Nicolas Lechevin's Books

Safety and Reliability in Cooperating Unmanned Aerial Systems

By: Camille Alain Rabbath,Nicolas Lechevin

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Safety and Reliability in Cooperating Unmanned Aerial Systems

By: Camille Alain Rabbath,Nicolas Lechevin

1. Introduction. 1.1. Unmanned aerial systems. 1.2. Cooperative control. 1.3. Contingencies -- 2. Health management for the individual vehicle : a review. 2.1. Passive and active fault-tolerant control systems. 2.2. Fault/failure detection and diagnosis. 2.3. Control reconfiguration. 2.4. FTC and FDD techniques for MAV and SUAV -- 3. Health monitoring and adaptation for UAS formations. 3.1. Models of vehicle dynamics, flight control, and faults. 3.2. Formation control. 3.3. Observer-based decentralized abrupt fault detector. 3.4. Signal-based decentralized non-abrupt fault detector. 3.5. UAV command adaptation. 3.6. Simulations and experiments -- 4. Decision making and health management for cooperating UAS. 4.1. Coordinated rendezvous of UAS formations. 4.2. Cooperation despite information flow faults. 4.3. Numerical simulations. 4.4. Distributed and parallel implementation of optimization algorithms

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Page Count

234

Publisher

World Scientific

Published Date

ISBN 10

9812837000

ISBN 13

9789812837004

Robotique flexible : Manipulation multi-échelle

By: GROSSARD Mathieu,CHAILLET Nicolas,RÉGNIER Stéphane

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Robotique flexible : Manipulation multi-échelle

By: GROSSARD Mathieu,CHAILLET Nicolas,RÉGNIER Stéphane

Qu’il s’agisse de tâches de préhension versatile aux échelles du micromonde ou bien de tâches de manipulation fine ou dextre à une échelle dimensionnelle supérieure, la fonction de manipulation robotique nécessite l’utilisation de systèmes mécatroniques performants et précis. Dans la majorité des cas, ceux-ci mettent en jeu des mécanismes qui sont caractérisés par des phénomènes mécaniques de flexibilité. Ces phénomènes sont induits naturellement par l’emploi de certains composants technologiques constitutifs du système ou par la géométrie de certaines structures élancées. Il peut alors s’agir de micromanipulateurs à base de matériaux actifs, de bras manipulateurs légers, d’organes terminaux de préhension très intégrés sur le plan fonctionnel, voire de manipulateurs d’inspiration anthropomorphe. Aperçu des dernières avancées scientifiques et technologiques en la matière, cet ouvrage est destiné à toute personne intéressée par le champ de la robotique flexible et plus particulièrement par la manipulation.

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Page Count

395

Publisher

Lavoisier

Published Date

ISBN 10

2746295091

ISBN 13

9782746295094

Safety And Reliability In Cooperating Unmanned Aerial Systems

By: Camille Alain Rabbath,Nicolas Lechevin

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Safety And Reliability In Cooperating Unmanned Aerial Systems

By: Camille Alain Rabbath,Nicolas Lechevin

This book provides a comprehensive overview of recent advances in the analysis and design of health management systems for cooperating unmanned aerial vehicles. Such systems rely upon monitoring and fault adaptation schemes. Motivation for their study comes from the fact that, despite the use of fault-tolerant control software and hardware embedded onboard air vehicles, overall fleet performance may still be degraded after the occurrence of anomalous events such as systems faults and failures. Cooperative health management (CHM) systems seek to provide adaptation to the presence of faults by capitalizing on the availability of interconnected computing, sensing and actuation resources.This monograph complements the proposed CHM concepts by means of case studies and application examples. It presents fundamental principles and results encompassing optimization, systems theory, information theory, dynamics, modeling and simulation. Written by pioneers in cooperative control, health management and fault-tolerant control for unmanned systems, this book is a unique source of information for designers, researchers and practitioners interested in the field.

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Page Count

234

Publisher

World Scientific

Published Date

ISBN 10

9814469254

ISBN 13

9789814469258

Book's by Nicolas Lechevin

Safety and Reliability in Cooperating Unmanned Aerial Systems

Safety and Reliability in Cooperating Unmanned Aerial Systems

Robotique flexible : Manipulation multi-échelle

Robotique flexible : Manipulation multi-échelle

Safety And Reliability In Cooperating Unmanned Aerial Systems

Safety And Reliability In Cooperating Unmanned Aerial Systems

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