[ { "key": "2G7JDXK6", "version": 8, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/2G7JDXK6", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/2G7JDXK6", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Vandanjon et al.", "parsedDate": "1995", "numChildren": 0 }, "data": { "key": "2G7JDXK6", "version": 8, "itemType": "conferencePaper", "title": "Identification of robots inertial parameters by means of spectrum analysis", "creators": [ { "creatorType": "author", "firstName": "P. -O", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "P.", "lastName": "Desbats" } ], "abstractNote": "A common way to identify the inertial parameters of robots is to use a linear model as function of a minimal set of base parameters and standard least squares techniques. In experimental applications, noise on position and torque measurements, friction modeling error and bad excitation restrict dramatically the identification. This paper presents a methodology to overcome these difficulties. The proposed identification method is based on experiments which are designed by means of physical interpretation and spectrum analysis of the robot dynamic model in order to reduce sensitivity to noise. These experiments are planned in order to ensure optimal condition number of the observation matrix. The proposed algorithms have been integrated in a software package called Robot Identification Software Tool (RIST). The successful application of this new method to a 3 degrees of freedom robot proves the efficiency of the algorithms", "proceedingsTitle": ", 1995 IEEE International Conference on Robotics and Automation, 1995. Proceedings", "conferenceName": ", 1995 IEEE International Conference on Robotics and Automation, 1995. Proceedings", "publisher": "", "place": "", "date": "1995", "eventPlace": "", "volume": "3", "issue": "", "numberOfVolumes": "", "pages": "3033-3038 vol.3", "series": "", "seriesNumber": "", "DOI": "10.1109/ROBOT.1995.525715", "ISBN": "", "citationKey": "", "url": "", "accessDate": "", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "", "libraryCatalog": "IEEE Xplore", "callNumber": "", "rights": "", "extra": "", "tags": [ { "tag": "3 degrees of freedom robot", "type": 1 }, { "tag": "Least squares methods", "type": 1 }, { "tag": "Noise reduction", "type": 1 }, { "tag": "Robot Identification Software Tool", "type": 1 }, { "tag": "Robot sensing systems", "type": 1 }, { "tag": "Robotics and automation", "type": 1 }, { "tag": "Software algorithms", "type": 1 }, { "tag": "Torque measurement", "type": 1 }, { "tag": "bad excitation", "type": 1 }, { "tag": "base parameters", "type": 1 }, { "tag": "friction", "type": 1 }, { "tag": "friction modeling error", "type": 1 }, { "tag": "identification method", "type": 1 }, { "tag": "inertial parameters", "type": 1 }, { "tag": "least squares approximations", "type": 1 }, { "tag": "linear model", "type": 1 }, { "tag": "manipulator dynamics", "type": 1 }, { "tag": "noise", "type": 1 }, { "tag": "observation matrix", "type": 1 }, { "tag": "optimal condition number", "type": 1 }, { "tag": "parameter estimation", "type": 1 }, { "tag": "position measurements", "type": 1 }, { "tag": "robot dynamic model", "type": 1 }, { "tag": "robot dynamics", "type": 1 }, { "tag": "robots", "type": 1 }, { "tag": "software package", "type": 1 }, { "tag": "software packages", "type": 1 }, { "tag": "spectral analysis", "type": 1 }, { "tag": "spectrum analysis", "type": 1 }, { "tag": "standard least squares techniques", "type": 1 }, { "tag": "torque control", "type": 1 }, { "tag": "torque measurements", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T16:23:03Z", "dateModified": "2024-04-12T16:23:03Z" } }, { "key": "W7XSLRTD", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/W7XSLRTD", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/W7XSLRTD", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Vandanjon et al.", "parsedDate": "1995", "numChildren": 0 }, "data": { "key": "W7XSLRTD", "version": 7, "itemType": "conferencePaper", "title": "Identification of robots inertial parameters by means of spectrum analysis", "creators": [ { "creatorType": "author", "firstName": "Po", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "P.", "lastName": "Desbats" } ], "abstractNote": "", "proceedingsTitle": "PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3", "conferenceName": "1995 IEEE International Conference on Robotics and Automation", "publisher": "I E E E", "place": "New York", "date": "1995", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "3033-3038", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-0-7803-1966-0", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1050-4729\nNum Pages: 6\nSeries Title: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION\nWeb of Science ID: WOS:A1995BD82F00473", "tags": [], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "NB6XCEP9", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/NB6XCEP9", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/NB6XCEP9", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Vandanjon et al.", "parsedDate": "2003-04", "numChildren": 0 }, "data": { "key": "NB6XCEP9", "version": 7, "itemType": "journalArticle", "title": "Homogenisation of concrete in a batch plant: the influence of mixing time and method on the introduction of mineral admixtures", "creators": [ { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "F.", "lastName": "de Larrard" }, { "creatorType": "author", "firstName": "B.", "lastName": "Dehousse" }, { "creatorType": "author", "firstName": "G.", "lastName": "Villain" }, { "creatorType": "author", "firstName": "R.", "lastName": "Maillot" }, { "creatorType": "author", "firstName": "R.", "lastName": "Laplante" } ], "abstractNote": "This paper presents a study conducted on the effects of mixing within a batch plant operation for 'building industry' type concretes containing mineral admixtures (fly ash, limestone filler or blast-furnace slag). The primary objective of this study was to evaluate the technical bases of French standard XP P 18-305, which stipulates that the mixing time of these concretes is to be increased whenever a mineral admixture is introduced, as opposed to the admixture being mixed with Portland cement to create a blended cement. Testing was carried out in a semi-industrial plant at a 1:1 scale; various techniques were employed both to evaluate the homogeneity of the batches and to characterise the performance of the materials produced. Results suggest a slight advantage in homogeneity in favour of the blended cements, yet this advantage at the scale of the completed structure is not necessarily significant. Moreover the feasibility of concretes with a binder consisting of at least two-thirds blast-furnace slag, added into the mixer under typical batch plant operations, has been confirmed. The paper concludes with a few research directions in the area of concrete mixing.", "publicationTitle": "MAGAZINE OF CONCRETE RESEARCH", "publisher": "", "place": "", "date": "APR 