Pierre-Olivier Vandanjon
Bouguenais
Bâtiment: Building: Resal
Allée des Ponts et Chaussées, Route de Bouaye - CS 5004 - 44344 Bouguenais Cedex
Bureau: Office: 208
Pierre-Olivier Vandanjon
Researcher
Pierre-Olivier Vandanjon est titulaire d'une maîtrise de mathématiques appliquées de l'université Paris-Dauphine, ingénieur civil des mines de Paris, docteur du commissariat à l'énergie atomique, habilité à diriger des recherches de l'université de Nantes. Il a intégré le laboratoire central des ponts et chaussées, maintenant Université Gustave Eiffel, en 1997 .
Il apporte les techniques de mathématiques appliquées dans des projets de recherche sur les systèmes de transport pour des objectifs de productivité, de sécurité et d'efficacité énergétique. Actuellement, il travaille pour l'écoconception des systèmes de transport et plus particulièrement par une meilleure modélisation des territoires.
2023 - 2011: Écoconception des systèmes de transport
Aide à la décision basé sur la modélisation multi agents des territoires pour l'écoconception des systèmes de de transport
Directeur de la thèse de Abdoul Razac Sané : Génération de population synthétique pour l'évaluation environnementale des systèmes de transport (en cours) (résumé sur ce lien)
CoDirecteur de la thèse de Shahin Reza : Gestion optimisée d’une flotte de navettes autonomes électriques (en cours)
Directeur de la thèse de Fabrice Boyam Yameogo (financement Ademe/Sncf) : méthodologie de calibration d'un modèle multimodal des déplacements pour l'évaluation des externalités environnementales à partir des données ouvertes (open data) : le cas de l'aire urbaine de Nantes., soutenue le 15 décembre 2021 (manuscript sur ce lien)
Coorganisateur du séminaire SMART (Système multi-agents et transports)
Animateur de l'axe Système Multi-Agents et Numérique au sein de l'Institut de Recherche en Sciences et Techniques de la Ville
Écoconception des systèmes de transport par l'optimisation de l'infrastructure
Impliqué dans la tâche de modélisation d'un vélo cargo dans le projet européen Fuel Cell Cargo Pedelecs (2018-2023)
Co-encadrement de la thèse Cifre de Romain Bosquet avec RFF Modélisation énergétique et identification des trains pour l’écoconception des lignes ferroviaires à grande vitesse (voir la vidéo présentée à la fête de la science 2012 de 10mn ) (soutenue juin 2015)
Porteur du projet fédérateur Infrastructures pour la transition énergétique
Impliqué dans la tâche Optimisation du sectionnement en vitesse dans le contrat entre Nantes métropole et l'Université Gustave Eiffel sur l'écoconception du contournement des Sorinières (2021).
Responsable de l'équipe écoconception du laboratoire Ease de l'Ifsttar jusqu'en avril 2019
Responsable scientifique du partenariat de recherche entre Réseau Ferré de France et l'Ifsttar : Améliorer l’efficacité énergie-carbone des investissements
Responsable du livrable phare sur 2015/2016 : ACV des projets d’infrastructures route/rail à l’échelle d’un réseau avec prise en compte des paramètres d’éco-conception.
2010-2004 : Sécurité routière
Co-encadrement de la thèse Cifre de Arnaud Andrieux avec Renault sur l'estimation de l'adhérence comprenant un brevet (soutenance à huis clos)
Chef du projet "Infrasure" : développement de nouveaux équipement pour les recherches en sécurité routière,
Création d'une entreprise sur l'écoconduite
Participant au projet européen 'Intro" (Intelligent Road)
2004-1997: Robotique de chantier
Co-encadrement de la thèse de Charles-Eric Lemaire : "Estimation des efforts de contact cylindre / matériau d'un compacteur vibrant"
Co-encadrement de la thèse Cifre de Tarek Madani avec Ermont et Eurovia " Caractérisation du Fonctionnement des Tambours Sécheurs Enrobeurs en vue de leur Commande" (soutenance à huis clos)
Animateur de l'opération ' Modernisation de l'exécution des chantiers routiers (50 h.mois.ans sur 4 ans)
Responsable des études de faisabilité du projet européen OSYRIS (Open System for Road Information Support).
Séjour de 4 mois au Public Works Research (Japon)
Lauréat du concours ANVAR pour lancer les études de création d'entreprise dans le domaine de l'internet pour le chantier routier
Responsable de la centrale de malaxage du Centre de Nantes
Pierre-Olivier received the B. Sc and the M. Sc in applied mathematics from the Paris-Dauphine University (Paris, 1990). He graduated, as a civil engineer, from Ecole des Mines de Paris (Paris, 1992) . He received the Ph. D degree from both the Ecole des Mines de Paris and the French Atomic Agency (CEA) (1995). He has been researcher with the French Laboratoire Central des Ponts et Chaussée, now a component of the university Gustave Eiffel, since 1997.
He provides applied mathematics techniques on research projects for transport systems (road and railway) in order to improve productivity, safety and energy efficiency. His current domain of interest is ecodesign and sustainable operation by a better territories modeling.
2023-2010 : Ecodesign of transport system
Decision support based on multi-agent modeling of territories for the eco-design of transport
systems
Supervisor of Abdoul Razac Sané's thesis: Synthetic population generation for the environmental assessment of transport systems (in progress)
Supervisor of Boyam Fabrice Yameogo's thesis (funding: Ademe/Sncf): Methodology for calibrating a multimodal model for the assessment of environmental externalities based on open data: the case of the urban area of Nantes. (on going thesis)
CoSupervisor of Emir Deljanin's thesis with the University of Sarajevo : Eco-driving potentiality of road infrastructures according to the adequation between infrastructure geometrical characteristics and vehicles speed (defended in november 2019)
CoAdvisor of Romain Bosquet's Cifre thesis with RFF (Energy modeling and identification of trains in order to ecodesign high speed railway lines, Romain Bosquet) (defended in julu 2015)
Head of the ecodesign team at Ifsttar's Ease laboratory until april 2019
Involved in the Bicycle Modelling Task for the European project : Fuel Cell Carfo Pedelecs (2018-2021)
Habilitation thesis to supervise research (French grade): on some applications of robotic techniques to civil engineering
Scientific leader of the research partnership between Réseau Ferré de France (RFF) and IFSTTAR : Improving the energy-carbon efficiency of investments
2010-2004 : Road safety
Advisor of Arnaud Andrieux's Cifre thesis with Renault on grip estimation (Estimation of maximum tire-road friction for passenger vehicles : application to longituindinal dynamics, ),
"Infrasure" project leader: development of new equipments for road safety research, (budget: 1M€)
Creation of a company on eco-driving (The green Key)
Participant in the European project "Intro" (Intelligent Road)
2004-1997: Research in site robotics
Advisor of the Charles-Eric Lemaire's thesis on compaction (Estimation of cylinder / material contact efforts on a vibratory compactor
Advisor of a Cifre thesis on Drum-Drier-Mixer (Residence Distribution Time and neural networks to characterize Drum-Drier-Mixer, Tarek Madani)
Facilitator of the research network Modernization of road construction (50 h.month.years over 4 years)
Responsible for the feasibility studies of the European project Osyris (Open System for Road Information Support).
