Retour au site du LAAS-CNRS

Laboratoire d’analyse et d’architecture des systèmes
Choisir la langue : FR | EN

451documents trouvés

17018
10/02/2017

Formation Doctorale "Éthique de la recherche et Intégrité scientifique": Une formation proposée par l'école des docteurs de Toulouse

C.TESSIER, F.VIALLET, A.MARY, B.TONDU, L.BAUDOUIN, P.DUCOURNAU, I.QUEINNEC, G.MOCHEL, C.VARENNE, N.DESSENS

ONERA, EFTS, LIRCES, Nice, GEPETTO, MAC, LISST, Toulouse, URFIST-UFTMIP, TRACES, UT2J

Rapport LAAS N°17018, Février 2017, 56p.

Lien : https://hal.archives-ouvertes.fr/cel-01452867

Diffusable

Plus d'informations

Résumé

Les écoles doctorales du site toulousain ont demandé fin 2015 que l’École Des Docteurs pilote un groupe de travail permettant de développer une formation à « l’Éthique de la Recherche et à l’intégrité scientifique ». Un groupe de chercheurs et d’enseignants-chercheurs, identifiés grâce à un appel à participation diffusé dans les écoles doctorales toulousaines, a développé un « kit de formation » comprenant : un diaporama support de cours, des propositions de dilemmes éthiques formatés et ce guide pratique à destination des formateurs. Ces documents sont inspirés du Cahier « Proposition de formation doctorale ; Initiation à l’éthique de la recherche scientifique » de la CERNA (Commission de réflexion sur l’Éthique de la Recherche en sciences et technologies du Numérique d’Allistene), des propositions des différents acteurs du groupe de travail, issus de disciplines diverses et du retour d’expérience des 8 premières journées de formation données à des groupes de doctorants issus de différentes écoles doctorales . L’Université de Toulouse est la première en France où cette formation est dispensée de manière transversale à tous les doctorants. Les échanges interdisciplinaires (entre formateurs et entre étudiants) sont particulièrement fructueux pour la dynamique de formation, qui se doit d’être participative. Cette formation est donnée en binôme, chaque binôme comprenant un intervenant issu des disciplines science, technologie, santé, ingénierie et un intervenant issu des sciences humaines et sociale, droit économie, gestion. Pendant l’année universitaire 2015-2016, cette formation a été testée lors de 4 sessions. Elle a été reconduite à plus grande échelle pour l’année universitaire 2016-2017, avec des binômes « ancien formateur/nouveau formateur », permettant ainsi d’assurer la formation des formateurs tout en conservant la cruciale complémentarité disciplinaire. À ce jour sur le site toulousain, ce sont donc une douzaine d’intervenants chercheurs, enseignants-chercheurs, ingénieurs et personnels techniques de recherche et de formation qui ont formé plus de 130 doctorants de disciplines et horizons différents.

138962
16374
01/02/2017

Small-angle scattering studies of intrinsically disordered proteins and their complexes

T.CORDEIRO, F.HERRANZ TRILLO, A.URBANEK, A.ESTANA, J.CORTES, N.SIBILLE, P.BERNADO

CBS, RIS

Revue Scientifique : Current Opinion in Structural Biology, Vol.42, pp.15-23, Février 2017 , N° 16374

Lien : https://hal.laas.fr/hal-01391541

Diffusable

Plus d'informations

Abstract

Intrinsically Disordered Proteins (IDPs) perform a broad range of biological functions. Their relevance has motivated intense research activity seeking to characterize their sequence/structure/function relationships. However, the conformational plasticity of these molecules hampers the application of traditional structural approaches, and new tools and concepts are being developed to address the challenges they pose. Small-Angle Scattering (SAS) is a structural biology technique that probes the size and shape of disordered proteins and their complexes with other biomolecules. The low-resolution nature of SAS can be compensated with specially designed computational tools and its combined interpretation with complementary structural information. In this review, we describe recent advances in the application of SAS to disordered proteins and highly flexible complexes and discuss current challenges.

138033
16496
27/01/2017

Continuous legged locomotion planning

N.PERRIN, C.OTT, J.ENGLSBERGER, O.STASSE, F.LAMIRAUX, D.G.CALDWELL

ISIR, Jussieu, DLR, GEPETTO, IIT, Genova

Rapport LAAS N°16496, doi 10.1109/TRO.2016.2623329, Janvier 2017, 7p.

