Explanipedia

La course à pied use-t-elle le corps des sportifs, professionnels comme amateurs ? Open

Sylvain Durand · 2025

Guaranteed Self‐Triggered Control of Disturbed Systems: A Set Invariance Approach Open

Florian Pouthier, Sylvain Durand, Nicolas Marchand, Jonathan Dumon, Abdoullah Ndoye , et al. · 2025

This article introduces a novel self‐triggering strategy designed to ensure the control of discrete‐time linear systems with guaranteed stability, even in the presence of disturbances and uncertainties. This strategy aims to consistently m…

Adaptive Tuning of Event-Triggered Control based on Machine Learning: Application to Mobile Robotics Open

Maya Pivert, Inas Belrhazi, Florian Pouthier, Sylvain Durand · 2025

Teleoperation of a Suspended Aerial Manipulator Using a Handheld Camera With an IMU Open

Miguel Arpa Perozo, Ethan Niddam, Sylvain Durand, Loïc Cuvillon, Jacques Gangloff · 2024

Design of a Suspended Manipulator With Aerial Elliptic Winding Open

Ethan Niddam, Jonathan Dumon, Loïc Cuvillon, Sylvain Durand, Stephane Querry , et al. · 2024

Art is one of the oldest forms of human expression, constantly evolving, taking new forms and using new techniques. With their increased accuracy and versatility, robots can be considered as a new class of tools to perform works of art. Th…

Projet collectif de recherche. Sainte-Christie-d'Armagnac (GERS, région Occitanie) Open

Alain Champagne, Aude Aussilloux-Corréa, Cécilia Cammas, Anaïs Comet, Cyrille d'Herbillié , et al. · 2024

Groupement de Recherche MACS - Bilan 2019-2023 et Projet 2024-2028 Open

Dimitri Peaucelle, Damien Trentesaux, Gülgün Alpan, Romain Postoyan, Jean Auriol , et al. · 2023

In-Ground-Effect Disturbance-Rejection Altitude Control for Multi-Rotor UAVs Open

J. Díaz-Téllez, J. Fermi Guerrero‐Castellanos, Florian Pouthier, Nicolas Marchand, Sylvain Durand · 2023

Dynamic Control of a Macro–Mini Aerial Manipulator With Elastic Suspension Open

Arda Yiğit, Loïc Cuvillon, Miguel Arpa Perozo, Sylvain Durand, Jacques Gangloff · 2023

In this article, a macro–mini aerial manipulator with elastic suspension is introduced. The mini is an omnidirectional aerial manipulator suspended from the macro by a spring. The macro is a Cartesian robot that moves the anchoring point o…

Synchronization of a New Light-Flashing Shield With an External-Triggered Camera Open

José de Jesus Castillo-Zamora, Amaury Nègre, Jean-Marc Ingargiola, Abdoullah Ndoye, Florian Pouthier , et al. · 2023

International audience

Attitude Synchronization of Rigid Bodies With Event-Triggered Communication Open

Juan R. Ayala-Olivares, Rogerio Enríquez-Caldera, J. Fermi Guerrero‐Castellanos, Sylvain Durand · 2023

This article addresses the challenge of attitude synchronization of a group of rigid bodies (considered to be agents) with zero final angular velocity. A collaborative control strategy is proposed to tackle this issue, using decentralized …

Le moulin hydraulique fortifié de Canet (Aude) : un château/usine des archevêques de Narbonne (XIIIe-début XXe siècle) Open

Sylvain Durand, Frédéric Loppe, Françoise Lombardi-Peissel, Henri De La Boisse, Frédéric Guibal · 2023

Propriété privée, le moulin de Canet conserve de spectaculaires vestiges médiévaux et des adjonctions postérieures témoignant de son intense utilisation durant sept siècles. Ces dernières années, des recherches bénévoles (histoire, archéol…

Offset-free nonlinear model predictive control for improving dynamics of cable-driven parallel robots with on-board thrusters Open

Loïc Cuvillon, Miguel Arpa Perozo, Arda Yiğit, Sylvain Durand, Jacques Gangloff · 2022

Modélisation des arbres urbains pour la climatologie urbaine à Strasbourg - le projet TIR4sTREEt Open

Tania Landes, H. Macher, Pierre Kastendeuch, Georges Najjar, Françoise Nerry , et al. · 2022

International audience

Lithium-Ion Battery Parameter Identification for Hybrid and Electric Vehicles Using Drive Cycle Data Open

Yasser Ghoulam, Tedjani Mesbahi, Peter R. Wilson, Sylvain Durand, Andrew Lewis , et al. · 2022

This paper proposes an approach for the accurate and efficient parameter identification of lithium-ion battery packs using only drive cycle data obtained from hybrid or electric vehicles. The approach was experimentally validated using dat…

Optimal Design and Control of an Aerial Manipulator with Elastic Suspension Using Unidirectional Thrusters Open

