Publications

• THESE

Apprentissage machine pour la décision de conduite autonome de véhicules guidés : Application dans le domaine ferroviaire, Machine learning for autonomous driving decisions for guided vehicles : Application in the railway sector

Antoine Plissonneau Duquene

Les véhicules autonomes promettent de révolutionner le domaine des transports avec des avantages liés à la sécurité, à la commodité et à l'efficacité. Si la voiture autonome est le véhicule ayant jusque-là concentré le plus d'attention, le secteur du transport ferroviaire cherche aussi à…, Autonomous vehicles promise to revolutionise transport with benefits related to safety, convenience and efficiency. Although the self-driving car is the vehicle that has received the most attention so far, the rail transport sector is also looking to take advantage of these advances towards…

Automatique / Robotique. Université Polytechnique Hauts-de-France, 2023. Français. ⟨NNT : 2023UPHF0012⟩. ⟨tel-04189167⟩

• COMM

User Centered Design of Digital Mobility Assistance Systems for People with Intellectual Disabilities, Démarche de Conception Centrée Utilisateur de Systèmes d’Aide numériques à la Mobilité pour Personnes avec Déficience Intellectuelle

Youssef Guedira, Hursula Mengue-Topio, Sophie Lepreux, Laurie Letalle, Marion Duthoit, Philippe Pudlo, Yannick Courbois, Christophe Kolski

User-centered design approaches are commonly used in the development of interactive systems. However, it is not always easy to adapt existing approaches when the target users have intellectual disabilities. In the framework of the SAMDI project, we have adapted such approaches for the development…, Les démarches de conception centrées sur l’utilisateur sont couramment utilisées lors du développement de systèmes interactifs. Cependant il n’est pas toujours facile d’adapter les démarches existantes quand les utilisateurs cibles ont une déficience intellectuelle. Dans le cadre du projet SAMDI,…

IHM '23: 34th International Francophone Conference on Human-Computer Interaction, Apr 2023, Troyes, France. ⟨hal-04046170⟩

• ART

Lateral shared sliding mode control for lane-keeping assist system in steer-by-wire vehicles: Theory and experiments

Gabriele Perozzi, Jagat Jyoti Rath, Chouki Sentouh, Jérôme Floris, Jean-Christophe Popieul

The lane-keeping assistance design for steer-by-wire road vehicles is a multi-objective control problem that addresses lane tracking, improvement of driver comfort and ensuring vehicle stability. The designed architecture must be sensitive to various driver behaviors, provide assistance to drivers…

IEEE Transactions on Intelligent Vehicles, 2023, 8 (4), pp. 3073-3082. ⟨10.1109/TIV.2021.3097352⟩. ⟨hal-03424584⟩

• ART

Reduced-Complexity LMI Conditions for Admissibility Analysis and Control Design of Singular Nonlinear Systems

Amine Dehak, Tran Anh-Tu Nguyen, Antoine Dequidt, Laurent Vermeiren, Michel Dambrine

We present a reduced-complexity control approach for a class of descriptor nonlinear systems with a nonlinear derivative matrix, possibly singular. To this end, a systematic approach is proposed to obtain an equivalent polytopic representation of a given nonlinear system within a compact set of the…

IEEE Transactions on Fuzzy Systems, 2023, 31 (4), pp.1377-1390. ⟨10.1109/TFUZZ.2022.3200738⟩. ⟨hal-04278840⟩

• ART

A Parallel Intelligence-Driven Resource Scheduling Scheme for Digital Twins-Based Intelligent Vehicular Systems

Junchao Yang, Feng Lin, Chinmay Chakraborty, Keping Yu, Zhiwei Guo, Tran Anh-Tu Nguyen, Joel Rodrigues

Real-time digital twin technology can enhance traffic safety of intelligent vehicular system and provide scientific strategies for intelligent traffic management. At the same time, real-time digital twin depends on strong computation from vehicle side to cloud side. Aiming at the problem of delay…

IEEE Transactions on Intelligent Vehicles, 2023, 8 (4), pp.2770-2785. ⟨10.1109/TIV.2023.3237960⟩. ⟨hal-04278826⟩

• ART

Fault-Tolerant Predictive Control With Deep-Reinforcement-Learning-Based Torque Distribution for Four In-Wheel Motor Drive Electric Vehicles

Huifan Deng, Youqun Zhao, Tran Anh-Tu Nguyen, Chao Huang

This article proposes a fault-tolerant control (FTC) method for four in-wheel motor drive electric vehicles considering both vehicle stability and motor power consumption. First, a seven-degree-of-freedom vehicle nonlinear model integrating motor faults is built to design a hierarchical FTC control…

IEEE/ASME Transactions on Mechatronics, 2023, 28 (2), pp.668-680. ⟨10.1109/TMECH.2022.3233705⟩. ⟨hal-04278821⟩

• COMM

Comportement mécanique local de soudures Al/Cu assemblées par soudage par impulsion magnétique

Benjamin Zielinski, Tarik Sadat, Bratislav Lukic, Benjamin Guennec, Grégory Haugou, Hervé Morvan, Alexander Rack, Eric Markiewicz, Laurent Dubar

MécaDymat 2023, Mar 2023, Valenciennes, France. ⟨hal-04129272⟩

• ART

Fractal and statistical characterization of brushstroke on paintings

Maxence Bigerelle, Robin Guibert, Anna Mironova, Frederic Robache, Raphaël Deltombe, Ludovic Nys, Christopher Brown

Identification of an individual artist’s touch on paintings is studied using surface metrology. Paintings’ topographies were measured using focus variation and stitching, creating 13 × 13 mm maps with 1 μ m sampling intervals, and 169 megapixels, with a 10X objective lens. Topographic…

Surface Topography: Metrology and Properties, 2023, 11 (1), pp.015019. ⟨10.1088/2051-672X/acbe53⟩. ⟨hal-04123962⟩

• ART

Robust lateral motion control of distributed drive vehicle considering long input delays

Wei Li, Yu Xie, Yuxue Li, Keke Geng, Tran Anh-Tu Nguyen, Xiaoyuan Zhu

Abstract This article presents a comparative study of lateral motion controller design for distributed drive vehicle. Aiming at handling long input delays, two types of robust controllers are specifically investigated. First, a Lyapunov‐Krasovskii functional based robust controller design is…

International Journal of Robust and Nonlinear Control, 2023, 33 (5), pp.3185-3209. ⟨10.1002/rnc.6561⟩. ⟨hal-04278830⟩

• ART

Discrete reference tracking control to swing up an electric wheelchair

Michael Gray, Thierry Marie Guerra, Sébastien Delprat, S. Mohammad

Abstract Mobility using wheelchair is a crucial feature for disabled people. Between a manual wheelchair and an electric wheelchair, there is a very interesting and promising solution consisting of an electrical kit that converts a manual wheelchair to an electric wheelchair. Autonomad‐Mobility is…

Asian Journal of Control, 2023, 25 (5), pp.3369-3383. ⟨10.1002/asjc.3053⟩. ⟨hal-04819751⟩