2003", "volume": "55", "issue": "2", "section": "", "partNumber": "", "partTitle": "", "pages": "105-116", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Mag. Concr. Res.", "DOI": "10.1680/macr.55.2.105.37562", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "PMID": "", "PMCID": "", "ISSN": "0024-9831", "archive": "", "archiveLocation": "", "shortTitle": "Homogenisation of concrete in a batch plant", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 12\nPlace: London\nPublisher: Thomas Telford Services Ltd\nWeb of Science ID: WOS:000182190000002", "tags": [], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "792EX6XK", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/792EX6XK", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/792EX6XK", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Vandanjon et al.", "parsedDate": "2007", "numChildren": 0 }, "data": { "key": "792EX6XK", "version": 7, "itemType": "conferencePaper", "title": "Comparison of two identification techniques: Theory and application", "creators": [ { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Alexandre", "lastName": "Janot" }, { "creatorType": "author", "firstName": "Maxime", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "Flavia", "lastName": "Khatounian" }, { "creatorType": "editor", "firstName": "J.", "lastName": "Zaytoon" }, { "creatorType": "editor", "firstName": "J. L.", "lastName": "Ferrier" }, { "creatorType": "editor", "firstName": "J. A.", "lastName": "Cetto" }, { "creatorType": "editor", "firstName": "J.", "lastName": "Filipe" } ], "abstractNote": "Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment. Another choice consists in applying a robust identification method. This paper focuses on a comparison of two techniques: a \"helped\" least squares technique and a robust method called \"the simple refined instrumental variable method\". These methods will be applied to a single degree of freedom haptic interface developed by the CEA Interactive Robotics Unit.", "proceedingsTitle": "ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1", "conferenceName": "4th International Conference on Informatics in Control, Automation and Robotics", "publisher": "Insticc-Inst Syst Technologies Information Control & Communication", "place": "Setubal", "date": "2007", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "341-347", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-972-8865-83-2", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "Comparison of two identification techniques", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 7\nWeb of Science ID: WOS:000252640800053", "tags": [ { "tag": "inverse model", "type": 1 }, { "tag": "least squares method", "type": 1 }, { "tag": "parameters identification", "type": 1 }, { "tag": "simple refined instrumental variable method", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "HYWMYTPW", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/HYWMYTPW", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/HYWMYTPW", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Marcassus et al.", "parsedDate": "2007", "numChildren": 0 }, "data": { "key": "HYWMYTPW", "version": 7, "itemType": "conferencePaper", "title": "Minimal resolution needed for an accurate parametric identification - Application to an industrial robot arm", "creators": [ { "creatorType": "author", "firstName": "N.", "lastName": "Marcassus" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" } ], "abstractNote": "Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we don't know how much they are dependent on the measurement accuracy and so on we ignore the necessary resolution they require to produce good quality results. This paper focuses on this issue and introduces a derivation of the CESTAC method, which will. be applied to an industrial 6 degrees of freedom (DOF) serial robot, to estimate the minimal resolution indispensable for an accurate parametric identification.", "proceedingsTitle": "2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9", "conferenceName": "IEEE/RSJ International Conference on Intelligent Robots and Systems", "publisher": "IEEE", "place": "New York", "date": "2007", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "2461-+", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-4244-0912-9", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 2\nWeb of Science ID: WOS:000254073201166", "tags": [], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "29H55X4M", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/29H55X4M", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/29H55X4M", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2007", "numChildren": 0 }, "data": { "key": "29H55X4M", "version": 7, "itemType": "conferencePaper", "title": "Analysis and application of a robust identification method", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "F.", "lastName": "Khatounian" } ], "abstractNote": "Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment while another choice consists in applying a robust identification method. This paper focuses on an analysis of a robust method called \"the simple refined instrumental variable method\". This method will be applied to a single degree of freedom master arm developed by the CEA Interactive Robotic Unit.", "proceedingsTitle": "2007 INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION", "conferenceName": "International Symposium on Computational Intelligence in Robotics and Automation", "publisher": "IEEE", "place": "New York", "date": "2007", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "89-+", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-4244-0789-7", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 2\nWeb of Science ID: WOS:000249266100016", "tags": [], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "X8URWWL7", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/X8URWWL7", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/X8URWWL7", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Andrieux et al.", "parsedDate": "2010", "numChildren": 0 }, "data": { "key": "X8URWWL7", "version": 7, "itemType": "journalArticle", "title": "New results on the relation between tyre-road longitudinal stiffness and maximum available grip for motor car", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Andrieux" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "R.", "lastName": "Lengelle" }, { "creatorType": "author", "firstName": "C.", "lastName": "Chabanon" } ], "abstractNote": "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 and friction coefficient in the contact patch area. In order to estimate the maximum available friction coefficient max, 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 and . 