Project-Team Defrost
Personnel
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
Dissemination
Bibliography
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Bibliography

Major publications by the team in recent years
  • 1J. Allard, F. Faure, H. Courtecuisse, F. Falipou, C. Duriez, P. Kry.
    Volume Contact Constraints at Arbitrary Resolution, in: ACM Transactions on Graphics, August 2010, vol. 29, no 3.
    https://hal.inria.fr/inria-00502446
  • 2J. Bosman, T. M. Bieze, O. Lakhal, M. Sanz, R. Merzouki, C. Duriez.
    Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras, in: 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, pp. 4373-4378. [ DOI : 10.1109/ICRA.2015.7139803 ]
  • 3E. Coevoet, N. Reynaert, E. Lartigau, L. Schiappacasse, J. Dequidt, C. Duriez.
    Introducing interactive inverse FEM simulation and its application for adaptive radiotherapy, in: MICCAI - 17th International Conference on Medical Image Computing and Computer-Assisted Intervention, Boston, United States, September 2014.
    https://hal.inria.fr/hal-01059667
  • 4H. Courtecuisse, J. Allard, P. Kerfriden, S. P. Bordas, S. Cotin, C. Duriez.
    Real-time simulation of contact and cutting of heterogeneous soft-tissues, in: Medical image analysis, 2014, vol. 18, no 2, pp. 394–410.
  • 5C. Duriez, E. Coevoet, F. Largilliere, T. M. Bieze, Z. Zhang, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt.
    Framework for online simulation of soft robots with optimization-based inverse model, in: SIMPAR: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, San Francisco, United States, Proceedings of SIMPAR 2016 conference, December 2016.
    https://hal.inria.fr/hal-01425349
  • 6C. Duriez, F. Dubois, A. Kheddar, C. Andriot.
    Realistic haptic rendering of interacting deformable objects in virtual environments, in: IEEE Transactions on Visualization and Computer Graphics, January 2006, vol. 12, no 1, pp. 36-47. [ DOI : 10.1109/TVCG.2006.13 ]
  • 7C. Duriez.
    Control of elastic soft robots based on real-time finite element method, in: Robotics and Automation (ICRA), 2013 IEEE International Conference on, IEEE, 2013, pp. 3982–3987.
  • 8C. Duriez.
    Real-time haptic simulation of medical procedures involving deformations and device-tissue interactions, Université des Sciences et Technologie de Lille - Lille I, February 2013.
    https://tel.archives-ouvertes.fr/tel-00785118
  • 9C. Duriez.
    Method for Controlling a Deformable Robot, and Related Module and Computer Program, December 2015, no US 20150360367.
    http://www.freepatentsonline.com/y2015/0360367.html
  • 10N. Haouchine, J. Dequidt, I. Peterlik, E. Kerrien, M.-O. Berger, S. Cotin.
    Image-guided Simulation of Heterogeneous Tissue Deformation For Augmented Reality during Hepatic Surgery, in: ISMAR - IEEE International Symposium on Mixed and Augmented Reality 2013, Adelaide, Australia, October 2013.
    https://hal.inria.fr/hal-00842855
  • 11F. Largilliere, V. Verona, E. Coevoet, M. Sanz-Lopez, J. Dequidt, C. Duriez.
    Real-time control of soft-robots using asynchronous finite element modeling, in: 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, pp. 2550-2555. [ DOI : 10.1109/ICRA.2015.7139541 ]
  • 12F. Largillière, E. Coevoet, M. Sanz-Lopez, L. Grisoni, C. Duriez.
    Stiffness rendering on soft tangible devices controlled through inverse FEM simulation, in: International Conference on Intelligent Robots and Systems - IROS 2016, Daejeon, South Korea, October 2016.
    https://hal.inria.fr/hal-01386787
  • 13A. Talvas, M. Marchal, C. Duriez, M. A. Otaduy.
    Aggregate Constraints for Virtual Manipulation with Soft Fingers, in: IEEE Transactions on Visualization and Computer Graphics, January 2015, vol. 21, no 4, 9 p.
    https://hal.inria.fr/hal-01246562
  • 14Z. Zhang, J. Dequidt, A. Kruszewski, F. Largilliere, C. Duriez.
    Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method, in: IROS2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016.
    https://hal.inria.fr/hal-01370347
Publications of the year