Miguel Arpa Perozo, Jean Dussine, Arda Yiğit, Loïc Cuvillon, Sylvain Durand , et al. · 2022

Aerial Manipulators with Elastic Suspension (AMES) may be seen as a hybrid robot mixing properties of classical Aerial Manipulators (AMs) and Cable-Driven Parallel Robots (CDPRs). The optimal design and control of an AMES using unidirectio…

PCR Sainte-Christie-d'Armagnac (Gers) 2022 Open

Alain Champagne, Aude Aussilloux-Corréa, Jean Catalo, Anaïs Comet, Cyrille d'Herbillié , et al. · 2022

Aerial Manipulator Suspended from a Cable-Driven Parallel Robot: Preliminary Experimental Results Open

Arda Yiğit, Miguel Arpa Perozo, Mandela Ouafo, Loïc Cuvillon, Sylvain Durand , et al. · 2021

Since omnidirectional aerial vehicles can generate a six degrees of freedom wrench, they could be used for dexterous manipulation tasks without the need for an additional robotic arm. However, they suffer from a reduced efficiency and dyna…

Système de vision « slow-motion » à bas coût pour l'activité physique : tests préliminaires autour de l'analyse de la marche Open

Mayalis Poulet, Marie Chantrelle, Ouadi Beya, Jean-Baptiste Fasquel, Nicolas Peyrot , et al. · 2021

National audience

Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs Open

J. Fermi Guerrero‐Castellanos, Sylvain Durand, German Ardul Muñoz-Hernández, Nicolas Marchand, Lorenzo L. González Romeo , et al. · 2021

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and…

Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control Open

Arda Yiğit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff · 2021

International audience

Novel Omnidirectional Aerial Manipulator With Elastic Suspension: Dynamic Control and Experimental Performance Assessment Open

Arda Yiğit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff · 2021

Aerial manipulators may replace industrial manipulators for specific tasks involving large workspaces and high dynamics. However, these robots suffer from a lack of accuracy, autonomy, payload capability and a complex regulatory environmen…

Improving Disturbance Rejection and Dynamics of Cable Driven Parallel Robots with On-board Propellers Open

Imane Khayour, Loïc Cuvillon, Come Butin, Arda Yiğit, Sylvain Durand , et al. · 2020

This work studies redundant actuation for both trajectory tracking and disturbance rejection on flexible cable-driven parallel robots (CDPR). High dynamics/bandwidth unidirectional force generators, like air propellers, are used in combina…

Sizing of Lithium-Ion Battery/Supercapacitor Hybrid Energy Storage System for Forklift Vehicle Open

Théophile Paul, Tedjani Mesbahi, Sylvain Durand, Damien Flieller, Wilfried Uhring · 2020

Nowadays, electric vehicles are one of the main topics in the new industrial revolution, called Industry 4.0. The transport and logistic solutions based on E-mobility, such as handling machines, are increasing in factories. Thus, electric …

Preliminary Study of an Aerial Manipulator with Elastic Suspension Open

Arda Yiğit, Gustave Grappe, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff · 2020

International audience

Projet collectif de recherche Sainte-Christie-d'Armagnac Open

Alain Champagne, Aude Aussilloux-Corréa, Cécilia Cammas, Jean Catalo, Anaïs Comet , et al. · 2020

Législation concernant l'utilisation des données de fouilles : " L'utilisation des données du rapport de fouilles est régie par les dispositions du code de la propriété intellectuelle concernant la propriété littéraire et artistique. Les p…

Active Damping of Parallel Robots Driven by Elastic Cables using On-Off Actuators through Model Predictive Control Allocation Open

Imane Khayour, Sylvain Durand, Loïc Cuvillon, Jacques Gangloff · 2020

This work studies the vibration rejection on elastic cable-driven parallel robots (CDPRs). Additional cold-gas thrusters are embedded on the robot in order to improve the rejection bandwidth. Such Unilateral Force Generators (UFGs) work as…

Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications Open

J. Fermi Guerrero‐Castellanos, A. Vega-Alonzo, Sylvain Durand, Nicolas Marchand, Víctor R. González-Díaz , et al. · 2019

This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing …

Experimental versus computational determination of the dynamical model of a glider Open

Ana Carolina dos Santos Paulino, Antoine Murie, Thomas Pavot, Martin Lefebvre, Renaud Kiefer , et al. · 2019

International audience

Control descentralizado basado en eventos para el consenso de múltiples robots tipo péndulo invertido en el esquema líder-seguidor Open

Oscar D. Ramírez-Cárdenas, J. Fermi Guerrero‐Castellanos, J. Linares‐Flores, Sylvain Durand, W. F. Guerrero-Sánchez · 2019

El trabajo presenta el diseno de una estrategia de control distribuido con comunicación activada por eventos, que resuelve el problema de consenso líder-seguidor, de un conjunto de robots móviles tipo péndulo invertido (RMPI). La linealiza…

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