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 max.", "publicationTitle": "VEHICLE SYSTEM DYNAMICS", "publisher": "", "place": "", "date": "2010", "volume": "48", "issue": "12", "section": "", "partNumber": "", "partTitle": "", "pages": "1511-1533", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Veh. Syst. Dyn.", "DOI": "10.1080/00423111003770421", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "PMID": "", "PMCID": "", "ISSN": "0042-3114, 1744-5159", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 23\nPlace: Abingdon\nPublisher: Taylor & Francis Ltd\nWeb of Science ID: WOS:000283918400006", "tags": [ { "tag": "TIRE", "type": 1 }, { "tag": "available grip", "type": 1 }, { "tag": "embedded measurement", "type": 1 }, { "tag": "longitudinal slip rate", "type": 1 }, { "tag": "road texture", "type": 1 }, { "tag": "tyre-road friction", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "UM9PPW27", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/UM9PPW27", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/UM9PPW27", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2011", "numChildren": 0 }, "data": { "key": "UM9PPW27", "version": 7, "itemType": "conferencePaper", "title": "Experimental Joint Stiffness Identification Depending on Measurements Availability", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "A.", "lastName": "Jubien" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" } ], "abstractNote": "This paper addresses the important topic of joint flexibility identification. Three dynamic models depending on measurements availability are compared. The parameters are estimated by using the ordinary least squares of an over linear system obtained from the sampling of the dynamic model along a closed loop tracking trajectory. An experimental setup exhibits the experimental identification results.", "proceedingsTitle": "2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)", "conferenceName": "50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC)", "publisher": "IEEE", "place": "New York", "date": "2011", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "5112-5117", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-61284-801-3", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 0743-1546\nNum Pages: 6\nSeries Title: IEEE Conference on Decision and Control\nWeb of Science ID: WOS:000303506205119", "tags": [ { "tag": "INERTIAL PARAMETERS", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "348879NA", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/348879NA", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/348879NA", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Gautier et al.", "parsedDate": "1994", "numChildren": 0 }, "data": { "key": "348879NA", "version": 7, "itemType": "conferencePaper", "title": "Identification of Inertial and Drive Gain Parameters of Robots", "creators": [ { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "Po", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "C.", "lastName": "Presse" }, { "creatorType": "editor", "firstName": "M.", "lastName": "Peshkin" } ], "abstractNote": "", "proceedingsTitle": "PROCEEDINGS OF THE 33RD IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4", "conferenceName": "33rd IEEE Conference on Decision and Control", "publisher": "I E E E", "place": "New York", "date": "1994", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "3764-3769", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-0-7803-1968-4", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 0191-2216\nNum Pages: 6\nSeries Title: IEEE CONFERENCE ON DECISION AND CONTROL - PROCEEDINGS\nWeb of Science ID: WOS:A1994BC17X00800", "tags": [], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "M2ZFJFAZ", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/M2ZFJFAZ", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/M2ZFJFAZ", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2009", "numChildren": 0 }, "data": { "key": "M2ZFJFAZ", "version": 7, "itemType": "conferencePaper", "title": "Identification of Robots Dynamics with the Instrumental Variable Method", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" } ], "abstractNote": "The identification of the dynamic parameters of robot is based on the use of the inverse dynamic model which is linear with respect to the parameters. This model is sampled while the robot is tracking \"exciting\" trajectories, in order to get an over determined linear system. The linear least squares solution of this system calculates the estimated parameters. The efficiency of this method has been proved through the experimental identification of a lot of prototypes and industrial robots. However, this method needs joint torque and position measurements and the estimation of the joint velocities and accelerations through the pass band filtering of the joint position at high sample rate. So, the observation matrix is noisy. Moreover identification process takes place when the robot is controlled by feedback. These violations of assumption imply that the LS solution is biased. The Simple Refined Instrumental Variable (SRIV) approach deals with this problem of noisy observation matrix and can be statistically optimal. This paper focuses on this technique which will be applied to a 2 degrees of freedom (DOF) prototype developed by the IRCCyN Robotic team.", "proceedingsTitle": "ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7", "conferenceName": "IEEE International Conference on Robotics and Automation", "publisher": "IEEE", "place": "New York", "date": "2009", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "319-+", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-4244-2788-8", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1050-4729, 2577-087X\nNum Pages: 2\nSeries Title: IEEE International Conference on Robotics and Automation ICRA\nWeb of Science ID: WOS:000276080400053", "tags": [ { "tag": "PARAMETERS", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "WRYSJBYM", "version": 7, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/WRYSJBYM", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/WRYSJBYM", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2009", "numChildren": 0 }, "data": { "key": "WRYSJBYM", "version": 7, "itemType": "conferencePaper", "title": "Using Robust Regressions and Residual Analysis to Verify the Reliability of LS Estimation: Application in Robotics", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" } ], "abstractNote": "Usually, the identification of the dynamic parameters of robot makes use of the inverse dynamic model which is linear with respect to the parameters. This model is sampled while the robot is tracking exciting trajectories. This allows using linear least squares (LS) techniques to estimate the parameters. The efficiency of this method has been proved through experimental identifications of a lot of prototypes and industrial robots. However, it is known that LS estimators are sensitive to outliers and leverage points. Thus, it may be helpful to verify their reliability. This is possible by using robust regressions and residual analysis. Then, we compare the results with those obtained with classical LS regression. This paper deals with this issue and introduces the experimental identification and residual analysis