Articles in International Peer-Reviewed Journals

  • 15F. J. Bejarano, G. Zheng.
    Observability of Singular Systems with Commensurate Time-Delays and Neutral terms, in: Automatica, July 2017, vol. 85, pp. 462-467. [ DOI : 10.1016/j.automatica.2017.08.001 ]
    https://hal.inria.fr/hal-01649585
  • 16F. J. Bejarano, G. Zheng.
    Unknown Input Functional Observability of Descriptor Systems with Neutral and Distributed Delay Effects, in: Automatica, July 2017, vol. 85, pp. 186-192.
    https://hal.inria.fr/hal-01649577
  • 17E. Coevoet, A. Escande, C. Duriez.
    Optimization-Based Inverse Model of Soft Robots With Contact Handling, in: IEEE Robotics and Automation Letters, February 2017. [ DOI : 10.1109/LRA.2017.2669367 ]
    https://hal.inria.fr/hal-01500912
  • 18E. Coevoet, T. Morales-Bieze, F. Largilliere, Z. Zhang, M. Thieffry, M. Sanz-Lopez, B. Carrez, D. Marchal, O. Goury, J. Dequidt, C. Duriez.
    Software toolkit for modeling, simulation and control of soft robots, in: Advanced Robotics, November 2017, pp. 1-26.
    https://hal.inria.fr/hal-01649355
  • 19Z. JIANG, J.-F. Witz, P. Lecomte-Grosbras, J. Dequidt, S. Cotin, C. Rubod, C. Duriez, M. Brieu.
    Multiorgan Motion Tracking in Dynamic Magnetic Resonance Imaging for Evaluation of Pelvic System Mobility and Shear Strain, in: Strain, February 2017, vol. 53, no 2. [ DOI : 10.1111/str.12224 ]
    https://hal.inria.fr/hal-01496177
  • 20E. Kerrien, A. Yureidini, J. Dequidt, C. Duriez, R. Anxionnat, S. Cotin.
    Blood vessel modeling for interactive simulation of interventional neuroradiology procedures, in: Medical Image Analysis, January 2017, vol. 35, pp. 685 - 698. [ DOI : 10.1016/j.media.2016.10.003 ]
    https://hal.inria.fr/hal-01390923
  • 21D.-Y. Liu, G. Zheng, D. Boutat, H.-R. Liu.
    Non-asymptotic fractional order differentiator for a class of fractional order linear systems, in: Automatica, 2017.
    https://hal.archives-ouvertes.fr/hal-01420910
  • 22Z. Shao, G. Zheng, D. Efimov, W. Perruquetti.
    Identification, estimation and control for linear systems using measurements of higher order derivatives, in: Journal of Dynamic Systems, Measurement, and Control, April 2017, vol. 139, no 12, pp. 1-6. [ DOI : 10.1115/1.4037007 ]
    https://hal.inria.fr/hal-01649537
  • 23R. Tami, D. Boutat, G. Zheng, F. Kratz, R. E. EL Gouri.
    Rotor speed, load torque and parameters estimations of a permanent magnet synchronous motor using extended observer forms, in: IET Control Theory & Applications, January 2017.
    https://hal.inria.fr/hal-01447955
  • 24L. Yu, G. Zheng, J.-P. Barbot.
    Dynamical Sparse Recovery with Finite-time Convergence, in: IEEE Transactions on Signal Processing, August 2017, vol. 65, no 23, pp. 6146-6157. [ DOI : 10.1109/TSP.2017.2745468 ]
    https://hal.inria.fr/hal-01649419
  • 25L. Yu, G. Zheng, D. Boutat.
    Adaptive observer for simultaneous state and parameter estimations for an output depending normal form, in: Asian Journal of Control, January 2017, vol. 19, no 1, pp. 1-6.
    https://hal.inria.fr/hal-01410734
  • 26G. Zheng, D. Boutat, H. Wang.
    A nonlinear Luenberger-like observer for nonlinear singular systems, in: Automatica, July 2017, vol. 86, pp. 11-17. [ DOI : 10.1016/j.automatica.2017.08.018 ]
    https://hal.inria.fr/hal-01649492
  • 27G. Zheng, A. Polyakov, A. Levant.
    Delay estimation via sliding mode for nonlinear time-delay systems, in: Automatica, November 2017, pp. 1-8.
    https://hal.inria.fr/hal-01649546
  • 28G. Zheng, H. Wang.
    Finite-time estimation for linear time-delay systems via homogeneous method, in: International Journal of Control, September 2017, pp. 1-16. [ DOI : 10.1080/00207179.2017.1390255 ]
    https://hal.inria.fr/hal-01649434