Lien : http://hal.upmc.fr/hal-01433866

Diffusable

Plus d'informations

Abstract

While only continuous motions are possible, the way contacts appear and disappear confers to legged locomo-tion a characteristic discontinuous nature that is traditionally shared by the algorithms used for legged locomotion planning. In this paper we show that this discontinuous nature can disappear if the notion of collision is well redefined, and we efficiently solve two different practical problems of legged locomotion planning with algorithms based on an approach that establishes a bridge between discrete and continuous planning. The first problem consists of reactive footstep planning with a biped robot, and the second one of non-gaited locomotion planning with a hexapod.

138684
17002
26/01/2017

Spray-coated carbon nanotube carpets for creeping reduction of conducting polymer based artificial muscles

A.SIMAITE, A.DELAGARDE, B.TONDU, P.SOUERES, E.FLAHAUT, C.BERGAUD

MEMS, ELIA, GEPETTO, CIRIMAT

Revue Scientifique : Nanotechnology, Vol.28, N°2, 025502p., Janvier 2017 , N° 17002

Lien : https://hal.laas.fr/hal-01413022

Diffusable

Plus d'informations

Abstract

It is often observed that during cyclic actuation conducting polymer based artificial muscles are continuously creeping from the initial movement range. One of the likely reasons of such behaviour is unbalanced charging during conducting polymer oxidation and reduction. In order to improve the actuation reversibility and subsequently the long time performance of ionic actuators, we suggest to use spray-coated carbon nanotube (CNT) carpets on the surface of the conducting polymer electrodes. We show that carbon nanotubes facilitate conducting polymer redox reaction and improve its reversibility. Consequently, in the long term, charge accumulation in the polymer film is avoided leading to significantly improved long term performance during cycling actuation.

138654
15520
24/01/2017

Classification of outdoor 3D lidar data based on unsupervised Gaussian mixture models

A.O.MALIGO, S.LACROIX

RIS

Revue Scientifique : IEEE Transactions on Automation Science and Engineering, Vol.14, N°1, pp.5-16, Janvier 2017 , N° 15520

Lien : https://hal.archives-ouvertes.fr/hal-01232096

Diffusable

Plus d'informations

Abstract

3D point clouds acquired with lidars are an important source of data for the classification of outdoor environments by autonomous terrestrial robots. We propose here a two-layer classification system. The first layer consists of a Gaussian mixture model, issued from unsupervised training, which defines a large set of data-oriented classes. The second layer consists of a supervised, manual grouping of the unsupervised classes into a smaller set of task-oriented classes. Because it uses unsupervised learning at its core, the system does not require any manual labeling of datasets. We evaluate the system on two datasets of different nature, and the results show its capacity to adapt to different data while providing classes which are exploitable in a target task.

138615
15132
01/01/2017

High-slope terrain locomotion for torque-controlled quadruped robots

M.FOCCHI, A.DEL PRETE, I.HAVOUTIS, R.FEATHERSTONE, D.G.CALDWELL, C.SEMINI

IIT, Genova, GEPETTO

Revue Scientifique : Autonomous Robots, Vol.41, N°1, pp.259-272, Janvier 2017 , N° 15132

Lien : https://hal.archives-ouvertes.fr/hal-01137225

Diffusable

Plus d'informations

Abstract

Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, control of contact forces is fundamental to ensure stable contacts and stability of the robot. In this paper we propose a planning/control framework for quasi-static walking of quadrupedal robots, implemented for a demanding application in which regulation of ground reaction forces is crucial. Experimental results demonstrate that our 75-kg quadruped robot is able to walk inside two high-slope (50°) V-shaped walls; an achievement that to the authors' best knowledge has never been presented before. Furthermore, the robot is distributing its weight among the stance legs so as to optimize user-defined criteria. We compute joint torques that result in no foot slippage, fulfillment of the unilateral constraints of the contact forces and minimization of the actuators effort. This paper presents an experimental study that compares the proposed framework with different state-of-the-art control strategies, demonstrating the effectiveness and robustness of our approach.

138957
16384
01/01/2017

How do walkers avoid a mobile robot crossing their way?

C.VASSALLO, A.H.OLIVIER, P.SOUERES, A.CRETUAL, O.STASSE, J.PETTRE

GEPETTO, M2S, IRISA

Revue Scientifique : Gait & Posture, Vol.51, pp.97-103, Janvier 2017 , N° 16384

Lien : https://hal.archives-ouvertes.fr/hal-01371202

Diffusable

Plus d'informations

Abstract

Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction.

