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Communication dans un congrès

Data-based Extended Moving Horizon Estimation for MISO Anesthesia Dynamics

Kaouther Moussa, Bob Aubouin-Pairault, Mazen Alamir, Thao Dang

This paper presents an extended moving horizon observer to estimate both the states and the pharmacodynamic (PD) parameters of an anesthesia model, based on real data. The inputs of this model are the injection rates of Propofol and Remifentanil. The states represent the concentration of the…

CDC 2023 - 62nd IEEE Conference on Decision and Control, Dec 2023, Singapore, Singapore. ⟨hal-04295820⟩

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…

Pilotage des systèmes complexes soumis à des perturbations : Robustesse et Résilience. Automatique / Robotique. Université Polytechnique Hauts-de-France, 2023. ⟨tel-04523159⟩

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⟩

Article dans une revue

Extended review of multi-agent solutions to Advanced Public Transportation Systems challenges

Flavien Balbo, René Mandiau, Mahdi Zargayouna

Abstract Over the past few decades, intelligent transportation systems (ITS) have emerged as an effective way to improve the performance of transportation systems. ITS provide innovative services, enhance travel safety, provide travellers with more choices, and make transportation systems more…

Public Transport, 2023, ⟨10.1007/s12469-023-00332-9⟩. ⟨emse-04286373⟩

Article dans une revue

Joint Estimation of Nonlinear Dynamics and Resistance Torque for Integrated Motor-Transmission Systems via Switched ℓ ∞ Observers With Smoothness Guarantee

Juntao Pan, Tran Anh-Tu Nguyen, Weilong Lai, Xiaoyuan Zhu, Hailong Huang

The information of the shaft torque and the resistance torque is crucial to develop advanced control and fault diagnosis/detection schemes for electrified powertrain systems. However, reliable physical sensors for torque measurement are not affordable for commercial vehicle applications. This…

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, 53 (11), pp.7280-7291. ⟨10.1109/TSMC.2023.3297064⟩. ⟨hal-04278795⟩

Article dans une revue

Fractional-Order Integral Terminal Sliding-Mode Control for Perturbed Nonlinear Systems With Application to Quadrotors

Moussa Labbadi, Michael Defoort, Gian Paolo Incremona, Mohamed Djemai

In this paper, a novel fractional-order recursive integral terminal sliding mode (FORITSM) control is proposed for nonlinear systems in the presence of external disturbances with unknown bounds. The proposed control approach provides an easy-to implement solution capable of zeroing the sliding…

International Journal of Robust and Nonlinear Control, 2023, Special Issue: Advanced Control and Estimation applied to Aerial Robotic Vehicles, 33 (17), pp.10278-10303. ⟨10.1002/rnc.6608⟩. ⟨hal-04068247⟩