Invited Conferences

  • 29O. Goury, C. Duriez.
    Projection-based model order reduction for real-time control of soft robots, in: XIV International Conference on Plasticity. Fundamentals and Applications, Barcelone, Spain, September 2017.
    https://hal.inria.fr/hal-01649765

International Conferences with Proceedings

  • 30B. Abci, G. Zheng, D. Efimov, M. E. B. E. Najjar.
    Robust Altitude and Attitude Sliding Mode Controllers for Quadrotors, in: IFAC World Congress, Toulouse, France, July 2017.
    https://hal.inria.fr/hal-01660112
  • 31F. J. Bejarano, G. Zheng, S. Li.
    Observability analysis of linear singular time-delay systems, in: 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
    https://hal.inria.fr/hal-01660101
  • 32K. A. Langueh, G. Zheng, T. Floquet.
    Topology identification of network systems, in: CDC 2017 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
    https://hal.inria.fr/hal-01649395
  • 33K. Langueh, G. Zheng, T. Floquet.
    Finite-time estimation for linear TDS via two coupled Luenberger observers, in: CDC 2017 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
    https://hal.inria.fr/hal-01649405
  • 34Y. Ma, V. Cocquempot, M. E. B. E. Najjar, A. Polyakov, G. Zheng.
    Fault-Tolerant Control for Physically Linked Two 2WD Mobile Robots with Actuator Faults, in: IFAC World Congress, Toulouse, France, July 2017.
    https://hal.inria.fr/hal-01660111
  • 35Y. Wang, G. Zheng, D. Efimov, W. Perruquetti.
    Altitude Control for an Indoor Blimp Robot, in: IFAC World Congress, Toulouse, France, July 2017.
    https://hal.inria.fr/hal-01660109
  • 36Y. Wang, G. Zheng, D. Efimov, W. Perruquetti.
    Improved Altitude Control Method with Disturbance Compensation for an Indoor Blimp Robot, in: CDC 2017 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
    https://hal.inria.fr/hal-01660107
  • 37Z. Zhang, T. Morales Bieze, J. Dequidt, A. Kruszewski, C. Duriez.
    Visual Servoing Control of Soft Robots based on Finite Element Model, in: IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 2017.
    https://hal.archives-ouvertes.fr/hal-01618330
  • 38G. Zheng, F. J. Bejarano, S. Li.
    Luenberger-like observer for linear singular system with commensurate delay, in: 56th IEEE Conference on Decision and Control, Melbourne, Australia, December 2017.
    https://hal.inria.fr/hal-01660102
  • 39G. Zheng, H. Wang.
    Estimation of unknown input for linear systems with commensurate delays, in: IEEE CCC 2017, Dalian, China, July 2017.
    https://hal.inria.fr/hal-01660099

Conferences without Proceedings

  • 40A. Rodríguez, E. Coevoet, C. Duriez.
    Real-time simulation of hydraulic components for interactive control of soft robots, in: The 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapour, Singapore, May 2017.
    https://hal.inria.fr/hal-01535810
  • 41M. Thieffry, A. Kruszewski, O. Goury, T.-M. Guerra, C. Duriez.
    Dynamic Control of Soft Robots, in: IFAC World Congress, Toulouse, France, July 2017.
    https://hal.archives-ouvertes.fr/hal-01558844

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