Pré-publication, Document de travail

Stability analysis of quasilinear systems on time scale based on a new estimation of the upper bound of the time scale matrix exponential function

Serhii Babenko, Michael Defoort, Mohamed Djemai, Serge Nicaise, Valerii Hrytsenkoa

In this paper, we analyze the stability of quasilinear systems on time scale based on a new estimation of the upper bound of the time scale matrix exponential function. First, some upper bounds for the norm of the matrix exponential function eA(t, t0) are derived, where A is a regressive square...

2023. ⟨hal-04316226⟩

• Communication dans un congrès

FLASH-RL: Federated Learning Addressing System and Static Heterogeneity using Reinforcement Learning

Sofiane Bouaziz, Hadjer Benmeziane, Youcef Imine, Leila Hamdad, Smail Niar, Hamza Ouarnoughi

2023 IEEE 41st International Conference on Computer Design (ICCD), Nov 2023, Washington, France. pp.444-447, ⟨10.1109/ICCD58817.2023.00074⟩. ⟨hal-05729823⟩