1 / 4

Work meeting Interreg SYSIASS project

Part-financed by the European Regional Development Fund. Work meeting Interreg SYSIASS project. 24 th June 2011 ISEN. Summary of Activity 1 December 2010 – June 2011. Sub-action 1 : Definition of the specificities and functionalities of the wheelchair prototypes

sheila
Download Presentation

Work meeting Interreg SYSIASS project

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Part-financed by the European Regional Development Fund Work meetingInterreg SYSIASS project 24th June 2011 ISEN

  2. Summary of Activity 1December 2010 – June 2011 • Sub-action 1: Definition of the specificities and functionalities of the wheelchair prototypes • Questionnaire: ISEN & GHICL & EKHUFT • Sub-action 2: Instrumentation (sensors, actuators, computer interface) and data processing scheme to achieve wheelchair • ISEN and EC Lille: Instrumentation of the wheelchair, localisation • Kent: the work on Neuronal Network, something else? • Essex: instrumentation of the wheelchair • Sub-action3: System modelisation and off-line and on-line parameter identification • Sarah?

  3. Summary of Activity 1December 2010 – June 2011 • Sub-action 4: Design of path planning and robust trajectory tracking algorithms, under optimality criteria (minimum loss of energy, minimum time for displacement…) and under constraints (static and dynamic obstacles avoidance, keeping the communication links, limited information…). • ISEN & EC Lille: path planning • Kent (Sarah, Michael, Ben) • Essex ? • Sub-action 5: Elaboration of the navigation strategies in order to avoid the collision between the intelligent wheelchair and obstacles and to guarantee a safe functioning • ISEN & EC Lille • Kent, Essex?

  4. Summary of Activity 1December 2010 – June 2011 • Sub-action 6: Numerical implementation, tests and validation of the algorithms on the test bench • The first scenario implemented on the ISEN wheelchair • List of publications • H. Sert, A. Kokosy and W. Perruquetti, A single landmark based localization algorithm for non-holonomic mobile robots, IEEE ICRA, Shangai, China, May 2011 • S. Govindaswamy, T. Floquet, S. K Spurgeon, Discrete time Output Feedback Sliding Mode Control for Uncertain Systems, IFAC World Congress, August 2011 • H. Sert, A. Kokosy, J. Xin and W. Perruquetti, Decentralized Cooperative Navigation Strategy for an Autonomous, submitted to IEEE IROS’2011

More Related