of an one degree of freedom (DOF) haptic interface using the Huber's estimator. To verify the pertinence of our analyses, this comparison is also performed on a medical interface consisting of a complex mechanical structure.", "proceedingsTitle": "2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS", "conferenceName": "IEEE RSJ International Conference on Intelligent Robots and Systems", "publisher": "IEEE", "place": "New York", "date": "2009", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "1962-1967", "series": "", "seriesNumber": "", "DOI": "10.1109/IROS.2009.5354469", "ISBN": "978-1-4244-3803-7", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:09Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "Using Robust Regressions and Residual Analysis to Verify the Reliability of LS Estimation", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 6\nWeb of Science ID: WOS:000285372901016", "tags": [ { "tag": "IDENTIFICATION", "type": 1 }, { "tag": "INERTIAL PARAMETERS", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "E5EVW5AY", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/E5EVW5AY", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/E5EVW5AY", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Gautier et al.", "parsedDate": "2011", "numChildren": 0 }, "data": { "key": "E5EVW5AY", "version": 6, "itemType": "conferencePaper", "title": "Dynamic identification of a 6 dof robot without joint position data", "creators": [ { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "P.-O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "A.", "lastName": "Janot" } ], "abstractNote": "Off-line 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 calculated with torque and position sampled data while the robot is tracking reference trajectories that excite the system dynamics. This allows using linear least-squares techniques to estimate the parameters. 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. A new method called DIDIM (Direct and Inverse Dynamic Identification Models) has been proposed and validated on a 2 degree-of-freedom robot [1]. DIDIM method requires only the joint force/torque measurement. 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. A validation experiment on a 6 dof Staubli TX40 robot shows that DIDIM method is very efficient on industrial robots.", "proceedingsTitle": "2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)", "conferenceName": "IEEE International Conference on Robotics and Automation (ICRA)", "publisher": "IEEE", "place": "New York", "date": "2011", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-61284-385-8", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1050-4729, 2577-087X\nNum Pages: 6\nSeries Title: IEEE International Conference on Robotics and Automation ICRA\nWeb of Science ID: WOS:000295396600038", "tags": [ { "tag": "BASE INERTIAL PARAMETERS", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "MYYBCG9D", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/MYYBCG9D", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/MYYBCG9D", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2013", "numChildren": 0 }, "data": { "key": "MYYBCG9D", "version": 6, "itemType": "conferencePaper", "title": "A Durbin-Wu-Hausman Test for Industrial Robots Identification", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" } ], "abstractNote": "This paper deals with the topic of industrial robots identification. The usual identification method is based on the use of the inverse dynamic model (IDM) and least squares (LS) technique. Good results can be obtained provided that a well-tuned bandpass filtering is used. However, we are always in doubt if regressors are exogenous i.e. statistically uncorrelated with error terms. Surprisingly, in papers dealing with identification of real-world systems, exogeneity assumption is never verified whereas it is a fundamental condition to obtain unbiased estimates. In Econometrics, the Durbin-Wu-Hausman test (DWH-test) is a theoretical method for investigating whether regressors are exogenous or not. The DWH-test makes of the Two Stage Lesat Squares estimator (2SLS) and an augmented LS regression. However, this test cannot be used as is for robots identification: instruments set is supposed to be valid and restrictive statistical assumptions are made while they are quite implausible in practice. In this paper, we aim at bridging the gap between Econometrics and Control engineering practices by introducing a revisited version relevant for robots identification. An experimental validation performed on a 2 degrees of freedom (DOF) robot shows the effectiveness and the usefulness of this revisited DWH-test.", "proceedingsTitle": "2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)", "conferenceName": "IEEE International Conference on Robotics and Automation (ICRA)", "publisher": "IEEE", "place": "New York", "date": "2013", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "2956-2961", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-4673-5641-1 978-1-4673-5643-5", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1050-4729, 2577-087X\nNum Pages: 6\nSeries Title: IEEE International Conference on Robotics and Automation ICRA\nWeb of Science ID: WOS:000337617302145", "tags": [ { "tag": "INERTIAL PARAMETERS", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "72SQC9EU", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/72SQC9EU", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/72SQC9EU", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Gautier et al.", "parsedDate": "2011", "numChildren": 0 }, "data": { "key": "72SQC9EU", "version": 6, "itemType": "conferencePaper", "title": "Joint Stiffness Identification from only Motor Force/Torque Data", "creators": [ { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "A.", "lastName": "Jubien" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" } ], "abstractNote": "This paper deals with joint stiffness identification with only actual motor force/torque data instead of motor and load positions. The parameters are estimated by using the DIDIM method which needs only input data. This method was previously validated on a 6 DOF rigid robot and is now extended to flexible systems. The criterion to be minimized is the quadratic error between the measured actual motor force/torque and the simulated one. The optimal parameters are calculated with the Nelder - Mead simplex algorithm. An experimental setup exhibits the experimental identification results and shows the effectiveness of our approach.", "proceedingsTitle": "2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)", "conferenceName": "50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC)", "publisher": "IEEE", "place": "New York", "date": "2011", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "5088-5093", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-1-61284-801-3", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 0743-1546\nNum Pages: 6\nSeries Title: IEEE Conference on Decision and Control\nWeb of Science ID: WOS:000303506205115", "tags": [ { "tag": "INERTIAL PARAMETERS", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "QUZBYMGV", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/QUZBYMGV", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/QUZBYMGV", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Vandanjon et al.", "parsedDate": "2012", "numChildren": 0 }, "data": { "key": "QUZBYMGV", "version": 6, "itemType": "conferencePaper", "title": "Practical guidelines for Life Cycle Assessment applied to railways project", "creators": [ { "creatorType": "author", "firstName": "P.