Publications

Automatic

On Multi-Robot Path Planning based on Petri Net Models and LTL Specifications

This paper proposes a method exploiting the advantages of Petri net (PN) and B¨uchi automata models, by joining them in a newly defined Composed Petri net representation. Based on the latter model, collision-free trajectories are computed for a team…

Sofia Hustiu, Cristian Mahulea, Marius Kloetzer, Jean-Jacques J Lesage

IEEE Transactions on Automatic Control - 2024

Engineering Sciences

An algebraic control method to guarantee generalized marking constraints for partially observable timed event graphs.

Jihene Rajah, Saïd Amari, Maher Barkallah, Mohamed Haddar

Discrete Event Dynamic Systems - 2024

Engineering Sciences

Algebraic control strategy for solving the mutual exclusion constraint problem in a network of timed event graphs with disturbance inputs: Application to an assembly process.

Syrine Bouazza, Saïd Amari, Hichem Hassine

International Journal of Control, Automation and Systems - 2024

Neuroscience

EMG-to-torque models for exoskeleton assistance: a framework for the evaluation of in situ calibration

In the field of robotic exoskeleton control, it is critical to accurately predict the intention of the user. While surface electromyography (EMG) holds the potential for such precision, current limitations arise from the absence of robust EMG-to…

Lucas Quesada, Dorian Verdel, Olivier Bruneau, Bastien Berret, Michel-Ange Amorim, Nicolas Vignais

Engineering Sciences

A Finite-Horizon Inverse Differential Game Approach for Optimal Trajectory-Tracking Assistance with a Wrist Exoskeleton

Exoskeletons are appealing robotic devices to physically assist humans in various motor tasks. To provide a part of the effort required for performing a task, they should be intuitive to use and adapt to the user’s goal. Differential game theory…

Abdelwaheb Hafs, Dorian Verdel, Etienne Burdet, Olivier Bruneau, Bastien Berret

10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob, 2024) - 2024

Engineering Sciences

Control laws synthesis to satisfy generalized mutual exclusion constraints for timed event graphs networks using Min-Plus algebra

Jihene Rajah, Said Amari, Maher Barkallah, Mohamed Haddar

Information Sciences - 2024

Engineering Sciences

Control of a class of discrete event systems with disturbances and capacity constraints: Application to a disassembly problem

Abstract This study proposes an analytical control method for the meeting of capacity constraints in discrete event systems with disturbances. More precisely, it consists of computing control laws for partially controllable and observable timed…

Syrine Bouazza, Said Amari, Hichem Hassine

Asian Journal of Control - 2024

Computer Science

A Digital Failure Twin Model For PHM: From Concepts To Maturity Levels

In the context of industry 4.0, traditional reliability engineering has the opportunity to greatly benefit from the big data generated by Industrial Internet of Things (HoT) and the advancement of industrial intelligence technologies. To make full…

Xihe GE, Zhiguo Zeng, Nabil Anwer

2023 Global Reliability and Prognostics and Health Management Conference (PHM-Hangzhou) - 2023

Chemical and Process Engineering

Modélisation prédictive des défauts géométriques en fabrication additive : application aux structures lattices

Additive manufacturing (AM) offers new possibilities for producing parts with architectural geometries, such as lattice structures. However, controlling the geometric quality of the resulting parts remains a major challenge due to the inherent…

Kévin Ferreira

Mechanical engineering

Novel in-situ methodology for geometric error characterisation of rotary axis errors on multi-axis machine tool.

Complex mechanical parts with high geometry and dimensional accuracy require multi-axis machining with low volumetric errors. To achieve such precision in the micrometer range, the geometric errors of the machine tool must be correctly identified…

Daniel Maldonado Pimiento, Fabien Viprey, Sylvain Lavernhe, Gerard Poulachon

15th Lamdamap Conference Proceedings - 2023