Jerome Jouffroy - Profile on Academia.edu (original) (raw)

Papers by Jerome Jouffroy

This paper presents a design for stair-climbing using a wheel that can split into segments and wa... more This paper presents a design for stair-climbing using a wheel that can split into segments and walk up stairs or surmount other obstacles often found where humans traverse, while still being able to retain a perfectly round shape for traveling on smooth ground. Using this change of configuration, staircases with a wide range of dimensions can be covered efficiently and safely. The design, named Umbrella Wheel, can consist of as many wheel segments as desired, and as few as two. A smaller or higher number of wheel segments has advantages and disadvantages depending on the specific situation. Modeling the trajectory of the wheel when as it ascends or descends stairs is given and the results are analyzed.

2022 IEEE 61st Conference on Decision and Control (CDC), Dec 6, 2022

In this paper, we propose the concept of accelerated convergence that has originally been develop... more In this paper, we propose the concept of accelerated convergence that has originally been developed to speed up the convergence of numerical methods for extremum seeking (ES) loops. We demonstrate how the dynamics of ES loops may be analyzed to extract structural information about the generated output of the loop. This information is then used to distil the limit of the loop without having to wait for the system to converge to it.

Further results on tidal stream transport for Lagrangian profilers

The content of the USB-Flash and online-documents are copyright protected by law. Der Inhalt des ... more The content of the USB-Flash and online-documents are copyright protected by law. Der Inhalt des USB-Flash und die Online-Dokumente sind urheberrechtlich geschützt.

Automatisierungstechnik, Jun 1, 2008

Das von Fliess und Sira Ramírez vorgeschlagene algebraische Verfahren zur Schätzung von Zeitablei... more Das von Fliess und Sira Ramírez vorgeschlagene algebraische Verfahren zur Schätzung von Zeitableitungen gemessener Signale wird aus klassischen Resultaten der Optimalschätzung hergeleitet. Insbesondere wird anhand einfacher Rechnungen gezeigt, wie sich das algebraische Verfahren als ein Sonderfall der Zustandsrekonstruktion mit Hilfe von Rekonstruierbarkeits-Gramschen ergibt. Abschließend werden Verbindungen zu weiteren Verfahren hergestellt, wie Least-Squares und dem Kalman-Filter, sowie kurz Implikationen für die Praxis erörtert. The algebraic approach to time-derivative estimation of measurement signals, proposed by Fliess and Sira Ramírez, is developed out of classical results from optimal estimation theory. By means of simple calculations it is shown that the algebraic method may be obtained as a special case of state reconstruction using reconstructibility Gramians. The paper concludes with links to further estimation methods, as least-squares estimation and Kalman-filtering, and briefly points out practical implications.

Adaptive Velocity Estimation for Lagrangian Systems using Modulating Functions

2023 IEEE International Conference on Mechatronics (ICM)

An Open-Source Benchmark Simulator: Control of a BlueROV2 Underwater Robot

Journal of Marine Science and Engineering, Dec 5, 2022

Das Ziel des SALMON Projektes war die Entwicklung einer Systemlösung zur automatischen Überwachun... more Das Ziel des SALMON Projektes war die Entwicklung einer Systemlösung zur automatischen Überwachung und Analyse der Wasserqualität auf der Basis eines autonomen Unterwasserfahrzeuges (AUV). Dabei wurde bei der Entwicklung des Sensorsystems auf die vorhandene Expertise von -4H- JENA engineering GmbH (4HJE) bei der optischen in situ-Detektion von Nitrat zurückgegriffen. Eine Herausforderung für 4HJE war es, ein miniaturisiertes Komplettsystem zur Messung der Wasserqualität zu entwickeln, welches in das bestehende Unterwasserfahrzeug integriert werden kann und den Umwelteinflüssen Unterwasser (Druck, Temperatur) standhält. Dazu wurde Sensorik unterschiedlicher Hersteller und miniaturisierte Industrie-PCs in das Nutzlastsegment implementiert und die erforderliche Software zur automatischen Wasserqualitätsmessung und -auswertung entwickelt. Der Versuchsträger, das ferngesteuerte Unterwasserfahrzeug (ROV) „CWolf“, wurde vom Fraunhofer Anwendungszentrum Systemtechnik Ilmenau (AST) zur Verfü...

3D Printed Hybrid Flexible Electronics with Direct Light Synthesis

Advances in Intelligent Systems and Computing

The design freedom offered by 3D printing is transformative and has been leveraged to fabricate s... more The design freedom offered by 3D printing is transformative and has been leveraged to fabricate structural electronics with multi-functionality. A proposed approach to extend this concept is to print three-dimensional jigsaw subsections of a structure with mortise and tenon features, populate the superficial surfaces with wires and components and then fuse the pieces together to allow for arbitrary placement of the electronics within the final structure. By constructing the final structure with multiple pieces, a diversity of materials (e.g. stiff and flexible) can also be leveraged in order to create new applications like bladder pumps, shape-to-fit flexible wearables, etc. The paper explores the mechanical utility by measuring shear and butt joint strength of fused vat photopolymerized pieces. Once validated, several demonstrations were designed and implemented to illustrate how consolidating a group of mated complex pieces can enable novel applications including wearables, soft robotics, and spatially-efficient electronics.

On the premature convergence of particle swarm optimization

2016 European Control Conference (ECC), 2016

This paper discusses convergence issues of the basic particle swarm optimization algorithm for di... more This paper discusses convergence issues of the basic particle swarm optimization algorithm for different parameters. For the one-dimensional case, it is shown that, for a specific range of parameters, the particles will converge prematurely, i.e. away from the actual minimum of the objective function. We illustrate the proposed results on the tuning of a well-known anti-windup technique in a numerical experiment.

