Arnaud Lelevé

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Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. This paper presents our latest works on the(More)
This paper proposes a solution to control a remote manipulator robot (PUMA560) using IP network. A method is described to control this remote manipulator based on High-Order Sliding Mode so as obtain a product time delay bandwidth constant.Since previous method supposes a constant transmission delay, we put it over a low level mechanism (Network Delay(More)
This paper introduces a dual-user teleoperation system for hands-on medical training. A shared control based architecture is presented for authority management. In this structure, the combination of control signals is obtained using a dominance factor. Its main improvement is Online Authority Adjustment (OAA): the authority can be adjusted(More)
For a pneumatic teleoperation system with on/off solenoid valves, sliding-mode control laws for position and force, ensuring low switching (open/close) activity of the valves are developed. Since each pneumatic actuator has two pneumatic chambers with a total of four on/off valves, sixteen possible combinations (" operating modes ") for the valves' on/off(More)
— A pneumatic actuator with solenoid valves is a discontinuous-input system because each valve can be either in on or off state. For such an actuator, this paper proposes a sliding-mode control scheme based on an averaged continuous-input equivalent model for the open-loop system. The averaged model is obtained from the nonlinear dynamics of the open-loop(More)
— For a pneumatic teleoperation system, sliding-mode control laws ensuring both transparency and low switching (open/close) activity of the valves are developed. Each pneumatic actuator has four on/off valves, thus sixteen possible combinations (" operating modes ") for the valves exist but only seven of them are both functional and unique. While previous(More)
In this paper, we show that the integration of a new MES within an existing manufacturing system requires to appeal to a method enabling the modeling of interactions between hardware and software components, the model-ing of their behavior and their use by production staff. We show how SysML is a language fitting this need and we illustrate this discussion(More)
In the context of E-Learning, remote hands-on training has become an insisting need as in traditional learning, especially in scientific and technical disciplines. Electronic Laboratories (ELabs) have been growing for the last few years. But till now, exchanging learning scenarios of ELabs is still difficult as existing scenarios (elaborated by means of(More)
For a few years, Electronic Laboratories (ELabs: computer-aided local laboratories as much as distant and virtual ones) have been growing in the E-Learning panorama. Meanwhile, in major E-Learning activities, learning scenarios are nowadays written in a standard way (SCORM, IMS-LD) to be used by standard Learning Management Systems. The use of such(More)