-O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "A.", "lastName": "Coiret" }, { "creatorType": "author", "firstName": "B. Muresan", "lastName": "Paslaru" }, { "creatorType": "author", "firstName": "A.", "lastName": "Fargier" }, { "creatorType": "author", "firstName": "R.", "lastName": "Bosquet" }, { "creatorType": "author", "firstName": "M.", "lastName": "Dauvergne" }, { "creatorType": "author", "firstName": "A.", "lastName": "Jullien" }, { "creatorType": "author", "firstName": "D.", "lastName": "Francois" }, { "creatorType": "author", "firstName": "F.", "lastName": "Labarthe" }, { "creatorType": "editor", "firstName": "A.", "lastName": "Ventura" }, { "creatorType": "editor", "firstName": "C.", "lastName": "DeLaRoche" } ], "abstractNote": "Current transport systems are not likely to be sustainable, since energy resources may be less accessible, facing a rapidly growing demand and because of environmental constrains. In this context a great interest arose for sharing environmental assessment practices between infrastructures owners and researchers. For this present work a partnership between RFF and Ifsttar was decided to study environmental effects and energy consumption for railways life cycle. It paves the way to a full life cycle analysis (LCA) for environmental burdens of railway infrastructures and aims at identifying the best design practices at the project level related to environmental criteria. This LCA takes into account earthwork, railway structure and the operation phase, i.e., the analysis performed is based on the estimation of energy consumptions due to construction, maintenance and on the traffic. Results of this work could enhance practices for environment preservation for the plan of building 4000 kilometres of new high-speed railways, decided in the French National Transport infrastructure scheme. Applying LCA to the project phase is a rather new approach. It requires defming a global functional unit as a basic hypothesis of any study, different from the previous studies. Then, the lifecycle subsystems are successively investigated (construction, maintenance and use) to determine the best way for project Functional Unit definition and further assessment method application.", "proceedingsTitle": "INTERNATIONAL SYMPOSIUM ON LIFE CYCLE ASSESSMENT AND CONSTRUCTION: CIVIL ENGINEERING AND BUILDINGS", "conferenceName": "International Symposium on Life Cycle Assessment and Contruction: Civil Engineering and Buildings", "publisher": "R I L E M Publications", "place": "Bagneux", "date": "2012", "eventPlace": "", "volume": "86", "issue": "", "numberOfVolumes": "", "pages": "144-152", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-2-35158-127-8", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1461-1147\nNum Pages: 9\nSeries Title: RILEM Proceedings\nWeb of Science ID: WOS:000392561500019", "tags": [], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "EH9GF3KB", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/EH9GF3KB", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/EH9GF3KB", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Coiret et al.", "parsedDate": "2012", "numChildren": 0 }, "data": { "key": "EH9GF3KB", "version": 6, "itemType": "conferencePaper", "title": "Energy Consumption Induced by Operation Phase of Railways and Road Infrastructures", "creators": [ { "creatorType": "author", "firstName": "Alex", "lastName": "Coiret" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Romain", "lastName": "Bosquet" }, { "creatorType": "author", "firstName": "Agnes", "lastName": "Jullien" }, { "creatorType": "editor", "firstName": "S.", "lastName": "Lakusic" } ], "abstractNote": "Up to now, transport systems have mainly been designed by considering time efficiency, mobility and safety criteria. Today hard constraints on resources savings and environment preservation have to be taken into account at the different phases of design, maintenance and operation of these networks. This study, focused on the operation phase, aimed to provide a common framework for rail and roads energy consumption assessment. For that, the influence of infrastructure characteristics on energy consumption of vehicles was assessed, in a optimization perspective. A method for energy consumptions evaluation by exploiting contact forces models was proposed. Two models were developed, for a road and for a railway, and validated with experimental data of a vehicle on a test track and full scale measurement of a high speed train on a given line. At last, numerical simulations are worked out with the validated models to exhibit the influence of successions of uphill and downhill on energy consumptions. These simple mechanical models pointed out the differences of the two transportation systems, in terms of developed contact forces and consumed energy.", "proceedingsTitle": "ROAD AND RAIL INFRASTRUCTURE II", "conferenceName": "2nd International Conference on Road and Rail Infrastructure (CETRA)", "publisher": "Univ Zagreb, Fac Civil Engineering", "place": "Zagreb", "date": "2012", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "693-699", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "978-953-6272-50-1", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1848-9850\nNum Pages: 7\nSeries Title: Road and Rail Infrastructure\nWeb of Science ID: WOS:000373110000084", "tags": [ { "tag": "SCENARIO", "type": 1 }, { "tag": "energy consumption", "type": 1 }, { "tag": "full scale tests", "type": 1 }, { "tag": "railways", "type": 1 }, { "tag": "roads", "type": 1 }, { "tag": "vehicle model", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "P8NVKDVT", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/P8NVKDVT", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/P8NVKDVT", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Gautier et al.", "parsedDate": "2013-03", "numChildren": 0 }, "data": { "key": "P8NVKDVT", "version": 6, "itemType": "journalArticle", "title": "A New Closed-Loop Output Error Method for Parameter Identification of Robot Dynamics", "creators": [ { "creatorType": "author", "firstName": "Maxime", "lastName": "Gautier" }, { "creatorType": "author", "firstName": "Alexandre", "lastName": "Janot" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" } ], "abstractNote": "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.", "publicationTitle": "IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY", "publisher": "", "place": "", "date": "MAR 