用于精确焊接的智能视觉系统

通过与其它传感技术的对比,简要分析了激光视觉在焊接生产中得到成功应用的原因。分析了早期激光视觉系统的特征和当时面临的挑战。介绍了Servo-Robot激光视觉的关键技术和已取得的显著进步,阐述了集成激光视觉的移动式便携焊接机器人和激光视觉在焊缝质量检测中的应用。展望了激光视觉系统的未来和智能视觉在提高机器人性能方面发展的显著进步,包括改进机器人人工示教、离线编程及视觉辅助机器人示教。     

Power quality improvement using DPC controlled three-phase shunt active filter

This paper presents a new control method entitled direct power control (DPC) for shunt active power filter (APF), which is applied to eliminate line current harmonics and compensate reactive power. Its main goal is to rebuild active and reactive source powers to be compared to references values using hysteresis control. The active power reference is issue of DC-side of inverter and reactive power reference is set to zero for unity power factor. The outputs of hysteresis controllers associated with a switching table, control the instantaneous active and reactive power by selecting the optimum switching state of the voltage source inverter (VSI). A theoretical analysis with a complete simulation of the system and experimental results are presented to prove the excellent performance of the proposed technique.     

Ultrafast imaging of polyatomic molecules with simplex algorithm

A simplex algorithm used to solve molecular structure from asymptotic momentum values is reported. The geometry of ${\text{CO}}_2^{3+}$ molecular ions in linear and bent configurations is reconstructed. A polyatomic molecular ion with trigonal planar symmetry is used to demonstrate the scalability of the algorithm.     

Vector Field Based Texture Mapping of Animated Implicit Objects

This paper shows that an adequate use of vectorfields can solve most inconsistencies related to texture mapping that appear in current animation and rendering systems based on implicit objects. The method used is based on the concept of a virtual skin. A skin with its own texture mapping is spread over an implicit object and is constrained to stick to the deformation of the implicit object. A vectorfield is used to compute the relationship between the motion of the skin and the deformation of the object. Visual and implementation issues are discussed with respect to typical applications of implicit objects in computer graphics.     

Towards a simple and safe Objective Caml compiling framework for the synchronous language SIGNAL

This paper presents a simple and safe compiler, called MinSIGNAL, from a subset of the synchronous dataflow language SIGNAL to C, as well as its existing enhancements. The compiler follows a modular architecture, and can be seen as a sequence of source-to-source transformations applied to an intermediate representation which is named Synchronous Clocked Guarded Actions (S-CGA) and translation to sequential imperative code. Objective Caml (OCaml) is used for the implementation of MinSIGNAL. As a modern functional language, OCaml is adapted to symbolic computation and so, particularly suitable for compiler design and implementation of formal analysis tools. In particular, the safety of its type checking allows to skip some verification that would be mandatory with other languages. Additionally, this work is a basis for the formal verification of the compilation of SIGNAL with a theorem prover such as Coq.     

From human to humanoid locomotion—an inverse optimal control approach

The purpose of this paper is to present inverse optimal control as a promising approach to transfer biological motions to robots. Inverse optimal control helps (a) to understand and identify the underlying optimality criteria of biological motions based on measurements, and (b) to establish optimal control models that can be used to control robot motion. The aim of inverse optimal control problems is to determine—for a given dynamic process and an observed solution—the optimization criterion that has produced the solution. Inverse optimal control problems are difficult from a mathematical point of view, since they require to solve a parameter identification problem inside an optimal control problem. We propose a pragmatic new bilevel approach to solve inverse optimal control problems which rests on two pillars: an efficient direct multiple shooting technique to handle optimal control problems, and a state-of-the art derivative free trust region optimization technique to guarantee a match between optimal control problem solution and measurements. In this paper, we apply inverse optimal control to establish a model of human overall locomotion path generation to given target positions and orientations, based on newly collected motion capture data. It is shown how the optimal control model can be implemented on the humanoid robot HRP-2 and thus enable it to autonomously generate natural locomotion paths.     

Libre parcours moyen dans la phase solide des materiaux frittés

A simple mathematical model is used to predict the evolution of the mean free path in the solid phase in a sintered material. The knowledge of the volume fraction of the solid phase and of the particle coordination number are only required. Good agreement is observed between experimental data and the purposed relationship.     

Virtual reality for cultural landscape visualization

Although land managers and policy-makers generally have a good experience of what result can be expected from their decisions, they are often faced with difficulty when trying to communicate the visual impact of a management option to stakeholders, particularly when the landscape exhibits a high cultural value. Three-dimensional visualization of the landscape is often used for communicating with the stakeholders. A challenge in participatory methods for integrated assessment and policy planning is to view future changes in land use, according to scenarios. A 3-D landscape visualization component, SLE (“Seamless Landscape Explorer”), has been developed, which is launched after a scenario simulation to allow for exploration of landscape changes. Pressures causing such changes are translated into changes in the spatial configuration of the landscape. The different types of land-use are visualized thanks to a library of detailed textures, and vegetation can be added. This has been applied to a study of four scenarios in the French Mediterranean region, which were set up as part of a participatory process for discussing the planning of the regional peri-urban and agricultural policy, in an area dominated by the typical culturally sensitive Mediterranean matorral, (“garrigue” shrubland) surrounding the Pic Saint-Loup mountain. Examples of visualization are shown and discussed here.     

A multiphase compressible model for the simulation of multiphase flows

A compressible model able to manage incompressible two-phase flows as well as compressible motions is proposed. After a presentation of the multiphase compressible concept, the new model and related numerical methods are detailed on fixed structured grids. The presented model is a 1-fluid model with a reformulated mass conservation equation which takes into account the effects of compressibility. The coupling between pressure and flow velocity is ensured by introducing mass conservation terms in the momentum and energy equations. The numerical model is then validated with four test cases involving the compression of an air bubble by water, the liquid injection in a closed cavity filled with air, a bubble subjected to an ultrasound field and finally the oscillations of a deformed air bubble in melted steel. The numerical results are compared with analytical results and convergence orders in space are provided.