4-month stay at Public Works Research Institute (PWRI, Japan)
Winner of the ANVAR competition to launch business creation studies in the field of the Internet for the road construction site
Head of the mixing plant at the Nantes Center of LCPC (ex University Gustave Eiffel)
Mes dernières références
My latest references
Article dans une revue à comité de lecture (ACL)
Peer-reviewed scientific journals
COIRET, Alex, VANDANJON, Pierre-Olivier, NOEL, Romain, 2023, Enhancement of Vehicle Eco-Driving Applicability through Road Infrastructure Design and Exploitation, Vehicles, 5, 1, Multidisciplinary Digital Publishing Institute - MDPI, pp367-386, DOI: 10.3390/vehicles5010021
https://www.mdpi.com/2624-8921/5/1/21
https://doi.org/10.3390/vehicles5010021
YAMEOGO, Boyam Fabrice, HANKACH, Pierre, VANDANJON, Pierre Olivier, GASTINEAU, Pascal, 2022, Allocating synthetic population to a finer spatial scale: an integer quadratic programming formulation, Environment and Planning B: Urban Analytics and City Science, SAGE, 41p
http://dx.doi.org/10.1177/23998083221120019
HANKACH, Pierre, GASTINEAU, Pascal, VANDANJON, Pierre Olivier, 2022, Multi-scale spatial analysis of household car ownership using distance-based Moran's eigenvector maps: Case study in Loire-Atlantique (France), Journal of transport geography, 98, Elsevier, 31 p., DOI: 10.1016/j.jtrangeo.2021.103223
https://doi.org/10.1016/j.jtrangeo.2021.103223
YAMEOGO, Boyam Fabrice, VANDANJON, Pierre Olivier, GASTINEAU, Pascal, HANKACH, Pierre, 2021, Generating a two-layered synthetic population for French municipalities: Results and evaluation of four synthetic reconstruction methods, JASSS-Journal of Artificial Societies and Social Simulation, 24, 27p, DOI: 10.18564/jasss.4482
http://jasss.soc.surrey.ac.uk/JASSS.html
http://dx.doi.org/10.18564/jasss.4482
VANDANJON, Pierre Olivier, VINOT, Emmanuel, 2020, Slope Optimization (or "Sloop"): Customized Optimization for Road Longitudinal Profile Eco-Design, Energies, 13, Multidisciplinary Digital Publishing Institute - MDPI, 21 p, DOI: 10.3390/en13246575
https://www.mdpi.com/1996-1073/13/24/6575
YAMEOGO, Boyam Fabrice, GASTINEAU, Pascal, HANKACH, Pierre, VANDANJON, Pierre Olivier, 2020, Comparing Methods for Generating a Two-Layered Synthetic Population, Transportation Research Record, 2675, 1, SAGE, pp. 136-147, DOI: 10.1177/0361198120964734
https://doi.org/10.1177/0361198120964734
COIRET, Alex, DELJANIN, Emir, VANDANJON, Pierre Olivier, 2020, Vehicle energy savings by optimizing road speed-sectioning, European Transport Research Review, 12, Springer Open, p. 41, DOI: 10.1186/s12544-020-00432-8
https://doi.org/10.1186/s12544-020-00432-8
LORINO, Tristan, VANDANJON, Pierre Olivier, PRUAL, Jean Marie, COIRET, Alex, 2020, Analyse de trajectoires fluviales à partir de données SIA pour la conception d'une passerelle, Recherche transports sécurité, Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux - IFSTTAR, DOI: 10.25578/RTS_ISSN1951-6614_2020-03
https://hal.archives-ouvertes.fr/RTS/hal-02482046
VANDANJON, Pierre-Olivier, VINOT, Emmanuel, CEREZO, Véronique, COIRET, Alex, DAUVERGNE, Michel, BOUTELDJA, Mohamed, 2019, Longitudinal profile optimization for roads within an eco-design framework, Transportation Research Part D: Transport and Environment, 67, Elsevier, p. 642-658, DOI: 10.1016/j.trd.2019.01.002
http://www.sciencedirect.com/science/article/pii/S1361920918306655
COIRET, Alex, VANDANJON, Pierre Olivier, MONTALVA, Hervé, 2017, Évaluation de l'adhérence de pneumatiques sur pistes comme un paramètre de la sécurité des métros automatiques, RTS : Recherche transports sécurité, 2017, 1-2, Editions Necplus, pp. 23-29, DOI: 10.4074/S0761898017002023
http://dx.doi.org/10.4074/S0761898017002023
https://hal.archives-ouvertes.fr/RTS/hal-01670595
LEJEUNE, Aurélien, CHEVRIER, Rémy, VANDANJON, Pierre Olivier, RODRIGUEZ, Joaquin, 2016, Towards eco-aware timetabling: evolutionary approach and cascading initialisation strategy for the bi-objective optimisation of train running times, IET Intelligent Transport Systems, 10, 7, Institution of Engineering and Technology, pp. 483-494, DOI: 10.1049/iet-its.2014.0309
http://digital-library.theiet.org/content/journals/10.1049/iet-its.2014.0309
JANOT, Alexandre, VANDANJON, Pierre Olivier, GAUTIER, Maxime, 2016, A revised Durbin-Wu-Hausman test for industrial robot identification, Control Engineering Practice, 48, Elsevier, pp.52-62, DOI: 10.1016/j.conengprac.2015.12.017
Télécharger le documentBOSQUET, Romain, JULLIEN, Agnès, VANDANJON, Pierre Olivier, DAUVERGNE, Michel, SANCHEZ, Flora, 2014, Eco-design model of a railway: A method for comparing the energy consumption of two project variants, Transportation Research Part D: Transport and Environment, 33, ELSEVIER, pp.111-124, DOI: 10.1016/j.trd.2014.08.003
http://www.sciencedirect.com/science/article/pii/S1361920914001047
JANOT, Alexandre, GAUTIER, Maxime, JUBIEN, Anthony, VANDANJON, Pierre Olivier, 2014, Comparison Between the CLOE Method and the DIDIM Method for Robots Identification, IEEE Transactions on Control Systems Technology, 22, 5, pp.1935-1941, DOI: 10.1109/TCST.2014.2299544
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6728671
VANDANJON, Pierre Olivier, COIRET, Alex, LORINO, Tristan, 2014, Application of viability theory for road vehicle active safety during cornering manoeuvres, Vehicle System Dynamics, 52, 2, TAYLOR AND FRANCIS, pp.244-260, DOI: 10.1080/00423114.2013.873813
http://www.tandfonline.com/loi/nvsd20
http://doi.org/10.1080/00423114.2013.873813
JANOT, Alexandre, VANDANJON, Pierre Olivier, GAUTIER, Maxime, 2014, Generic instrumental variable approach for industrial robot identification , IEEE Transactions on Control Systems Technology, 22, 1, INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS - IEEE, pp.132-145, DOI: 10.1109/TCST.2013.2246163
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6472049
JANOT, Alexandre, VANDANJON, Pierre Olivier, GAUTIER, Maxime, 2014, An instrumental variable approach for rigid industrial robots identification, Control Engineering Practice, 25, ELSEVIER, pp.85-101, DOI: 10.1016/j.conengprac.2013.12.009
http://dx.doi.org/10.1016/j.conengprac.2013.12.009
