David Daney - Academia.edu (original) (raw)

Papers by David Daney

2020 IEEE International Conference on Robotics and Automation (ICRA)

In this work, a robotic assistance strategy is developed to improve the safety in an artisanal ta... more In this work, a robotic assistance strategy is developed to improve the safety in an artisanal task that involves a strong interaction between a machine-tool and an operator. Wood milling is chosen as a pilot task due to its importance in carpentry and its accidentogenic aspect. A physical model of the tooling process including a human is proposed and a simulator is thereafter developed to better understand situations that are dangerous for the craftsman. This simulator is validated with experiments on three subjects using an harmless mockup. This validation shows the pertinence of the proposed control approach for the collaborative robot used to increase the safety of the task.

IEEE Robotics and Automation Letters, 2022

Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting h... more Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One of the fundamental assumptions of these approaches is the ability to measure or estimate the physical capacity of humans in real-time. In this work, we propose an algorithm for the feasibility set analysis of a generic class of linear algebra problems. This novel iterative convex-hull method is applied to the determination of the feasible Cartesian wrench polytope associated to a musculoskeletal model of the human upper limb. The method is capable of running in real-time and allows the user to define the desired estimation accuracy. The algorithm performance analysis shows that the execution time has near-linear relationship to the considered number of muscles, as opposed to the exponential relationship of the conventional methods. Finally, real-time robot control application of the algorithm is demonstrated in a Collaborative carrying experiment, where a human operator and a Franka Emika Panda robot jointly carry a 7kg object. The robot is controlled in accordance to the AAN paradigm maintaining the load carried by the human operator at 30% of its carrying capacity.

Intervals have been considered by mathematicians for a while, in the study of numerical functions... more Intervals have been considered by mathematicians for a while, in the study of numerical functions and numerical analysis, But only in the 1960s Moore had the Idea of replacing real numbers by intervals in computations and to study the resulting alternative arithmetics. In the last few decades, it has been used for achieving certified computations, but more surprisingly by numericians designing a lot of methods and algorithms for root finding, systems solving, local and global optimization, etc. Even if they are not yet widely implemented nor well known, these methods have shown their efficiency by succeeding on some challenging problems. In Mathematica, a basic interval arithmetic is implemented. A few classical interval analysis algorithms, namely an extension of the Newton method for one variable root finding, are also available in MathSource in the NumericalMath'IntervalRoots' package. An extensive interface to a powerful C++ library of interval analysis was presented at the Wolfram Technology Conference 2005 by the authors.

fully-constrained parallel cable-driven robot

Robotica, 2003

Kinematic calibration is essential to improve the accuracy of the manipulator. This paper present... more Kinematic calibration is essential to improve the accuracy of the manipulator. This paper presents a complete description of the Gough platform modeling and a unified scheme to identify its kinematic parameters. The interest of this formulation is that it may be applied whatever information is available on the state of the robot (measurement or constraints) without using the kinematics to obtain the basic system of constraint equations. Moreover, the scheme may be applied for all parallel robots. We propose to experiment and compare three methods of calibration, using either (or both) external measurement and internal redundant sensors. Finally, we show how to reduce the initial error in pose determination by 99% for the Hexapode 300, CMW's machining center, and validate the choice of a self-calibration method in an industrial context.

Cryogenics, 1989

The tendency of turbopumps operating in He II to cavitate makes their use in zero gravity questio... more The tendency of turbopumps operating in He II to cavitate makes their use in zero gravity questionable because of the zero net positive suction head (NPSH) available at the pump inlet. We investigated a jet pump, positioned at the inlet of a centrifugal pump with a screw inducer, as a means of operating a centrifugal pump at zero or lower NPSH. Pump performance in He II was measured as a function of NPSH for six different combinations of primary and secondary nozzles. Suction heads down to-91 mm were measured for a 3% reduction in developed head. These are referenced to the leading edge of the screw inducer, which is 100 mm above the jet pump inlet. Because cavitation at the primary jet always precedes cavitation in the jet pump secondary nozzle, we also tested reverse (pre~ure driven) flow through a porous plug as a means of obtaining a subcooled primary jet. These brief tests were inconclusive.

