Jean Vareille

Virtual reality to improve remote control in presence of delays

This paper presents the use of virtual reality in the context of remote control. Virtual reality may be used in a classical manner in order to simulate the behavior of a system, but also in parallel with the real system in order to improve the quality of the control, making it possible to deal with time delays induced by the network. Our proposal may be applied to various fields such as robotics, measurements systems, industrial applications or domotics.

Control a Robot on Internet

Abstract This article presents a framework to control interactive and teleoperative systems on the web. Strategies inherited from the space conquest are available for teleoperation. Unfortunately they are not immediately usable due to new elements not present in the space teleoperation : Internet and the presence of many users. A teleoperation system is a communication kernel for the dialog between a client: a server and an interface towards an automated system. This interface depends on the automated system and the management of the communication quality. The interactions between the communication events and the automated system operating modes have to be analyzed: as well as the multi-users aspects. These interactions generate the necessary constraints to define how the security of such teleoperation platform might be ensured. A graphical representation of the automated system evolutions might provide the tool for the secure design of a teleoperation architecture.

A Model-Driven Approach for Building Ubiquitous Applications

This paper presents an on-going work, which aims to build a generic framework for the conception and the development of ubiquitous applications. This work is based on a Model Driven Engineering approach and pays attention to possible failures and to the use of Virtual Reality to improve the Quality of the Experience for the user.

Embedded intelligent supervision and piloting for oceanographic AUV

The main goal of the work presented in this paper is to associate a basic AUV (autonomous underwater vehicle) control system such as ACE (an IFREMER control system) with a high level command part. This high level part is provided with complementary features needed by the initial AUV subsystem namely, a language allowing plans modification during their execution and a diagnosis and analysis system. The latter checks continuously the information provided by the sensors in relation to some predefined rules in order to ensure the good working of the AUV within its environment.

Web remote control of mechanical systems : Delay problems and experimental measurements of round trip time

The aim of this paper is to show that the web remote control of mechanical system is nowadays not only possible but also efficient due to the improvements, in terms of reliability and bandwidth, of the networks. Nevertheless, as the internet network do not guaranty any quality of services, the possible pertubations (variable delays, failure...) have to be taken into account while developping such systems. We also present some experimental results indicating a relative stability of internet connections in terms of round trip time.

Toward a Generic Framework for Ubiquitous System

In this paper we present a beginning work about industrialapplications using WEB technologies. Systems to studyare, for example, robot arms in factories, Heating Ventilationand Air-Conditioning (HVAC) systems for commercialcenter or buildings, water distribution networks or powermanagement consumption systems of corporate.WEB technologies give us new opportunities to collectthe data, to analyze correlations of signals and externalevents, and finally to change in ”soft real-time” the parametersof the managed system. But these applications can bestrongly influenced by the behaviour of the communicationnetwork and its reliability. We describe the key points thatwe will explore in our further work.

Web Based Remote Control of Mechanical Systems

Abstract The control of mechanical systems is nowadays local. In the future, with the development of the new e-technologies, this control will be remote and will be made over networks, even unpredictable like Internet. In a first part of this paper, we are presenting the main interests of such a control and we are describing some existing applications. In a second part, we are proposing a generic software architecture to realize such remote control and a methodology to take into account the unpredictable nature of the communication media.

Low-Cost High-Tech Robotics for Ambient Assisted Living: From Experiments to a Methodology

Abstract Aging of the population in developed countries is an important challenge to overcome. Robots have a role to play to offer solutions to old and dependent persons and also to their families and carers. We investigated low-cost high-tech robotics in order to offer affordable mobile robots that could be used in the context of ambient assisted living (AAL). We used a bottom–up approach and tried different technical solutions in order to propose an efficient prototype. Results of this experimental work are presented in the first part of this paper. From the different experiments we carried out, we felt the need to use a top–down approach that could be used to develop such robots and also any system that requires the use of mechanical, electronic, and software components. In the second part of this paper, we present the X-methodology and try to show its use in our AAL context.

Modeling and analysing ubiquitous systems

The growth of industrial activities during the last decades and the diversity of industrial products require standards and common methodologies for building and integrating different parts. It is also required that working groups use the same terminologies and concepts needed for each domain. The Model Driven Engineering (MDE) approach aims to give an answer while using a high level method based on models and transformations. In this paper, we use the MDE approach to model ubiquitous systems. Those systems are composed of devices interconnected through various kinds of network and offer to get and send information. We present a model for this class of system and its use in the field of energy while studying real cases from our industrial partner Terra Nova Energy (TNE).

Specification and Verification of the KORSO Production Cell

Abstract In this paper, we present an average size production cell. We show how this cell can be controlled with Grafcet and explain how properties can be verified on the cell using timed automata and TCTL logic. We present some properties that have been verified and the results of the experimentation on the cel Korso.