http://www.sciencedirect.com/science/journal/09670661
JANOT, Alexandre ; VANDANJON, Pierre Olivier ; GAUTIER, Maxime , 2013 , Identification of Physical Parameters and Instrumental Variables Validation With Two-Stage Least Squares Estimator , IEEE Transactions on Control Systems Technology , 21 , 4 , INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS - IEEE , pp.1386-1393 , DOI: 10.1109/TCST.2012.2199321
http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=87
GAUTIER, Maxime, JANOT, Alexandre, VANDANJON, Pierre Olivier, 2013, A New Closed-Loop Output Error Method for Parameter Identification of Robot Dynamics, IEEE Transactions on Control Systems Technology, 21, 2, INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS - IEEE, pp. 428-444, DOI: 10.1109/TCST.2012.2185697
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6151858
http://dx.doi.org/10.1109/TCST.2012.2185697
ANDRIEUX, Arnaud, VANDANJON, Pierre Olivier, LENGELLE, Régis, CHABANON, Christian, 2010, New results on the relation between tyre-road longitudinal stiffness and maximum available grip for motor car, Vehicle System Dynamics, 48, 12, TAYLOR AND FRANCIS, pp 1511-1533, DOI: 10.1080/00423111003770421
http://www.tandfonline.com/loi/nvsd20#.UoyVEtJsB5E
VANDANJON, PO, DE LARRARD, F, DEHOUSSE, B, VILLAIN, G, MAILLOT, R, LAPLANTE, P, 2003, Homogenization of concrete in a batch plant : influence of mixing time and method for introducing mineral admixtures, Magazine of Concrete Research, vol 55, n°2, April 2003, pp 105-116
Télécharger le documentCommunication avec acte international (ACTI)
VANDANJON, Pierre Olivier, COIRET, Alex, LORINO, Tristan, 2022, Statistical analysis of fluvial trajectories based on AIS database for the construction of a bridge, CETRA 2022, 7th International Conference on Road and Rail Infrastructure, Pula, CROATIE, 2022-05-11, 8p, DOI: 10.5592/CO/CETRA.2022.1433
https://doi.org/10.5592/CO/CETRA.2022.1433
COIRET, Alex, VANDANJON, Pierre Olivier, 2022, Road safety assessment in curves based on a road embedded tire to road friction sensor, CETRA 2022, 7th International Conference on Road and Rail Infrastructure, pula, CROATIE, 2022-05-11, 8p, DOI: 10.5592/CO/CETRA.2022.1426
https://doi.org/10.5592/CO/CETRA.2022.1426
SHAHIN, Reza, HOSTEINS, Pierre, VANDANJON, Pierre-Olivier, PELLEGRINI, Paola, 2021, Mixed-Integer Linear Programming (MILP) formulation for a Mobility Allowance Shuttle Transit (MAST), INFORMS Annual Meeting, Anaheim, ETATS-UNIS, 2021-10-24, 1p, DOI: 10.13140/RG.2.2.23703.50088
http://dx.doi.org/10.13140/RG.2.2.23703.50088
https://hal.archives-ouvertes.fr/hal-03544169
VANDANJON, Pierre-Olivier, COIRET, Alex, DELJANIN, Emir, 2021, Optimisation of road speed-sectioning by assessing the impact of a road speed limitation sign, CETRA 2020, 6th International Conference on Road and Rail Infrastructure - Online, Pula, CROATIE, 2021-05-20, 8p
https://master.grad.hr/cetra/ocs/index.php/cetra6/cetra2020
DELJANIN, Emir, COIRET, Alex, VANDANJON, Pierre-Olivier, 2021, Simulation of road speed-sectioning by assessing the impact of traffic and road infrastructure , CETRA 2020, 6th International Conference on Road and Rail Infrastructure - Online, Pula, CROATIE, 2021-05-20, 8p
https://master.grad.hr/cetra/ocs/index.php/cetra6/cetra2020
COIRET, Alex, VANDANJON, Pierre Olivier, DELJANIN, Emir, ORTIZ, Miguel, LORINO, Tristan, 2019, Management of road speed sectioning to lower vehicle energy consumption, TIS Roma 2019, AIIT 2nd International Congress on Transport Infrastructure and Systems in a changing world, Rome, ITALIE, 2019-09-23, Elsevier, 8p
Télécharger le documentVANDANJON, Pierre Olivier, VINOT, Emmanuel, El Almi, Taha, 2018, Slope Optimisation (Sloop): Tailor-made optimisation for road longitudinal profile ecodesign considering the dynamic of vehicles, 16th Mini Conference on Vehicle System Dynamics, Identification and Anomalies - VSDIA 2018, BUDAPEST, HONGRIE, 2018-11-05, pp.75-82
http://vsdia.bme.hu/vehicle-system-dynamics-identification-and-anomailes-2016-conference/
http://vsdia.bme.hu/wp-content/uploads/2020/03/VSDIA-2018-PDF-ELECTRONIC.pdf
DELJANIN, émir, VANDANJON, Pierre Olivier, COIRET, Alex, CAUSEVIC, samir, 2018, Ecodriving potential of roads according to their speed sectioning : Bosnia and France cases, CETRA'18, 5th International Conference on Road and Rail Infrastructure, ZADAR, CROATIE, 2018-05-17
Télécharger le documentVANDANJON, Pierre Olivier, BOSQUET, Romain, COIRET, Alex, GAUTIER, Maxime, 2016, Model of High-Speed train energy consumption, 15th MINI CONFERENCE ON VEHICLE SYSTEM DYNAMICS, IDENTIFICATION AND ANOMALIES (VSDIA 2016), BUDAPEST, HONGRIE, 2016-11-07, pp. 47-53
Télécharger le documentVANDANJON, Pierre Olivier, BOSQUET, Romain, COIRET, Alex, GAUTIER, Maxime, 2016, Model of high-Speed Train Energy Consumption , 15TH MINI. CONF. ON VEHICLE SYSTEM DYNAMICS, IDENTIFICATION AND ANOMALIES, BUDAPEST, HONGRIE, 2016-11-07
Plus d'infosCOIRET, Alex, VANDANJON, Pierre Olivier, CUERVO-TUERO, Ana, 2016, Ecodriving potentiality assessment of road infrastructures according to the adequacy between infrastructure slopes and speeds limits, CETRA2016 - 4th International Conference on Road and Rail Infrastructure, SIBENIK, CROATIE, 2016-05-22, pp.589-595
Télécharger le documentBRUNOT, Mathieu, JANOT, Alexandre, CARILLO, Francisco, GARNIER, Hugues, VANDANJON, Pierre Olivier, GAUTIER, Maxime, 2015, Physical parameter identification of a one degree of freedom electromechanical system operating in closed loop, The 17th IFAC Symposium on System Identification, SYSID 2015, BEIJING, CHINE, 2015-10-19, pp.817-822
Plus d'infosVANDANJON, Pierre Olivier, COIRET, Alex, LORINO, Tristan, 2014, Application of viability theory for road vehicle active safety using parallelised algorithm, VSDIA 2014, 14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, BUDAPEST, HONGRIE, 2014-11-10, 8p
Télécharger le documentFREITAS SALGUEIREDO, Camilla, ORFILA, Olivier, SAINT PIERRE, Guillaume, COIRET, Alex, VANDANJON, Pierre Olivier, DOUBLET, Philippe, DONCIEUX, Stéphane, GLASER, Sébastien, 2014, Overview of strategies for reducing CO2 emissions during the use phase of passenger cars, Transport Research Arena 2014, PARIS, FRANCE, 2014-04-14, 10p.