138155
16479
22/12/2016

Design, modeling and control of inherently compliant actuators with a special consideration on agonist-antagonist anthropomorphic configuration

G.HARI SHANKAR LAL DAS

GEPETTO

Doctorat : 22 Décembre 2016, 140p., Président: P.FRAISSE, Rapporteurs: Y.AOUSTIN, B.VANDERBORGHT, Examinateurs: , Directeurs de thèse: B.TONDU, P.SOUERES, membre invité: O.STASSE , N° 16479

Diffusable

Plus d'informations

Abstract

Design, modeling and control of inherently compliant actuators with a special consideration on agonist- antagonist anthropomorphic configuration" The research aims at the design, modeling and control of inherently compliant actuators for anthropomorphic systems. The first part of the work focuses on the study of various existing designs and look for the possibility of alternative actuators other than the conventional electric motors. Special attention is given to elctroactive polymer based soft actuators which have good potential in future robotic applications. In parallel, a model of the actuator dynamics and the model-based controller (MPC and optimal control) have been synthesized for an anthropomorphic 7 Dofs arm actuated by antagonist-agonist pair of Pneumatic Artificial Muscles (PAMs) at each joint. Such model and controller is then integrated within the software environment developed by the team. Using the PAMs based anthropomorphic manipulator arm and the numerical simulator, tests are done in order to evaluate the potential of this actuator and compare with the human body capabilities.

Mots-Clés / Keywords
Pneumatic systems; Mckibben muscles; iLQR control; Nonlinear control; Agonist-antagonist actuation; Bio-inspired robots; Anthropomorphic systems;

138579
16305
18/12/2016

Combining system design and path planning

L.DENARIE, K.MOLLOY, M.VAISSET, T.SIMEON, J.CORTES

RIS, IDEA

Manifestation avec acte : International Workshop on the Algorithmic Foundations of Robotics ( WAFR ) 2016 du 18 décembre au 20 décembre 2016, San Francisco (USA), Décembre 2016, 16p. , N° 16305

Lien : https://hal.inria.fr/hal-01364042

Diffusable

Plus d'informations

Abstract

This paper addresses the simultaneous design and path planning problem, in which features associated to the bodies of a mobile system have to be selected to find the best design that optimizes its motion between two given configurations. Solving individual path planning problems for all possible designs and selecting the best result would be a straightforward approach for very simple cases. We propose a more efficient approach that combines discrete (design) and continuous (path) optimization in a single stage. It builds on an extension of a sampling-based algorithm, which simultaneously explores the configuration-space costmap of all possible designs aiming to find the best path-design pair. The algorithm filters out unsuitable designs during the path search, which breaks down the combinatorial explosion. Illustrative results are presented for relatively simple (academic) examples. While our work is currently motivated by problems in computational biology, several applications in robotics can also be envisioned.

138509
16254
13/12/2016

A simulation framework for simultaneous design and control of passive walkers

G.SAUREL, J.CARPENTIER, J.P.LAUMOND

GEPETTO

Manifestation avec acte : International Conference on Simulation, Modeling, and Programming for Autonomous Robots ( SIMPAR ) 2016 du 13 décembre au 16 décembre 2016, San Francisco (USA), Décembre 2016, 7p. , N° 16254

Lien : https://hal.archives-ouvertes.fr/hal-01360450

Diffusable

Plus d'informations

Abstract

In this paper, we propose a simulation framework which simultaneously computes both the design and the control of passive walkers. The problem of computing a design and a control is formulated as a single large-scale parametric optimal control problem on hybrid dynamics with path constraints (e.g. non sliding and non slipping contact constraints). Our framework relies on state-of-the-art numerical optimal control techniques and efficient computation of the multi-body rigid dynamics. It allows to compute both the parametrized model and the control of passive walkers on different scenarios, in only few seconds on a standard computer. The framework is illustrated by several examples which highlight the interest of the approach.

138508
Les informations recueillies font l’objet d’un traitement informatique destiné à des statistiques d'utilisation du formulaire de recherche dans la base de données des publications scientifiques. Les destinataires des données sont : le service de documentation du LAAS.Conformément à la loi « informatique et libertés » du 6 janvier 1978 modifiée en 2004, vous bénéficiez d’un droit d’accès et de rectification aux informations qui vous concernent, que vous pouvez exercer en vous adressant à
Pour recevoir une copie des documents, contacter doc@laas.fr en mentionnant le n° de rapport LAAS et votre adresse postale. Signalez tout problème de dysfonctionnement à sysadmin@laas.fr. http://www.laas.fr/pulman/pulman-isens/web/app.php/