The CATRASYS (Cassino Tracking System) measuring system is a wire tracking system used for deter-... more The CATRASYS (Cassino Tracking System) measuring system is a wire tracking system used for deter- mination of poses of objects in the space. It is well mod- eled as a 3-2-1 parallel manipulator. Pose determination is done by solving the Direct Kinematics, which relies on geometric parameters and measurements, both subject to uncertainties. In this paper an uncertainty model based

This paper implements algebraic elimination methods for an accurate and general calibration of pa... more This paper implements algebraic elimination methods for an accurate and general calibration of parallel robots, applied to Gough (or Stewart) platforms. It focuses on two approaches, namely algebraic variable elimination and monomial lineariza- tion, which are compared to a classical numerical optimization technique. We detail the former, since it is not often used for the problems at hand, and specify its application by means of the sparse resultant, combined with numerical linear algebra. We per- form several experiments that allow us to compare the three meth- ods in the presence of measurement errors. Our main conclusion is that elimination methods offer an interesting alternative to more well-established methods for parallel robot calibration by satisfy- ing the goals of accuracy and robustness. Moreover, out methods require no initial estimate and no hypothesis on the noise distribu- tion in order to derive a quality index per solution.

Les tolérances de fabrication et d'assemblage d'un robot parallèle sont, en grande part... more Les tolérances de fabrication et d'assemblage d'un robot parallèle sont, en grande partie, responsables de la mauvaise estimation des paramètres géométriques qui définissent la modélisation du manipulateur. Ces erreurs affectent la commande et détériorent la ...

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

ROS est utilise afin de construire l'architecture d'un systeme in situ d'analyse du m... more ROS est utilise afin de construire l'architecture d'un systeme in situ d'analyse du mouvement d'operateurs industriels. Apres avoir presente le contexte, les performances attendues et l'architecture globale du systeme, nous exposerons plus particulierement la facon dont nous gerons les traitements de donnees et les modules d'evaluation et de reconnaissance du geste.

Sensors, 2020

This work proposes to improve the accuracy of joint angle estimates obtained from an RGB-D sensor... more This work proposes to improve the accuracy of joint angle estimates obtained from an RGB-D sensor. It is based on a constrained extended Kalman Filter that tracks inputted measured joint centers. Since the proposed approach uses a biomechanical model, it allows physically consistent constrained joint angles and constant segment lengths to be obtained. A practical method that is not sensor-specific for the optimal tuning of the extended Kalman filter covariance matrices is provided. It uses reference data obtained from a stereophotogrammetric system but it has to be tuned only once since it is task-specific only. The improvement of the optimal tuning over classical methods in setting the covariance matrices is shown with a statistical parametric mapping analysis. The proposed approach was tested with six healthy subjects who performed four rehabilitation tasks. The accuracy of joint angle estimates was assessed with a reference stereophotogrammetric system. Even if some joint angles,...

Ingénierie cognitique, 2017

La classification des systèmes cobotiques est difficile car il existe de nombreux critères pour d... more La classification des systèmes cobotiques est difficile car il existe de nombreux critères pour décrire la collaboration homme robot. Après état de l'art et définition des termes, nous proposons d'étudier les flux d'informations entre le cobot, au sens le plus large du terme, l'humain, l'environnement, et l'interface afin de caractériser les différents types de collaboration. La représentation sous la forme d'un schème de l'interaction s'avère riche et pertinente. Dix exemples sont analysés et discutés. Plusieurs schèmes présentent des caractéristiques discriminantes qui permettent de qualifier les systèmes cobotiques. On distingue ainsi le système symbiotique, avec un échange constant d'informations et un partage efficace de la tâche, l'humain augmenté, la sous-traitance, l'assistance à l'effort et l'assistance intelligente. ABSTRACT. The classification of cobotic systems is hard as there exist numerous criteria to describe human robot collaboration. After state of the art and definition of the main terms, we propose to study the flow of information among the cobot, in its broadest sense, the human, the environment and the interface in order to characterize the different types of collaboration. The description with a scheme of interaction seems particularly appropriate. Ten examples are considered and discussed. Several schemes present discriminant features that allow the qualification and naming of the cobotic systems. It is thus possible to identify the symbiotic system, with a constant information exchange and an efficient work sharing, the augmented human, the sous-traitance, the assistance to effort and the intelligent assistance. MOTS-CLÉS. Cobotique, robotique collaborative, cobot.