http://www.traconference.eu/papers/pdfs/TRA2014_Fpaper_19826.pdf
COIRET, Alex, VANDANJON, Pierre Olivier, BOSQUET, Romain, JULLIEN, Agnès, 2014, Comparative wind influence on use phase energy consumptions of roads and railways, CETRA2014 - 3rd International Conference on Road and Rail Infrastructure, SPLIT, CROATIE, 2014-04-28, 7p.
Plus d'infosBOSQUET, Romain, VANDANJON, Pierre Olivier, GAUTIER, Maxime, COIRET, Alex, CAZIER, Olivier, 2014, Influence of railway gradient on energy efficiency of high speed train, Transport Research Arena 2014, PARIS, FRANCE, 2014-04-14, 8p.
http://www.traconference.eu/papers/pdfs/TRA2014_Fpaper_18282.pdf
COIRET, Alex, VANDANJON, Pierre Olivier, BOSQUET, Romain, SOUBRIÉ, Tristan, BATY, Guillaume, 2014, Experimental assessment of wind influence on high-speed train energy consumptions, Transport Research Arena 2014, PARIS, FRANCE, 2014-04-14, 6p.
http://www.traconference.eu/papers/pdfs/TRA2014_Fpaper_18306.pdf
BOSQUET, Romain ; VANDANJON, Pierre Olivier ; COIRET, Alex ; LORINO, Tristan , 2013 , Model of high-speed train energy consumption , International Conference on Railway Engineering and Management , COPENHAGUE , DANEMARK , 13/06/2013 , 5p, graphiques, tabl., bibliogr.
Plus d'infosJANOT, Alexandre ; VANDANJON, Pierre Olivier ; GAUTIER, Maxime , 2013 , A Durbin-Wu-Hausman Test for Industrial Robots Identification , 2013 IEEE International Conference on Robotics and Automation, ICRA , KARLSRUHE , ALLEMAGNE , 06/05/2013 , INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS - IEEE , pp.2941-2946, ill. en coul., tabl., bibliogr
Plus d'infosJUBIEN, Anthony, GAUTIER, Maxime, JANOT, Alexandre, VANDANJON, Pierre Olivier, 2012, Méthode à erreur de sortie pour l'identification en boucle fermée des paramètres dynamiques d'un robot à flexibilité localisée, sans mesure de flexibilité, CIFA 2012 - 7éme Conférence internationale d'Automatique francophone, GRENOBLE, France, 2012-07-04, 6p.
http://www.gipsa-lab.fr/CIFA2012/
https://hal-onera.archives-ouvertes.fr/hal-01061188
https://hal-onera.archives-ouvertes.fr/hal-01061188/file/DCSD14054.1395675658.pdf
VANDANJON, Pierre Olivier, COIRET, Alex, MURESAN, Bogdan, FARGIER, Amandine, DAUVERGNE, Michel, BOSQUET, Romain, JULLIEN, Agnès, FRANCOIS, Denis, LABARTHE, Frédéric, 2012, Practical guidelines for Life Cycle Assessment applied to railways project, International Symposium on Life Cycle Assessment and Construction – Civil engineering and buildings, International Symposium Life Cycle Assessment and Construction 2012, NANTES, FRANCE, 2012-07-10, pp.144−153
http://www.rilem.net/gene/main.php?base=500218&id_publication=415&id_papier=7973
GAUTIER, Maxime ; JANOT, Alexandre ; JUBIEN, Anthony ; VANDANJON, Pierre Olivier , 2012 , New Closed-Loop Output Error method for Robot Joint Stiffness Identification , System Identification , 16th IFAC Symposium on System Identification , BRUXELLES , BELGIQUE , 11/07/2012 , 16 , 852-857, schémas, tabl., ill. en coul., bibliogr , DOI: 10.3182/20120711-3-BE-2027.00403
Plus d'infosJANOT, Alexandre ; VANDANJON, Pierre Olivier ; GAUTIER, Maxime , 2012 , Identification of 6 DOF Rigid Industrial Robots with the Instrumental Variable Method , System Identification , 16th IFAC Symposium on System Identification , BRUXELLES , BELGIQUE , 11/07/2012 , 16 , pp.1659-1664, schémas, tabl., ill. en coul., bibliogr , DOI: 10.3182/20120711-3-BE-2027.00058
Plus d'infosCOIRET, Alex, VANDANJON, Pierre Olivier, BOSQUET, Romain, JULLIEN, Agnès, 2012, Energy consumption induced by operation phase of railways and road infrastructures, CETRA 2012, 2nd International Conference on Road and Rail Infrastructure, DUBROVNIK, CROATIE, 2012-05-07, pp 693-699
Télécharger le documentJANOT, Alexandre ; GAUTIER, Maxime ; JUBIEN, A ; VANDANJON, Pierre Olivier, 2011, Experimental Joint Stiffness Identification Depending on Measurements Availability, 50th IEEE Conference on Decision and Control and European Control Conference, ORLANDO, ETATS-UNIS, 12/12/2011, pp 5112-5117,
Plus d'infosGAUTIER, Maxime ; JANOT, Alexandre ; JUBIEN, A ; VANDANJON, Pierre Olivier, 2011, Joint Stiffness Identification from only Motor Force/Torque Data, 50th IEEE Conference on Decision and Control and European Control Conference, ORLANDO, ETATS-UNIS, 12/12/2011, pp 5088-5093,
Plus d'infosGAUTIER, Maxime ; JANOT, Alexandre , 2011 , Dynamic identification of a 6 dof industrial robot with a closed-loop output error method needing only input data , 3èmes Journées Identification et Modélisation Expérimentale , DOUAI , FRANCE , 06/04/2011 , 7p
Plus d'infosGAUTIER, M ; VANDANJON, Pierre Olivier ; JANOT, A, 2011, Dynamic Identification of a 6 Dof Robot without Joint Position Data, 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), SHANGHAI, CHINE, 09/05/2011, pp 234-239,
http://robolab.cse.unsw.edu.au/conferences/ICRA-2011/data/papers/2011.pdf
GAUTIER, M ; JANOT, A ; VANDANJON, Pierre Olivier, 2011, Dynamic identification of a 6 dof industrial robot with a closed-loop output error method, International Federation of Automatic Control World Congress (IFAC 2011), MILAN, ITALIE, 29/08/2011, pp 6892-6897,
Plus d'infosJANOT, Alexandre ; VANDANJON, Pierre Olivier ; GAUTIER, Maxime, 2010, Identification des paramètres dynamiques des robots avec la méthode de la variable instrumentale, Sixième Conférence Internationale Francophone d'Automatique, NANCY, FRANCE, 02/06/2010, sp,
Plus d'infosJANOT, Alexandre ; VANDANJON, Pierre Olivier , 2009 , Using Robust Regressions and Residual Analysis to Verify the Reliability of LS Estimation : Application in Robotics , 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems , SAINT LOUIS , ETATS-UNIS , 11/10/2009 , 6p
Plus d'infosJANOT, Alexandre ; VANDANJON, Pierre Olivier , 2009 , Identification of Robots Dynamics with the Instrumental Variable Method , 2009 IEEE International Conference on Robotics and Automation (ICRA2009) , KOBE , JAPON , 12/05/2009 , pp 1762-1767
Plus d'infosJANOT, Alexandre ; VANDANJON, Pierre Olivier , 2009 , Identification of Robots using the Instrumental Variable Method , 15th IFAC Symposium on System Identification, SYSID 2009 , SAINT MALO , FRANCE , 06/07/2009 , 8p
Plus d'infosGAUTIER, Maxime ; JANOT, Alexandre , 2008 , DIDIM: A New Method for the Dynamic Identification of Robots from only Torque Data , 2008 IEEE International Conference on Robotics and Automation , Pasadena , ETATS-UNIS , 19/05/2008 , sp