2013", "volume": "21", "issue": "2", "section": "", "partNumber": "", "partTitle": "", "pages": "428-444", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "IEEE Trans. Control Syst. Technol.", "DOI": "10.1109/TCST.2012.2185697", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "PMID": "", "PMCID": "", "ISSN": "1063-6536, 1558-0865", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 17\nPlace: Piscataway\nPublisher: Ieee-Inst Electrical Electronics Engineers Inc\nWeb of Science ID: WOS:000315516200013", "tags": [ { "tag": "BASE INERTIAL PARAMETERS", "type": 1 }, { "tag": "Closed-loop output error", "type": 1 }, { "tag": "direct dynamics", "type": 1 }, { "tag": "dynamic parameters", "type": 1 }, { "tag": "identification", "type": 1 }, { "tag": "inverse dynamics", "type": 1 }, { "tag": "least-squares methods", "type": 1 }, { "tag": "robot dynamics", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "RYREPLGR", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/RYREPLGR", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/RYREPLGR", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2013-07", "numChildren": 0 }, "data": { "key": "RYREPLGR", "version": 6, "itemType": "journalArticle", "title": "Identification of Physical Parameters and Instrumental Variables Validation With Two-Stage Least Squares Estimator", "creators": [ { "creatorType": "author", "firstName": "Alexandre", "lastName": "Janot" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Maxime", "lastName": "Gautier" } ], "abstractNote": "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.", "publicationTitle": "IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY", "publisher": "", "place": "", "date": "JUL 2013", "volume": "21", "issue": "4", "section": "", "partNumber": "", "partTitle": "", "pages": "1386-1393", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "IEEE Trans. Control Syst. Technol.", "DOI": "10.1109/TCST.2012.2199321", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "PMID": "", "PMCID": "", "ISSN": "1063-6536, 1558-0865", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 8\nPlace: Piscataway\nPublisher: Ieee-Inst Electrical Electronics Engineers Inc\nWeb of Science ID: WOS:000320717600031", "tags": [ { "tag": "Experimental identification", "type": 1 }, { "tag": "instrumental variables (IVs) evaluation", "type": 1 }, { "tag": "two-stage least squares (LS) estimator", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "MGLMZJ35", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/MGLMZJ35", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/MGLMZJ35", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2014-01", "numChildren": 0 }, "data": { "key": "MGLMZJ35", "version": 6, "itemType": "journalArticle", "title": "A Generic Instrumental Variable Approach for Industrial Robot Identification", "creators": [ { "creatorType": "author", "firstName": "Alexandre", "lastName": "Janot" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Maxime", "lastName": "Gautier" } ], "abstractNote": "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 iterations.", "publicationTitle": "IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY", "publisher": "", "place": "", "date": "JAN 2014", "volume": "22", "issue": "1", "section": "", "partNumber": "", "partTitle": "", "pages": "132-145", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "IEEE Trans. Control Syst. Technol.", "DOI": "10.1109/TCST.2013.2246163", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "PMID": "", "PMCID": "", "ISSN": "1063-6536, 1558-0865", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 14\nPlace: Piscataway\nPublisher: Ieee-Inst Electrical Electronics Engineers Inc\nWeb of Science ID: WOS:000328962500012", "tags": [ { "tag": "CALIBRATION", "type": 1 }, { "tag": "Closed-loop identification", "type": 1 }, { "tag": "EXCITATION", "type": 1 }, { "tag": "INERTIAL PARAMETERS", "type": 1 }, { "tag": "SET", "type": 1 }, { "tag": "TRAJECTORIES", "type": 1 }, { "tag": "instrumental variable method", "type": 1 }, { "tag": "model reduction", "type": 1 }, { "tag": "rigid robot dynamics", "type": 1 }, { "tag": "statistical hypotheses testing", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "PPFCFCX9", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/PPFCFCX9", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/PPFCFCX9", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Coiret et al.", "parsedDate": "2014", "numChildren": 0 }, "data": { "key": "PPFCFCX9", "version": 6, "itemType": "conferencePaper", "title": "Comparative Wind Influence on Use Phase Energy Consumptions of Roads and Railways", "creators": [ { "creatorType": "author", "firstName": "A.", "lastName": "Coiret" }, { "creatorType": "author", "firstName": "P.-O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "R.", "lastName": "Bosquet" }, { "creatorType": "author", "firstName": "A.", "lastName": "Jullien" }, { "creatorType": "editor", "firstName": "S.", "lastName": "Lakusic" } ], "abstractNote": "Sustainable development is largely depending on transportation systems ensuring mobility and safety. This mobility requires a sufficient access to the energy, at an affordable price. According to the peak-oil hypothesis, rarefaction and increasing in price of the non-renewable energies are nevertheless expected. Even if transportations systems could partly rely on renewable energies, their optimization should involve energy and mobility criteria. In this study, surrounding wind fields and traveling speed are conjointly investigated in order to evaluate achievable reductions in fuel consumptions for both railways and road transportation systems. In the first part of this work, aerodynamic forces on trains are evaluated with the help of an energy model, validated with experimental tests data. For that, numerical determination of aerodynamic coefficients for several wind and topological situations have been computed with Solid-Works and associated to atmospheric characteristics determined over the considered high-speed line (Rhine-Rhone line; about 140 km) with the AROME model (meteo-france), from measurements at several weather stations. Simulation results show that for a weak wind and a train traveling at high speed, wind influence is about 5% on aerodynamic forces power. Moreover, for a moderate train speed (about 45 m/s), a slightly stronger wind (about 5 m/s) has an influence of about 30%, compared to the without wind case. In a second time, road experiments have been conducted with a passenger car equipped with an air flow meter and an oil flow meter, in addition of dynamical measurements as speed, position, altitude... Similarly to the railway case, wind exposition could be considered as a significant road design parameter. In conclusion, this work based on large sets of full-scale experimental data and the numerical simulation of the aerodynamic forces, points out that wind influence on total aerodynamic power consumption is noticeable, both