Distributed coordination of energy-storage capacities in virtual microgrids

2018 European Control Conference (ECC), 2018

An approach for distributed coordinated scheduling of storage capacities is presented. When stora... more An approach for distributed coordinated scheduling of storage capacities is presented. When storage capacities are connected in the same grid, behind a common transformer substation, mutual charging and discharging can occur, which can be prevented by the herein introduced coordination method. When cooperation is incorported, storage capacities can be operated as a virtual microgrid. The cooperation between nodes is based on the formulation of a simple objective function for coordination. The cooperation objective is then combined with each node's local objective, which is the increase of self consumption, such that load is released off the the grid. A qualitative reflection on the practical use of three distributed algorithms, to solve the formulated optimisation problem is provided. The Jacobi algorithm is qualified to be preferable for large-scale networks with a great number of nodes, and the Gauss-Seidel algorithm is preferable when less nodes cooperate. To illustrate the concept and show the effect of coordination for prevention of mutual charginy/discharging of storage capacities in a VMG, two comparative case-study scenario are presented.

Bouée de navigation autonome à actionnement interne

L'invention concerne une conception d'actionnement mecanique robuste pour bouee de naviga... more L'invention concerne une conception d'actionnement mecanique robuste pour bouee de navigation autonome (1) basee sur un systeme d'actionnement interne. La bouee (1) comprend un corps simple ferme (3) prenant la forme d'une coque de navire a laquelle deux appendices (2, 4) sont fixes : une aile rigide (4) pour prendre le vent et une quille (2). La conception est totalement sans gouvernail. La direction est obtenue uniquement par utilisation d'un systeme d'actionnement interne. Le systeme comprend un systeme de masse mobile (5, 6, 7), une unite de traitement (9) et une unite de navigation (8). L'unite de navigation (8) comprend : un GPS, des accelerometres et des gyroscopes et un capteur de vitesse et de direction du vent. L'unite de traitement (9) utilise des informations fournies par l'unite de navigation (8), et commande automatiquement la masse mobile (6) pour maintenir la bouee (1) sur un trajet souhaite.

A few remarks on some forms of incremental stability (in French)

2018 Winter Simulation Conference (WSC), 2018

This paper considers parameter estimation of a reduced-order model (ROM) for building energy dyna... more This paper considers parameter estimation of a reduced-order model (ROM) for building energy dynamics using the modulating function (MF) method. After briefly presenting a model of building dynamics, we recall the MF method and present a way of determining a modulating function directly from the available data instead of defining it a priori. Then, we look at the application of this method in a case study, where actual weather-based data (solar radiation and outdoor ambient temperature) is used. The results together with the advantages of the MF underline the potential of the proposed algorithm.

Induction motor model with imbalance and leakage saturation

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017

In this paper we present an alternative model of an induction motor that offers the flexibility r... more In this paper we present an alternative model of an induction motor that offers the flexibility required for simulation of phase faults scenarios as well as accounting for the effect of leakage saturation in the motor. A non-DQ generalized model is developed and modified to incorporate saturation effect. The performance of the model is evaluated by simulation. The simulation results demonstrate the attainable performance of the model.

Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018

Autonomous mobile robots and vehicles are a longstanding but recently reinvigorated research area... more Autonomous mobile robots and vehicles are a longstanding but recently reinvigorated research area, due in part to the commercialization of sensors technologies and processing power. In this work, a fully autonomous turf-care robot is used as a basis for development of a trajectory control solution with application to differential-drive robots with displaced end-effectors. A kinematic model for the vehicle is derived as well as expressions for the movement of the tool (end-effector), shown to be a system of the Liouvillan type. The Liouvillan model allows for the development of a feed-forward controller and feed-back controller, which are combined to allow trajectory tracking based on an arbitrary linear-segmented path. The path will ideally be a covering path and can be generated by an algorithm described in previous work. To validate the model and controller, the control solution is tested by numerical simulation against a kinematic model in MATLAB/Simulink and additionally against...

Step-height detection for the Umbrella Wheel stair-climber using model prediction

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018

This paper presents the design of a stair-height estimator for a stair-climbing vehicle equipped ... more This paper presents the design of a stair-height estimator for a stair-climbing vehicle equipped with so-called Umbrella Wheels [1]. We first introduce a hybrid model of the wheel, containing both the continuous-time behavior of the wheel when rolling, together with its discrete-time nature due to the impact on the steps of the stairs. This model is then combined with the measured angle of the wheel (the only needed sensor/measurement) to obtain an estimation of the contact with a stair, which is in turn used to estimate the stair height. Simulation are presented to illustrate the potential of the approach.

Towards Printing Mechatronics: 3D-printed conductive interfacing for digital signals

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020

The use of additive manufacturing within the field of mechatronics creates exciting oportunities ... more The use of additive manufacturing within the field of mechatronics creates exciting oportunities for the integration of digital systems into advanced mechanical devices. This paper has investigated the design considerations inherent to the the 3D printing of a conductive interface between a microcontroller and a digital sensor. The leads of the sensor and the pins of the microcontroller were successfully coupled exclusively through a 3D-printed coupling consisting of both conductive and non-conductive FDM material, manufactured in a single print on an entry-level device. The coupling has been removed and repositioned several times with no functionality change, proving that the 3D printing considerations were valid in terms of maintaining sufficient pressure on the component terminals so as to create enough conductive paths within the material to drive the sensor properly. An impedance analysis and operational testing have been performed, and considerations concerning the robustness of the design have been drawn, all with respect to future improvements and the expansion towards related applications.

2017 International Conference on Advanced Mechatronic Systems (ICAMechS), Dec 1, 2017