Plus d'infosORFILA, O ; VANDANJON, PO , 2008 , Contribution of simplified vehicle dynamic models to road safety analysis , Second European Road, Transport Research Arena Europe 2008, Ljubljana, Slovénie, 21-24 avril 2008 , 6p
Plus d'infosORFILA, O ; COIRET, A , 2008 , Road safety contribution by evaluation of tire crushing using a measuring hub , Second European Road, Transport Research Arena Europe 2008, Ljubljana, Slovénie, 21-24 avril 2008 , 6p
Plus d'infosMARCASSUS, N ; VANDANJON, PO ; JANOT, A , 2007 , Minimal resolution needed for an accurate parametric identification : Application to an industrial robot arm , International Conference on Intelligent Robot and System (IROS 2007), San Diego, USA, 29 octobre-2 novembre 2007 , 6p
Plus d'infosJANOT, A ; ANASTASSOVA, M ; VANDANJON, PO , 2007 , Identification process dedicated to haptic devices , International Conference on Intelligent Robot and System (IROS 2007), San Diego, USA, 29 octobre-2 novembre 2007 , 7p
Plus d'infosVANDANJON, PO ; DO, MT ; DELANNE, Y ; ANDRIEUX, A , 2006 , Comparison of different systems of measurement of skid resistance , FISITA 2006, World Automotive Congress, Yokohama, Japan, october 22-27 2006 , 13p
Plus d'infosTest RSS
HAL : Dernières publications
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[hal-04312243] Modeling Exposure to Mobility-Related Pollution: Review and Key Challenges
The health and equity issues related to urban pollution, coupled with the need to assess the consequences of implementing transport policies or new mobility solutions, make it imperative to provide decision-makers with a relevant modeling framework. The coupling of activity-based travel models with environmental models presents a promising approach to thoroughly investigate the interconnected issues related to the impact of road traffic on individual exposure to noise and air pollution. Integrated modeling chains provide a robust framework to comprehensively assess traffic scenarios on a city scale and address issues related to environmental inequalities. This article reviews the recent work in this field to identify both the main contributions and key challenges still to be addressed. It illustrates how the use of a dynamic approach, which considers the intraday dynamics of individual mobilities and pollution concentrations, can contribute to more accurate estimates of the exposure of individuals to pollutants. This modeling approach also has the potential to investigate how the level of exposure depends on the characteristics of the individuals (socioeconomic factors, commuting patterns, location of residence, and main activities). Nonetheless, there are still important challenges to overcome to further enhance the accuracy and applicability of these models: taking into account all types of traffic and transport modes; refining the modeling of exposure to pollution during travel; taking better consideration of microenvironments; and so forth.
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[hal-04114226] Allocating synthetic population to a finer spatial scale: An integer quadratic programming formulation
Agent-Based Models (ABMs) are being increasingly used to evaluate urban systems, urban policies and environmental impacts. One prerequisite for using the ABM framework consists of generating a synthetic population representative of the actual population, featuring the appropriate attributes with respect to model objectives. A precise spatial positioning of the synthetic population agents is often key to ensuring ABM modeling quality. This paper considers the problem of allocating synthetic population agents to a finer spatial scale. Such an allocation process is performed from a higher-level statistical area where a synthetic population can be generated, that is, a container statistical area (CSA), to several nested non-overlapping elementary statistical areas (ESAs), where only marginals are available. This allocation step relies not only on common attributes between CSA and ESA, but also on additional discriminatory attributes, that is, attributes of interest, estimated from external data sources. The case study examined herein is based on French census and fiscal data. Common attributes include eight socio-demographic variables, totaling 17 modalities. An additional attribute of interest, that is, income, has also been added. The allocation problem at hand is modeled as an integer quadratic programming problem. An exact algorithm is first applied to solve the problem; the applicability of this algorithm proves to be limited to small-size synthetic populations. A heuristic is proposed to handle the allocation of larger-size synthetic populations. Tests carried out on the case study show that this heuristic yields near-optimal solutions; it is also computationally efficient and may fulfill the needs of a majority of users.
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[hal-04030611] Enhancement of Vehicle Eco-Driving Applicability through Road Infrastructure Design and Exploitation
Energy moderation of the road transportation sector is required to limit climate change and to preserve resources. This work is focused on the moderation of vehicle consumption by optimizing the speed policy along an itinerary while taking into account vehicle dynamics, driver visibility and the road's longitudinal profile. First, a criterion is proposed in order to detect speed policies that are impeding drivers' eco-driving ability. Then, an energy evaluation is carried out and an optimization is proposed. A numerical application is performed on a speed limiting point with 20 usage cases and 5 longitudinal slope values. In the hypothesis of a longitudinal slope of zero, energy savings of 27.7 liter per day could be realized by a speed sign displacement of only 153.6 m. Potential energy savings can increase to up to 308.4 L per day for a −4% slope case, or up to 70.5 L per day for an ordinary −2% slope, with a sign displacement of only 391.5 m. This results in a total of 771,975 L of fuel savings over a 30 year infrastructure life cycle period. Therefore a methodology has been developed to help road managers optimize their speed policies with the aim of moderating vehicle consumption.