for railways or road transportation systems.", "proceedingsTitle": "ROAD AND RAIL INFRASTRUCTURE III", "conferenceName": "3rd International Conference on Road and Rail Infrastructure (CETRA)", "publisher": "Univ Zagreb, Fac Civil Engineering", "place": "Zagreb", "date": "2014", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "817-823", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:08Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1848-9850\nNum Pages: 7\nSeries Title: Road and Rail Infrastructure\nWeb of Science ID: WOS:000372900600104", "tags": [ { "tag": "energy", "type": 1 }, { "tag": "railway", "type": 1 }, { "tag": "roads", "type": 1 }, { "tag": "use phase", "type": 1 }, { "tag": "wind", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "HA3U25T9", "version": 6, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/HA3U25T9", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/HA3U25T9", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Vandanjon et al.", "parsedDate": "2014-02-01", "numChildren": 0 }, "data": { "key": "HA3U25T9", "version": 6, "itemType": "journalArticle", "title": "Application of viability theory for road vehicle active safety during cornering manoeuvres", "creators": [ { "creatorType": "author", "firstName": "P.-O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "A.", "lastName": "Coiret" }, { "creatorType": "author", "firstName": "T.", "lastName": "Lorino" } ], "abstractNote": "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.", "publicationTitle": "VEHICLE SYSTEM DYNAMICS", "publisher": "", "place": "", "date": "FEB 1 2014", "volume": "52", "issue": "2", "section": "", "partNumber": "", "partTitle": "", "pages": "244-260", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Veh. Syst. Dyn.", "DOI": "10.1080/00423114.2013.873813", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:07Z", "PMID": "", "PMCID": "", "ISSN": "0042-3114, 1744-5159", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 17\nPlace: Abingdon\nPublisher: Taylor & Francis Ltd\nWeb of Science ID: WOS:000330755700005", "tags": [ { "tag": "calm driving", "type": 1 }, { "tag": "dynamic model", "type": 1 }, { "tag": "experimental tests", "type": 1 }, { "tag": "road safety", "type": 1 }, { "tag": "smooth control", "type": 1 }, { "tag": "viability theory", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "ZYIXP7B3", "version": 5, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/ZYIXP7B3", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/ZYIXP7B3", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Brunot et al.", "parsedDate": "2015", "numChildren": 0 }, "data": { "key": "ZYIXP7B3", "version": 5, "itemType": "conferencePaper", "title": "Physical parameter identification of a one-degree-of-freedom electromechanical system operating in closed loop", "creators": [ { "creatorType": "author", "firstName": "M.", "lastName": "Brunot" }, { "creatorType": "author", "firstName": "A.", "lastName": "Janot" }, { "creatorType": "author", "firstName": "F.", "lastName": "Carrillo" }, { "creatorType": "author", "firstName": "H.", "lastName": "Garnier" }, { "creatorType": "author", "firstName": "P. O.", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "M.", "lastName": "Gautier" } ], "abstractNote": "This paper deals with the identification of physical parameters of a one-degree-of-freedom electromechanical system that operates in closed loop. Two models are considered: the inverse dynamic model which is linear in relation to the physical parameters to be identified and the direct dynamic model which is linear in relation to a nonlinear combination of the physical parameters. Three methods are considered and compared: the traditional method which makes use of the inverse dynamic model, tailor-made data prefiltering and the least-squares method, an instrumental variable approach which makes use of the direct and inverse dynamic models and another instrumental variable approach which makes use of the direct dynamic model only. The experimental results show that the instrumental Variable method based on the use of the inverse and direct dynamic models seems to be more appropriate than the two others because it is robust against noise and the physical parameters are directly identified. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.", "proceedingsTitle": "IFAC PAPERSONLINE", "conferenceName": "17th IFAC Symposium on System Identification (SYSID 2015)", "publisher": "Elsevier", "place": "Amsterdam", "date": "2015", "eventPlace": "", "volume": "48", "issue": "", "numberOfVolumes": "", "pages": "823-828", "series": "", "seriesNumber": "", "DOI": "10.1016/j.ifacol.2015.12.231", "ISBN": "", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:06Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 2405-8963\nIssue: 28\nJournal Abbreviation: IFAC PAPERSONLINE\nNum Pages: 6\nWeb of Science ID: WOS:000375854500142", "tags": [ { "tag": "closed-loop identification", "type": 1 }, { "tag": "instrumental variable", "type": 1 }, { "tag": "physical parameters", "type": 1 }, { "tag": "robot. identification", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "9TTH2HBY", "version": 5, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/9TTH2HBY", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/9TTH2HBY", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Coiret et al.", "parsedDate": "2016", "numChildren": 0 }, "data": { "key": "9TTH2HBY", "version": 5, "itemType": "conferencePaper", "title": "Ecodriving Potentiality Assessment of Road Infrastructures According to the Adequacy Between Infrastructure Slopes and Speeds Limits", "creators": [ { "creatorType": "author", "firstName": "Alex", "lastName": "Coiret" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Ana", "lastName": "Cuervo-Tuero" }, { "creatorType": "editor", "firstName": "S.", "lastName": "Lakusic" } ], "abstractNote": "The energy associated with the use of road infrastructure exceeds in few years the energy needed for its construction. The link between infrastructure and use energy has not been, however, studied in depth, particularly as the legitimate transport societal expectations are related to efficiency and safety. However, we can consider reducing the energy use by working out minor optimizations of the road infrastructure itself, which is a major challenge in a context of overall decrease of resources and increasing pressures on the environment. Experimental work is carried out here to develop one of these optimizations by improving the eco-driving potential of roads. It is based on the adequacy between vehicles dynamics, the road longitudinal profile and the speed sectioning of the infrastructure. This sectioning corresponds to the succession of speed limitations (road signs, roundabouts, intersections.). It may allow drivers to eco-drive or not, depending on dynamics, slopes, and secondary parameters as driver reaction time or distance of visibility. Optimal speed sectioning aims to limit the mechanical braking needed by potential