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Affichage de 51 à 60 sur 5639

Article dans une revue

A Survey of Cross-Domain Robotics: Classification, Perception, Planning and Control

Chenfei Hou, Henglai Wei, Hui Zhang, Anh-Tu Nguyen, Makoto Iwasaki

Cross-domain robots (CDRs) represent a distinct category within multimodal robotics, characterized by their ability to operate across diverse domains and environments. These robots strike a balance between the simplicity and energy efficiency of single-domain robots (SDRs), as well as the…

IEEE/ASME Transactions on Mechatronics, In press, ⟨10.1109/TMECH.2026.3675045⟩. ⟨hal-05614952⟩

Pré-publication, Document de travail

An Octree-based adaptive moving thermal-fluid framework for efficient multi-scale and multi-physics simulation of laser-based manufacturing processes

Yabo Jia, Alain Rassineux, Jean-Michel Bergheau

Multiphysics and multi-scale thermal-fluid models are essential for understanding the coupling of physical phenomena, enabling the optimization of welding and additive manufacturing process parameters. However, the thermal-fluid simulations are extremely time-consuming due to the need for a fine…

2025. ⟨hal-05429239⟩

Thèse

LMI-based Human Torque Estimation and Control Design for Assistive Robots, Approches LMIs pour l'Estimation du Couple Humain et la Commande dans les Robots d'Assistance

Jorge Ibarra

This thesis develops estimation and control methods for robotic systems for assisted rehabilitation of motor-impaired patients with the goal of promoting active participation of the human part. For this, Assist-as-Needed (AAN) techniques are widely used to adapt the level of assistance that the…, Cette thèse développe des méthodes d'estimation et de contrôle pour des systèmes robotiques destinés à la rééducation assistée des patients souffrant de troubles moteurs, dans le but de promouvoir la participation active de l'Humain assisté. Pour cela, les techniques d'assistance à…

Robotics [cs.RO]. Université Polytechnique Hauts-de-France, 2025. English. ⟨NNT : 2025UPHF0051⟩. ⟨tel-05558168⟩

Thèse

Human-Robot Teaming : formalization, design, and evaluation of an Intelligent Assistant System to support cooperation, Interaction humain-robots : formalisation, conception et évaluation d'un système d'aide intelligent de soutien à la coopération

Sridath Tula

This thesis presents the design, formalization, and feasibility evaluation of an Intelligent Assistance System (IAS) to support human–robot cooperation (HRC). The research introduces a structured framework to design a cooperation assistant for mixed human–machine teams, combining theoretical…, Cette thèse présente la conception, la formalisation et l’évaluation de la faisabilité d’un Système d’Assistance Intelligent (IAS) destiné à améliorer la coopération homme–robot (HRC). La recherche introduit un cadre structuré intégrant un assistant à la coopération au sein d’équipes hybrides homme…

Human-Computer Interaction [cs.HC]. Université Polytechnique Hauts-de-France, 2025. English. ⟨NNT : 2025UPHF0055⟩. ⟨tel-05556668⟩

Pré-publication, Document de travail

How is remifentanil dosed without dedicated indicator?

Bob Aubouin--Pairault, Mazen Alamir, Benjamin Meyer, Rémi Wolf, Kaouther Moussa

This study investigates the paradigm of intraoperative analgesic dosage using a data-driven approach based on retrospective clinical data. Remifentanil, an analgesic widely used during anesthesia, presents a dosing challenge due to the absence of an universally accepted indicator of analgesia. To…

2025. ⟨hal-05418661v2⟩

Pré-publication, Document de travail

Methodological insights on building and evaluating models for early warning of hypotension during surgery

Bob Aubouin--Pairault, Kaouther Moussa, Mazen Alamir, Benjamin Meyer, Rémi Wolf

Submitted to Anesthesiology. Copyright may be transferred without notice. <div><p>Background: Early warning of hypotension could help prevent severe complications during surgery.</p><p>Several data-driven models have been proposed, but framing, data selection, and evaluation…

2025. ⟨hal-05419169⟩

Thèse

Conception, réalisation et évaluation d’une assistance à la conduite automobile intégrant des capacités d’auto-apprentissage des préférences du conducteur, Design, implementation and evaluation of a driver assistance system integrating self-learning capabilities based on driver preferences

Yikai Wang

Les systèmes avancés d’assistance à la conduite (ADAS) ont connu un développement considérable au cours de ces dernières années. Cependant, les ADAS permettant la conduite en mode autonome sont fondés habituellement sur des règles fixes, ce qui limite d’une part leur capacité à s’adapter aux…, Advanced Driver Assistance Systems (ADAS) have undergone considerable development in recent years. However, ADAS that enable autonomous driving are generally based on fixed rules, which on one hand limits their ability to adapt to differences in driver behavior, and on the other hand prevents them…

Systèmes embarqués. Université Polytechnique Hauts-de-France, 2025. Français. ⟨NNT : 2025UPHF0048⟩. ⟨tel-05495439⟩

Article dans une revue

Grades of Operational and Tactical Automation in rail domain for an Artificial Intelligence Driving Assistance System

Jean-Valentin Merlevede, Simon Enjalbert, Frédéric Vanderhaegen

This work proposes new additional levels of progressive driver assistance, extending the traditional Grades Of Automation (GoA) in order to allow both dedicated Operational and Tactical assistances. The second contribution is an Artificial Intelligence Driving Assistance System (AIDAS) that aims to…

Cognition, Technology and Work, 2025, ⟨10.1007/s10111-025-00847-0⟩. ⟨hal-05394649v2⟩

Thèse

Implementation of a dual heterogeneity test in stress and temperature for the inverse identification of material constitutive laws, Essai à double hétérogénéité mécanique et thermique pour l'identification de lois de comportement de matériaux par méthode inverse

Quentin Marcot

This thesis work aims at implementing a test presenting two heterogeneities in stress and temperature for material characterisation. In the aerospace industry, certification programs are increasingly relying on model and simulation to reduce the number of physical tests performed upon structures.…, Ces travaux de thèse ont pour objectif d'implémenter un essai présentant une double hétérogénéité mécanique et thermique, en vue de l'identification de lois de comportement de matériaux par méthode inverse. Dans l'industrie aérospatiale, les programmes de certification s'…

Engineering Sciences [physics]. Université Polytechnique Hauts-de-France, 2025. English. ⟨NNT : 2025UPHF0030⟩. ⟨tel-05495944⟩

Pré-publication, Document de travail

MPC for tracking for anesthesia dynamics

Maxim Raymond, Kaouther Moussa, Mirko Fiacchini, Jimmy Lauber

<div><p>In this paper, an MPC for tracking formulation is proposed for the control of anesthesia dynamics. It seamlessly enables the optimization of the steady-states pair that is not unique due to the MISO nature of the model. Anesthesia dynamics is a multi-time scale system with two…

2025. ⟨hal-05406526⟩