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[hal-03500363] Multi-scale spatial analysis of household car ownership using distance-based Moran's eigenvector maps: Case study in Loire-Atlantique (France)
Analyzing spatial structures of transportation data at various scales can be of prime interest to transportation planning and governance. In recent years, multi-scale spatial analysis methods have been developed and used in fields like ecology and geography, but only a few studies have applied these methods to transportation data. However, such methods can provide an efficient exploratory tool for: identifying those scales at which transportation data vary spatially; modeling the spatial structures at each scale; and determining the processes at work that explain these spatial structures. This paper describes and demonstrates how a multi-scale spatial analysis method, namely distance-based Moran's eigenvector maps (dbMEM), can be applied to study the spatial layout of car ownership. For this analysis, we rely on aggregated census data for small statistical areas within France's Loire-Atlantique administrative region. At first, 176 spatial vectors representing spatial patterns with a positive autocorrelation are constructed. Among the 176 vectors, only 23 significant ones are retained after performing a regression with car ownership as the dependent variable. Next, we divide these spatial vectors into three sub-models representing three spatial scales: broad scale, medium scale, and fine scale. Lastly, we identify a set of sociodemographic factors capable of explaining the spatial variation at each scale, i.e.: the broad-scale variation is mainly explained by population density, couples with children and income variables; the medium scale by couples with children, share of individuals in the 25-54 year age range and income; and the fine scale by couples with children and income variables.
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[hal-03196270] Generating a two-layered synthetic population for French municipalities: Results and evaluation of four synthetic reconstruction methods
This article describes the generation of a detailed two-layered synthetic population of households and individuals for French municipalities. Using French census data, four synthetic reconstruction methods associated with two probabilistic integerization methods are applied. The paper offers an in-depth description of each method through a common framework. A comparison of these methods is then carried out on the basis of various criteria. Results show that the tested algorithms produce realistic synthetic populations with the most efficient synthetic reconstruction methods assessed being the Hierarchical Iterative Proportional Fitting and the relative entropy minimization algorithms. Combined with the Truncation Replication Sampling allocation method for performing integerization, these algorithms generate household-level and individual-level data whose values lie closest to those of the actual population.
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[hal-02005356] Longitudinal profile optimization for roads within an eco-design framework
This paper proposes a methodology to optimize the longitudinal profile of roads according to either an energy consumption or Global Warming Potential (GWP) criterion calculated for both construction and operation phases. For the construction phase assessment, this methodology is based on a earthworks model that computes the geometric differences between the natural terrain and the longitudinal road profile and moreover uses environmental data validated with real experiments. The operation phase is assessed by simulating traffic over a ten-years period. Traffic simulations are based on vehicle dynamic models, also validated with real experiments. The optimization problem is set up in a finite dimensional optimization. A case study illustrates this methodology. By taking into account actual traffic measurements, the optimized profile decreases by 6% the total primary energy consumption and by 8% the GWP.
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[hal-03081480] Comparing Methods for Generating a Two-Layered Synthetic Population
Synthetic population is used in many transport models ranging from trip-based, hybrid trip, tour-based, and activity-based models. As mobility decisions depend on both individuals' characteristics and family situation, generating a two-layered population that takes into account not only the individual level but also household level is essential. In the literature, three main categories of methods for two-layered population generation have been proposed. These categories are synthetic reconstruction (SR), combinatorial optimization (CO), and statistical learning (SL). SR and CO methods produce synthetic populations by means of replicating individuals, whereas SL methods generate a population following a joint probability estimation. However, selecting a generation process is not straightforward as it depends on input data and synthetic population characteristics. To the best of our knowledge, no clear methodology for selecting between these methods exists. The main objectives of this paper are to provide (1) a detailed description of the available methods, (2) a comparison between these methods, and (3) a decision-making procedure for selecting between these methods. The description and comparison of the methods relies on different criteria: marginals availability, sample size, number of potential attributes that can be handled, population size to generate, possibility of zero-cell problem, and so forth. The advantages and shortcomings of each method are illustrated, and method performance is assessed. The decision-making procedure is carried out through the proposal of a decision tree. Researchers and practitioners have now access to a comprehensive and unified framework to select the appropriate method depending on available data and features of their modeling purposes.
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[hal-03081371] Slope Optimization (or "Sloop"): Customized Optimization for Road Longitudinal Profile Eco-Design
Current transportation systems contributed to one quarter to the Greenhouse Gases (GhG) emissions and the mobility demand increases continuously. The transportation infrastructure design has to be optimized to mitigate these emissions. The methodology ?Sloop? (acronym for Slope Optimization) has recently been set up to optimize the longitudinal road profile with respect to a Global Warming Potential (GWP) criterion calculated for both the construction and operational phases while incorporating accurate vehicle models. This paper proposes a customized optimization strategy that significantly improves the Sloop methodology. From an initial longitudinal profile generated by road designers, our algorithm identifies the optimized profile in terms of GWP. This optimization step is complex due to the large number of degrees of freedom, along with various constraints to obtaining a feasible solution and the computational cost of the operational phase assessment. The most stringent constraint entails connecting the profile with the existing road (i.e., a constraint on the final profile altitude). We have developed a specific algorithm based on the Sequential Quadratic Programming (SQP) method; this algorithm takes into account the quasi-quadratic nature of the constraint on the final altitude. In a real case study, our algorithm outputs a profile whose GWP assessment saves 4% compared to the GWP assessment of the initial profile. The benefit of our specific protocol for treating the final altitude constraint is demonstrated in this example. By means of this new efficient and open-box algorithm, profile evolution at each iteration is analyzed to determine the most sensitive degrees of freedom, and the sensitivity of the optimization with respect to the main construction parameters and traffic assumptions are conducted. The results are consistent and stable.
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[hal-02868022] Vehicle energy savings by optimizing road speed-sectioning
In a context of decreasing resources and of climate change, lowering road vehicles consumption is a key point to meet CO2 reduction requirements. In addition to car technological advances, eco-driving is part of the solution but the road infrastructure should ensure its development. This work aims to demonstrate that road energy demand and associated pollutant emissions can be reduced by working out minor optimization of road infrastructure itself. For this to happen, a simple eco-driving potential criterion is built upon infrastructure parameters such as slopes and sight distances. This criterion aims to detect Misplaced Speed-sectioning Positions (MSP) with regard to the Starting Point of Deceleration (SPD); with speed-sectioning being the succession of speed changes along a given route. An enhanced energy waste formulation is then developed to quantify the vehicles energy waste due to misplaced road-signs. Thirdly, a traffic simulation constitutes a framework for energy evaluation; considering a full flow of vehicles, based on real traffic data, and by modeling several driver behaviors. Simulation results show that a significant fuel reduction of up to 5.5% can be achieved locally, simply by moving a road sign, for rural areas and without degrading road safety.