energy reduction, due to slopes, which can be encountered simultaneously with the needed kinetic energy reduction. Evaluation has been made on actual road sections, while recording both vehicle dynamics, driver commands, road signs positions and road longitudinal profile. Results show that energy consumption of vehicles approaching a speed reduction sign can be reduced by moving backward this sign of about 700 meters, without penalizing the primary safety function. The associated gain, for this optimization, has been evaluated to 14 liters of fuel per day for one of the experimental sites, considering traffic data. Application of this method on a network could then lead to considerable energy saving by allowing eco-driving.", "proceedingsTitle": "ROAD AND RAIL INFRASTRUCTURE IV", "conferenceName": "4th International Conference on Road and Rail Infrastructure (CETRA)", "publisher": "Univ Zagreb, Fac Civil Engineering", "place": "Zagreb", "date": "2016", "eventPlace": "", "volume": "", "issue": "", "numberOfVolumes": "", "pages": "589-595", "series": "", "seriesNumber": "", "DOI": "", "ISBN": "", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:06Z", "ISSN": "", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "ISSN: 1848-9850\nNum Pages: 7\nSeries Title: Road and Rail Infrastructure\nWeb of Science ID: WOS:000518215900071", "tags": [ { "tag": "ENERGY", "type": 1 }, { "tag": "Eco-design", "type": 1 }, { "tag": "Eco-driving", "type": 1 }, { "tag": "energy consumption", "type": 1 }, { "tag": "full-scale experiment", "type": 1 }, { "tag": "longitudinal profile", "type": 1 }, { "tag": "public policy", "type": 1 }, { "tag": "road infrastructure", "type": 1 }, { "tag": "use phase", "type": 1 }, { "tag": "vehicle dynamics", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "6IWSQWIG", "version": 5, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/6IWSQWIG", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/6IWSQWIG", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Janot et al.", "parsedDate": "2016-03", "numChildren": 0 }, "data": { "key": "6IWSQWIG", "version": 5, "itemType": "journalArticle", "title": "A revised Durbin-Wu-Hausman test for industrial robot identification", "creators": [ { "creatorType": "author", "firstName": "Alexandre", "lastName": "Janot" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Maxime", "lastName": "Gautier" } ], "abstractNote": "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 trajectories. 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 (exogenous) 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 identification 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 factorization 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. (C) 2015 Elsevier Ltd. All rights reserved.", "publicationTitle": "CONTROL ENGINEERING PRACTICE", "publisher": "", "place": "", "date": "MAR 2016", "volume": "48", "issue": "", "section": "", "partNumber": "", "partTitle": "", "pages": "52-62", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "Control Eng. Practice", "DOI": "10.1016/j.conengprac.2015.12.017", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:06Z", "PMID": "", "PMCID": "", "ISSN": "0967-0661, 1873-6939", "archive": "", "archiveLocation": "", "shortTitle": "", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 11\nPlace: Oxford\nPublisher: Pergamon-Elsevier Science Ltd\nWeb of Science ID: WOS:000370906700005", "tags": [ { "tag": "BASE INERTIAL PARAMETERS", "type": 1 }, { "tag": "CLOSED-LOOP", "type": 1 }, { "tag": "DWH-test", "type": 1 }, { "tag": "Heteroskedasticity", "type": 1 }, { "tag": "INSTRUMENTAL VARIABLE APPROACH", "type": 1 }, { "tag": "Instrumental variable method", "type": 1 }, { "tag": "Rigid robot dynamics", "type": 1 }, { "tag": "Robots identification", "type": 1 }, { "tag": "Wald-statistic", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } }, { "key": "JA388EBT", "version": 5, "library": { "type": "group", "id": 50591, "name": "Pierre-Olivier_Vandanjon_Publications", "links": { "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications", "type": "text/html" } } }, "links": { "self": { "href": "https://api.zotero.org/groups/50591/items/JA388EBT", "type": "application/json" }, "alternate": { "href": "https://www.zotero.org/groups/pierre-olivier_vandanjon_publications/items/JA388EBT", "type": "text/html" } }, "meta": { "createdByUser": { "id": 129264, "username": "vandanjon", "name": "Pierre-Olivier Vandanjon", "links": { "alternate": { "href": "https://www.zotero.org/vandanjon", "type": "text/html" } } }, "creatorSummary": "Lejeune et al.", "parsedDate": "2016-09", "numChildren": 0 }, "data": { "key": "JA388EBT", "version": 5, "itemType": "journalArticle", "title": "Towards eco-aware timetabling: evolutionary approach and cascading initialisation strategy for the bi-objective optimisation of train running times", "creators": [ { "creatorType": "author", "firstName": "Aurelien", "lastName": "Lejeune" }, { "creatorType": "author", "firstName": "Remy", "lastName": "Chevrier" }, { "creatorType": "author", "firstName": "Pierre-Olivier", "lastName": "Vandanjon" }, { "creatorType": "author", "firstName": "Joaquin", "lastName": "Rodriguez" } ], "abstractNote": "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.", "publicationTitle": "IET INTELLIGENT TRANSPORT SYSTEMS", "publisher": "", "place": "", "date": "SEP 2016", "volume": "10", "issue": "7", "section": "", "partNumber": "", "partTitle": "", "pages": "483-494", "series": "", "seriesTitle": "", "seriesText": "", "journalAbbreviation": "IET Intell. Transp. Syst.", "DOI": "10.1049/iet-its.2014.0309", "citationKey": "", "url": "https://www.webofscience.com/wos/woscc/summary/6cdd1544-9de8-4898-928b-db1b3ab80414-de7c9f42/relevance/1", "accessDate": "2024-04-12T13:18:06Z", "PMID": "", "PMCID": "", "ISSN": "1751-956X, 1751-9578", "archive": "", "archiveLocation": "", "shortTitle": "Towards eco-aware timetabling", "language": "English", "libraryCatalog": "Clarivate Analytics Web of Science", "callNumber": "", "rights": "", "extra": "Num Pages: 12\nPlace: Hertford\nPublisher: Inst Engineering Technology-Iet\nWeb of Science ID: WOS:000382791200004", "tags": [ { "tag": "Pareto front", "type": 1 }, { "tag": "Pareto optimisation", "type": 1 }, { "tag": "biobjective optimisation", "type": 1 }, { "tag": "cascading initialisation strategy", "type": 1 }, { "tag": "ecoaware timetabling", "type": 1 }, { "tag": "evolutionary algorithm", "type": 1 }, { "tag": "evolutionary approach", "type": 1 }, { "tag": "evolutionary computation", "type": 1 }, { "tag": "initialisation phase", "type": 1 }, { "tag": "mechanical energy", "type": 1 }, { "tag": "minimisation objectives", "type": 1 }, { "tag": "railway planning", "type": 1 }, { "tag": "railways", "type": 1 }, { "tag": "timetable makers", "type": 1 }, { "tag": "train dynamic model", "type": 1 }, { "tag": "train running times", "type": 1 } ], "collections": [], "relations": {}, "dateAdded": "2024-04-12T13:18:09Z", "dateModified": "2024-04-12T13:18:09Z" } } ]