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[hal-02482046] Analyse de trajectoires fluviales à partir de données SIA pour la conception d’une passerelle
La Métropole Rouen Normandie souhaitait concevoir une nouvelle passerelle nécessitant des appuis provisoires en Seine. Aussi a-t-elle sollicité l’Ifsttar pour conduire une étude statistique des données de trajectoires, afin de définir les fuseaux de mobilité des navires en fonction notamment de leur vitesse et de leur gabarit, deux facteurs susceptibles d’avoir un impact sur la manoeuvrabilité des navires. Le traitement des données au format SIA a nécessité de recourir à des outils dédiés aux gros fichiers de données. Puis un modèle de régression linéaire a été retenu pour l’analyse des trajectoires rectilignes hors manoeuvres d’accostage. La détermination d’intervalles de prédiction a permis de délimiter les zones de navigation, et donc de mettre en évidence les surfaces du fleuve aptes à accueillir les appuis provisoires.
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[hal-00782079] Utilisation de polynômes de Tchebychev pour l'identification de modèles à temps continu de robots
Dans cet article, une présentation des propriétés des polynômes de Tchebychev et une formulation dérivée utilisant ces polynômes sont effectuées. La méthode d'identification présentée consiste à appliquer une transformation linéaire sur le système d'équations qui régit le processus. Pour cela, l'opérateur mathématique utilisé s'appuie sur une décomposition du signal dans une base formée de polynômes orthogonaux. Nous montrons que cette projection se comporte comme un filtre passe-bande, de telle sorte qu'une seule opération est nécessaire pour le pré-traitement des données avant le processus d'identification, à savoir choisir la dimension de la base des polynômes Tchebychev. Une identification expérimentale en boucle fermée d'un robot à 2 axes avec cette méthode est effectuée dans une dernière partie. Les résultats obtenus sont comparés et analysés avec d'autres techniques utilisées en robotique.
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[hal-01467446] A revised Durbin-Wu-Hausman test for industrial robot identification
This paper addresses the topic of robot identification. The usual identification method makes use of the inverse dynamic model (IDM) and the least squares (LS) technique while robot is tracking exciting tra- jectories. Assuming an appropriate bandpass filtering, good results can be obtained. However, the users are in doubt whether the columns of the observation matrix (the regressors) are uncorrelated (exo- genous) or correlated (endogenous) with the error terms. The exogeneity condition is rarely verified in a formal way whereas it is a fundamental condition to obtain unbiased LS estimates. In Econometrics, the Durbin-Wu-Hausman test (DWH-test) is a formal statistic for investigating whether the regressors are exogenous or endogenous. However, the DWH-test cannot be straightforwardly used for robot identifi- cation because it is assumed that the set of instruments is valid. In this paper, a Revised DWH-test suitable for robot identification is proposed. The revised DWH-test validates/invalidates the instruments chosen by the user and validates the exogeneity assumption through the calculation of the QR factor- ization of the augmented observation matrix combined with a F-test if required. The experimental results obtained with a 6 degrees-of-freedom (DOF) industrial robot validate the proposed statistic.
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[hal-01835743] Eco-design model of a railway: A method for comparing the energy consumption of two project variants
In accordance with the environmental concerns that national policies still address throughout the world, railways have been extensively studied to provide quantified indicators for assessing construction/operations practices. It is essential to take energy consumption, into account since energy can be measured worldwide, in addition to constituting a global environmental load that is time-limited as regards resource availability and known as a discriminating criterion in comparing transport infrastructure. This article introduces an innovative, generic and systemic method dedicated to determining the energy consumption of a railway line during the pre-project phase by taking into account the complete life cycle of the rail infrastructure, including construction, maintenance and operations. The method developed (called PEAM ) focuses on assessing project variants during the design stage and therefore integrates both the geometric longitudinal constraints of the line and the thicknesses/volumes over the entire itinerary as design parameters for input into the various construction scenarios. PEAM combines methodologies stemming from life cycle assessment with a consumption model derived from physical modeling. The models associated with this method are then applied to study the energy consumption of a new high-speed line located in France that also has major implications for the European connections currently under investigation as well. Two project variants are compared in terms of total energy for a 50-year service life and a given characteristic rail traffic, including passenger and freight flows. Results obtained reveal a 30% difference between the two variants, which prior to applying PEAM were considered to be relatively similar.
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[hal-01670595] Évaluation de l’adhérence de pneumatiques sur pistes comme un paramètre de la sécurité des métros automatiques
Les métros automatiques, sans conducteurs, sont en déploiement important depuis des décennies et offrent de hauts niveaux de service et de sécurité. S’affranchir du facteur humain peut en effet augmenter ces niveaux en exploitation courante mais des protocoles robustes de commande sont alors requis pour pallier l’absence des qualités humaines d’anticipation et d’adaptation en situations exceptionnelles. De tels protocoles, dits d’anti‐collision, sont généralement basés sur une performance minimale de freinage garantie associée à un découpage de l’infrastructure en cantons, fixes ou mobiles, assurant qu’il ne puisse y avoir simultanément plus d’un véhicule sur le même canton. En particulier, un système de métro automatique sur pneu est présenté dans cet article. Des résultats d’essais de freinage de rames montrent l’efficacité de traitements visant à améliorer l’adhérence pneumatique/piste de roulement. L’entretien des pistes pour maintenir un bon niveau de freinage est discuté pour les techniques courantes de striage et de grenaillage des pistes. Enfin, une méthodologie pour permettre le suivi des pistes en temps et en espace est proposée. Elle inclut la sélection et l’emploi de matériels d’évaluation de l’adhérence issus du domaine routier.
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[hal-01578913] Towards eco-aware timetabling: evolutionary approach and cascading initialisation strategy for the bi-objective optimisation of train running times
In railway planning, the timetabling step needs, as input, the train running times, which are calculated from a train dynamic model. Usually, this model determines the most energy-efficient train trajectory for a predefined time. However, this time may not correspond to the timetable-makers' needs. They should have the choice among a set of solutions, more or less energy-consuming. This study proposes a method capable of producing a set of alternative running times with the associated mechanical energy required. To this end, the authors' contribution is to set up an efficient evolutionary multi-objective algorithm builds a set of well-spread and diversified solutions which approximate a Pareto front. The solutions are all compromises between running time and energy-consumption, the two minimisation objectives concurrently optimised. Given that an evolutionary algorithm is strongly dependent on the initialisation phase, the efficiency of the algorithm is improved through a specific and original mechanism connecting multiple initialisations in cascade in order to accelerate the convergence towards the best solutions. A set of results obtained on randomly-generated instances is analysed and discussed.
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[hal-01061255] Comparison between the CLOE Method and the DIDIM Method for Robots Identification
This brief deals with the identification of industrial robots. The usual identification method is based on the use of the inverse dynamic identification model and the least-squares technique. Another approach is the direct and inverse dynamic identification models (DIDIM) method, which is a closed-loop output error (CLOE) method minimizing the quadratic error between the actual and simulated joint torques. In this brief, the DIDIM method is compared with the usual CLOE method, which minimizes the quadratic error between the actual and simulated joint positions. The comparison is carried out on six degrees of freedom industrial robot. The experimental results show that the DIDIM method needs three iterations to identify 60 parameters while the usual CLOE method needs 20 iterations.
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[hal-00960333] Application of viability theory for road vehicle active safety during cornering manoeuvres
Viability theory proposes geometric metaphors in addition to classical ordinary differential equation analysis. In this paper, advantages of applying viability theory to road safety domain are presented. The exact issue is to determine if, from an initial state of a vehicle/road/driver system, a soft controls strategy is compatible with a safe driving sequence. The case of a car negotiating a curve is considered. The application of the viability theory to this issue offers the advantage to avoid classical full computing of the system. Instead of that, it consists on verifying that the states and the controls belong to a subset called the viability kernel. The construction and the use of the viability kernel for a vehicle system dynamic is proposed by using support vector machines algorithm. Then, the applicability of this theory is demonstrated through experimental tests. This innovative application of the viability theory to vehicle dynamics with road safety concerns could benefit to robust embedded warning systems.
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[hal-00954732] An instrumental variable approach for rigid industrial robots identification
This paper deals with the important topic of rigid industrial robots identification. The usual identification method is based on the use of the inverse dynamic model and the least-squares technique. In order to obtain good results, a well-tuned derivative bandpass filtering of joint positions is needed to calculate the joint velocities and accelerations. However, we can doubt whether the bandpass filter is well-tuned or not. Another approach is the instrumental variable (IV) method which is robust to data filtering and which is statistically optimal. In this paper, an IV approach relevant for identification of rigid industrial robots is introduced. The set of instruments is the inverse dynamic model built from simulated data which are calculated from the simulation of the direct dynamic model. The simulation assumes the same reference trajectories and the same control structure for both the actual and the simulated robot and is based on the previous IV estimates. Furthermore, to obtain a rapid convergence, the gains of the simulated controller are updated according to IV estimates. Thus, the proposed approach validates the inverse and direct dynamic models simultaneously and is not sensitive to initial conditions. The experimental results obtained with a 2 degrees of freedom (DOF) planar prototype and with a 6 DOF industrial robot show the effectiveness of our approach: it is possible to identify 60 parameters in 3 iterations and in 11 s.
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[hal-00941612] Generic instrumental variable approach for industrial robot identification
This paper deals with the important topic of industrial robot identification. The usual identification method is based on the inverse dynamic identification model and the least squares technique. This method has been successfully applied on several industrial robots. Good results can be obtained, provided a well tuned derivative band-pass filtering of joint positions is used to calculate the joint velocities and accelerations. However, one cannot be sure whether or not the band-pass filtering is well tuned. An alternative is the instrumental variable (IV) method, which is robust to data filtering and is statistically optimal. In this paper, a generic IV approach suitable for robot identification is proposed. The instrument set is the inverse dynamic model built from simulated data calculated from simulation of the direct dynamic model. The simulation is based on previous estimates and assumes the same reference trajectories and the same control structure for both actual and simulated robots. Finally, gains of the simulated controller are updated according to IV estimates to obtain a valid instrument set at each step of the algorithm. The proposed approach validates the inverse and direct dynamic models simultaneously, is not sensitive to initial conditions, and converges rapidly. Experimental results obtained on a six-degrees-of-freedom industrial robot show the effectiveness of this approach: 60 dynamic parameters are identified in three itérations.
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[hal-00851507] Identification of Physical Parameters and Instrumental Variables Validation With Two-Stage Least Squares Estimator
This paper addresses physical parameters identification of mathematical models that are linear in relation to these physical parameters. We can obtain good results with the least squares technique, provided that a well-tuned data filtering is used, and by using instrumental variable (IV) methods, which deal with the problem of noisy observation matrix. However, IV theory is based on instruments validity. In econometrics, statistical tests evaluating instruments quality have been developed. They make use of the two-stage least squares estimator and the concentration parameter introduced by Basmann. In this paper we show how to extend econometric theory to control engineering. An algorithm evaluating instruments quality is presented and experimentally validated on a two-degrees-of-freedom SCARA robot.
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[hal-00850643] A New Closed-Loop Output Error Method for Parameter Identification of Robot Dynamics
Offline robot dynamic identification methods are mostly based on the use of the inverse dynamic model, which is linear with respect to the dynamic parameters. This model is sampled while the robot is tracking reference trajectories that excite the system dynamics. This allows using linear least-squares techniques to estimate the parameters. The efficiency of this method has been proved through the experimental identification of many prototypes and industrial robots. However, this method requires the joint force/torque and position measurements and the estimate of the joint velocity and acceleration, through the bandpass filtering of the joint position at high sampling rates. The proposed new method called DIDIM requires only the joint force/torque measurement, which avoids the calculation of the velocity and acceleration by bandpass filtering of the measured position. It is a closed-loop output error method where the usual joint position output is replaced by the joint force/torque. It is based on a closed-loop simulation of the robot using the direct dynamic model, the same structure of the control law, and the same reference trajectory for both the actual and the simulated robot. The optimal parameters minimize the 2-norm of the error between the actual force/torque and the simulated force/torque. This is a nonlinear least-squares problem which is dramatically simplified using the inverse dynamic model to obtain an analytical expression of the simulated force/torque, linear in the parameters. A validation experiment on a two degree-of-freedom direct drive rigid robot shows that the new method is efficient.
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[hal-00638013] New results on the relation between tyre-road longitudinal stiffness and maximum available grip for motor car
Tyre-road estimation methods have been the objective of many research programmes throughout the world. Most of these methods aim at estimating the friction components such as tyre longitudinal slip rate κ and friction coefficient μ in the contact patch area. In order to estimate the maximum available friction coefficient μmax , these methods generally use a probabilistic relationship between the grip obtained for low tyre excitations (such as constant speed driving) and the grip obtained for high tyre excitations (such as emergency braking manoeuvre). Confirmation or invalidation of this relationship from experimental results is the purpose of this paper. Experiments have been carried out on a reference track including several test boards corresponding to a wide textural spectrum. The main advantage of these experiments lies in the use of a vehicle allowing us to accurately build point-by-point relationship between κ and μ. This relationship has been determined for different tyres and pavement textures. Finally, the curves obtained are analysed to check the validity of the relationship between the current friction coefficient used by the car during normal driving conditions and μmax.